WO2018076621A1 - 一种获得位置关系的方法和寻物的方法、设备及系统 - Google Patents

一种获得位置关系的方法和寻物的方法、设备及系统 Download PDF

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Publication number
WO2018076621A1
WO2018076621A1 PCT/CN2017/080307 CN2017080307W WO2018076621A1 WO 2018076621 A1 WO2018076621 A1 WO 2018076621A1 CN 2017080307 W CN2017080307 W CN 2017080307W WO 2018076621 A1 WO2018076621 A1 WO 2018076621A1
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WIPO (PCT)
Prior art keywords
terminal
location record
location
record
coordinates
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PCT/CN2017/080307
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English (en)
French (fr)
Inventor
刘永俊
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华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP17866355.5A priority Critical patent/EP3451755B1/en
Priority to EP21153681.8A priority patent/EP3875982A1/en
Publication of WO2018076621A1 publication Critical patent/WO2018076621A1/zh
Priority to US16/360,613 priority patent/US11199408B2/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0249—Determining position using measurements made by a non-stationary device other than the device whose position is being determined
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present invention relates to the field of communications, and in particular, to a method and system for obtaining a positional relationship and finding a object.
  • Searching for objects is a common type of application for positioning and navigation.
  • some technical means can be used.
  • the map can be used for navigation, indicating the route to be searched, and the location can be utilized to utilize the positioning technology.
  • Positioning technology has broad application prospects in shopping mall shopping guides, underground parking lot guidance, warehousing logistics, smart factories and other fields.
  • the current positioning technology is based on wireless signal measurement, such as positioning technology based on wireless signal strength, signal flight time, signal arrival angle; based on various sensor information, such as based on inertial sensors (accelerometer, gyroscope, geomagnetic meter) ), geomagnetic, optical, camera, sound sensor positioning technology.
  • inertial sensors accelerelerometer, gyroscope, geomagnetic meter
  • the above various position information sources are often used at the same time, and multiple positioning technologies are used for position calibration.
  • the anchor node refers to a reference position point or object whose position is known; a wireless module is installed on the object to be searched; Yes, the terminal carried by the seeker first uses the wireless signal to scan the nearby anchor node to obtain its own location; at the same time, the object is also scanned by the wireless module to obtain the location of the nearby anchor node, and the wireless signal will be obtained.
  • the location is sent to the seeker; the seeker calculates the navigation route according to his or her location and the location of the received object to be searched for.
  • the above prior art needs to arrange a large number of reference objects with known positions in the process of positioning, such as anchor nodes, and it is not only complicated to arrange a large number of reference objects with known positions, but also the cost of the reference objects with the known and maintenance positions is very high. Increased the cost of positioning.
  • Embodiments of the present invention provide a method for obtaining a location relationship, a method for merging location relationships, a method for searching for objects, and a terminal and device thereof, which can reduce the cost of deploying and maintaining an anchor node whose location is known.
  • the first aspect provides a method for obtaining a positional relationship, which includes:
  • Each of the object-finding terminals corresponds to a reference position point;
  • the method further includes:
  • generating a position record including coordinates of the reference position point and an identifier of the corresponding object to be searched
  • the method further includes: the object-finding terminal transmitting the location record sequence to a third-party device.
  • the wireless signals sent by the object-finding terminal include:
  • the determining, by the signal ratio, whether the wireless signal received by the object-finding terminal is the object to be searched include:
  • the wireless signal received by the object-finding terminal is a wireless signal sent by the object-finding terminal
  • the wireless signal received by the object-finding terminal is not a wireless signal sent by the object-finding terminal.
  • the second aspect provides a method for merging location relationships, which includes:
  • the location record sequence includes at least two location records and is from an acquisition terminal; and a certain location record includes a reference location point.
  • the coordinate and the identifier of the corresponding object to be searched; the one reference position point is a position point of the wireless signal with the strongest intensity from a certain object to be searched when the collecting terminal moves.
  • the combining the at least two location record sequences into a location record set including :
  • Performing a first determining process determining whether there is at least one location record of the same object-finding terminal in the next location record sequence and the added location record set; if the next location record sequence and the added bit Setting a location record of at least one location of the same object to be searched, combining the next location record sequence with the added location record set into a first intermediate location record set, and updating the first determination process Adding the location record set to the first intermediate location record set; otherwise, not combining the next location record sequence with the added location record set, and saving the next location record sequence to the temporary location record record set;
  • the first judging process is repeated until all the position record sequences received are judged to obtain the position record set.
  • the method further includes:
  • Performing a second determining process traversing to determine whether all the location record sequences in the temporary location record set and the location record set have at least one location record of the same object to be searched; if the temporary location record set And a location record sequence and the location record set have at least one location record of the same object search terminal, and then merge one of the location record records in the temporary location record set with the location record set into a second middle Locating a location record, and updating the location record set in the second determination process to the second intermediate location record set; otherwise, re-storing a location record sequence in the temporary location record set to the location Describe the temporary location record collection.
  • the performing the second determining process further includes:
  • the third determination includes: whether the number of the objects to be found included in the location record set is increased compared to the first intermediate location record set; if the object search terminal included in the location record set When the number is increased, the second determination is performed; otherwise, the second determination is not performed.
  • the first intermediate location record in the first intermediate location record set is combined The first intermediate position record set when the next location record sequence is saved to the temporary location record set for the first time.
  • the combining the next location record sequence and the added location record set into the first intermediate location record set includes: according to a certain object search terminal The coordinates in the next position record sequence and the coordinates in the added position record set obtain a first coordinate; corresponding to the one of the same object search terminals generates a first position record, the first position record Include the first coordinate and an identifier of the same object to be searched, the first coordinate indicating coordinates of the same same object to be found;
  • the coordinates of the second remaining object are the object search terminals other than the same object search terminal in the added position record set; corresponding to the second remaining object search terminal Generating a third location record, the third location record including the third coordinate and an identifier of the second remaining object-finding terminal, the third coordinate indicating coordinates of the second remaining object-finding terminal;
  • All of the first location record, the second location record, and the third location record are aggregated into a first intermediate location record set.
  • the combining the location record sequence in the temporary location record set with the location record set into the second intermediate location record set includes:
  • the object terminal generates a fourth location record, where the fourth location record includes the fourth coordinate and an identifier of the certain same object-finding terminal, the fourth coordinate indicating the location of the same same object-finding terminal coordinate;
  • the fourth location record includes the fifth coordinate and an identifier of the third remaining object-finding terminal, the fifth coordinate indicating coordinates of the third remaining object-finding terminal;
  • All of the fourth location record, the fifth location record, and the sixth location record are aggregated into a second intermediate location record set.
  • the third aspect provides a method for searching for objects, which is characterized by comprising:
  • the object-finding terminal sends a request for finding the target object to be searched to the third-party device, and detects a wireless signal sent by the surrounding object-finding terminal, wherein the target-finished terminal is one or more of the object-finding terminals;
  • the detecting the wireless signal sent by the surrounding object-finding terminal comprises: determining, according to a signal ratio, whether the wireless signal received by the object-finding terminal is The wireless signal sent by the object search terminal.
  • the determining, by the signal ratio, whether the wireless signal received by the object-finding terminal is the The wireless signals sent by the terminal include:
  • the wireless signal received by the object-finding terminal is a wireless signal sent by the object-finding terminal
  • the wireless signal received by the object-finding terminal is not a wireless signal sent by the object-finding terminal.
  • the algorithm for calculating the coordinates of the object to be searched by the coordinates of the object to be searched by the object terminal is a centroid method
  • the algorithm for calculating the coordinates of the object to be searched by the coordinates of the object to be searched and the intensity of the wireless signal emitted by the object to be searched by the object terminal is a weighted centroid method
  • the fourth aspect provides a method for searching for objects, which is characterized by comprising:
  • the object search request includes: an identifier of the target object search terminal;
  • the location record set including a location record of the object-finding terminal, the location record including coordinates indicating the object-finding terminal and the Searching Identification of the object terminal;
  • the obtaining the coordinates of the object-finding terminal includes:
  • the coordinates of the object-finding terminal that is detected by the object-finding terminal are obtained in the location record set.
  • the calculating, according to the coordinates of the object to be searched terminal detected by the object-finding terminal is the centroid method
  • the determining, according to the coordinates of the object to be searched terminal detected by the object searching terminal, The algorithm for calculating the coordinates of the object to be searched by the intensity of the wireless signal sent by the object-finding terminal is a weighted centroid method
  • a fifth aspect provides a collection terminal, comprising: a radio frequency RF module, a detection module, an inertial navigation sensor module, a processor, a first memory, and a second memory;
  • the RF module is configured to send and receive communication signals, and can be used to interact with the outside world through wireless messages;
  • the detecting module is configured to detect a wireless signal around the terminal
  • the inertial navigation sensor module is configured to measure movement data of the terminal, where the movement data includes a distance and a direction angle;
  • the processor is configured to execute a program
  • the first storage module is configured to store a preset program
  • the second memory is configured to store a data file generated and received by the terminal
  • the processor is coupled to the first memory, and executes a pre-stored in the first memory by an instruction a program, the preset program in the first memory receives an instruction of the processor, and performs the following steps:
  • the collecting terminal detects a wireless signal sent by the surrounding object-finding terminal while moving;
  • Each of the object-finding terminals corresponds to a reference position point;
  • the performing the following steps further comprising: setting a coordinate of the reference position point as an initial coordinate, and assigning the initial coordinate to the initial coordinate;
  • generating a position record including coordinates of the reference position point and an identifier of the corresponding object to be searched
  • a sixth aspect provides a server, comprising: a communication module, a processor, a first memory, and a second memory;
  • the communication module is configured to send and receive communication signals and interact with the outside world through wireless messages
  • the processor is configured to execute a program
  • the first memory is configured to store a preset program
  • the second memory is configured to store a data file generated and received by the terminal
  • the processor is coupled to the first memory, and executes a preset program stored in the first memory by an instruction, where the preset program in the first memory receives an instruction of the processor, and is executed as follows step:
  • the location record sequence includes at least two location records; a certain one of the location records includes coordinates of a certain reference location point and an identifier of its corresponding object-finding terminal;
  • the one reference position point is a position point of the wireless signal with the strongest strength from a certain object search terminal when the collecting terminal moves;
  • the at least two position record sequences are fused into a position record set, and the position record set includes coordinates of the reference position points corresponding to the at least two position records in the coordinate system and The identifier of the object to be searched terminal corresponding to the reference location point.
  • the combining the at least two location record sequences into one location record set includes:
  • Performing a first determining process determining whether there is at least one location record of the same object-finding terminal in the next location record sequence and the added location record set; if the next location record sequence and the added location record set exist at least Recording the location of the same object to be searched, then recording the next location record sequence Merging with the added location record set into a first intermediate location record set, and updating the added location record set in the first determining process to the first intermediate location record set; otherwise, not the next one The location record sequence is merged with the added location record set, and the next location record sequence is saved to the temporary location record;
  • the first judging process is repeated until all the position record sequences received are judged to obtain the position record set.
  • the device further includes:
  • Performing a second determining process traversing to determine whether all the location record sequences in the temporary location record set and the location record set have at least one location record of the same object to be searched; if the temporary location record set And a location record sequence and the location record set have at least one location record of the same object search terminal, and then merge one of the location record records in the temporary location record set with the location record set into a second middle Locating a location record, and updating the location record set in the second determination process to the second intermediate location record set; otherwise, re-storing a location record sequence in the temporary location record set to the location Describe the temporary location record collection.
  • the performing the second determining process in the third possible implementation manner of the sixth aspect further includes:
  • the third determination includes: whether the number of the objects to be found included in the location record set is increased compared to the first intermediate location record set; if the object search terminal included in the location record set When the number is increased, the second determination is performed; otherwise, the second determination is not performed.
  • the first intermediate location record in the compared with the first intermediate location record set is combined The first intermediate position record set when the next location record sequence is saved to the temporary location record set for the first time.
  • the combining the next location record sequence and the added location record set into the first intermediate location record set includes: according to a certain same object search terminal Determining coordinates in the next position record sequence and coordinates in the added position record set to obtain a first coordinate; corresponding to the one of the same object search terminals generating a first position record, the first position record including The first coordinate and the identifier of the same object to be searched, the first coordinate indicating coordinates of the same object to be searched;
  • All of the first location record, the second location record, and the third location record are aggregated into a first intermediate location record set.
  • the combining the one location record sequence in the temporary location record set with the location record set into the second intermediate location record set includes:
  • the object terminal generates a fourth location record, where the fourth location record includes the fourth coordinate and an identifier of the certain same object-finding terminal, the fourth coordinate indicating the location of the same same object-finding terminal coordinate;
  • the fourth location record includes the fifth coordinate and an identifier of the third remaining object-finding terminal, the fifth coordinate indicating coordinates of the third remaining object-finding terminal;
  • All of the fourth location record, the fifth location record, and the sixth location record are aggregated into a second intermediate location record set.
  • a seventh aspect provides a object-finding system, comprising: an object-finding terminal, a device to be searched for, and a server;
  • the object-finding terminal detects a wireless signal emitted by the object-finding terminal
  • the object-finding terminal sends a request for searching for the object to be searched, and the object-seeking request carries an identifier of the target object-finding terminal and a detection result, where the detection result includes the found-up detected by the object-finding terminal Identification of the terminal and wireless signal strength;
  • the server sends the navigation route to the object-finding terminal.
  • the eighth aspect provides a system, including: an acquisition terminal, a device to be searched for, and a server;
  • the collecting terminal is the collecting terminal according to any one of the fifth aspect or the first possible implementation manner of the fifth aspect;
  • the server is the first possible implementation of the sixth aspect or the sixth aspect or the second possible implementation of the sixth aspect or the third possible implementation of the sixth aspect or the fourth aspect of the sixth aspect A server of any one of the possible implementations or the fifth possible implementation of the sixth aspect or the sixth possible implementation of the sixth aspect.
  • the present invention records the position point of the wireless signal having the strongest intensity among the wireless signals emitted by the object search terminal as the reference position point corresponding to the object to be searched, and indicates the corresponding position by the positional relationship between the reference position points. Determining the positional relationship of the object-finding terminal, and determining the positional relationship between the object-finding terminal and the target object-finding terminal based on the positional relationship between the reference position points, and determining the object-finding terminal without arranging the anchor node with the known location The positional relationship between them provides a simpler positioning technology solution.
  • FIG. 1 is a schematic structural diagram of an object-seeking system according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for obtaining a location record sequence according to an embodiment of the present invention
  • FIG. 3 is a flowchart of a method for merging multiple location record sequences according to an embodiment of the present invention
  • FIG. 4 is a flowchart of a method for merging multiple location record sequences according to an embodiment of the present invention
  • FIG. 5 is a flowchart of obtaining a position recording method according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of a method for updating a location record set according to an embodiment of the present invention.
  • FIG. 7 is a flowchart of a method for updating a location record set according to an embodiment of the present invention.
  • FIG. 8 is a flow chart of a method for searching for objects according to an embodiment of the present invention.
  • FIG. 9 is a flow chart of a method for searching for objects according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a method for obtaining a position record according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of obtaining a location record set according to an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of a method for determining a linear trajectory according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram showing an arrangement of an auxiliary navigation terminal according to an embodiment of the present invention.
  • FIG. 14 is a schematic diagram of a method for obtaining a target searched object position according to an embodiment of the present invention.
  • FIG. 15 is a schematic diagram of a method for obtaining a position record sequence according to an embodiment of the present invention.
  • FIG. 16 is a schematic diagram of a method for representing a transformed coordinate according to an embodiment of the present invention.
  • FIG. 17 is a flowchart of obtaining a location record set according to an embodiment of the present invention.
  • FIG. 18 is a schematic diagram of an extracted baggage according to an embodiment of the present invention.
  • FIG. 19 is a schematic diagram showing changes in atmospheric pressure measurement values of a terminal downstairs according to an embodiment of the present invention.
  • FIG. 20 is a schematic diagram of a terminal according to an embodiment of the present invention.
  • 21 is a schematic diagram of an apparatus according to an embodiment of the present invention.
  • Figure 22 is a schematic diagram of an object-finding terminal according to an embodiment of the present invention.
  • FIG. 23 is a schematic diagram of a server according to an embodiment of the present invention.
  • the embodiments of the present invention are applicable to a certain range of space, which is called a search space.
  • a search space In the above-mentioned object-seeking space, there is an object to be searched for by the seeker, which is called a target object; there are other things that are the same as or similar to the object being searched, and between other things and between the other objects and the target object. The positional relationship is relatively stable for a certain period of time.
  • other objects in the object-seeking space may be objects of other seekers to be found.
  • it is called other search.
  • Objects; objects in the object-seeking space are collectively referred to as objects to be found.
  • the parking lot is a searching space, and all the vehicles parked in the parking lot are found.
  • One of the vehicles A is the vehicle that the owner B is looking for, then the vehicle A is the target being found, and the other vehicles are other. Being found.
  • the main technique is how to locate, that is, how to determine the position of the seeker and the target to be found.
  • the anchor node refers to a node or a reference object whose position is known, and then indirectly determines the seeker and the target to be found according to the position of the anchor node. position.
  • the technical solution provided by the embodiment of the present invention utilizes the characteristics that the positional relationship between the object to be found (including the object to be searched for) is relatively stable, and determines the positional relationship between the objects to be searched based on the wireless signal technology and the inertial measurement technology; The positional relationship between the person and the object being searched for; finally, the positional relationship between the seeker and the target object can be indirectly determined to achieve navigation. It is possible to determine the positional relationship between the seeker and the target object to be found without the anchor node whose arrangement position is known, that is, to determine the position of the seeker and the target to be found.
  • the embodiment of the invention provides a material searching system. As shown in FIG. 1 , the following key devices exist in the system:
  • Object-finding terminal A device that is placed on a found object (object, person, animal, etc.) capable of transmitting at least an identifiable wireless signal, including a target object-finding terminal and other object-finding terminals.
  • a device or a signal source having a function of transmitting an identifiable wireless signal and being relatively stationary with the object to be found may be used as a terminal to be searched, such as a WiFi device or a Bluetooth device.
  • the identifiable wireless signal means that the wireless signal sent by the object-finding terminal carries a specific identifier, and the specific identifier is referred to as an identifier of the object to be searched.
  • an inertial sensor group accelerometer, gyroscope, compass, air pressure, etc.
  • a method of obtaining a position record sequence indicating a positional relationship is described in detail in the following embodiments.
  • the above-mentioned inertial sensor group can be divided into a distance measurement module and a direction angle measurement module according to functions.
  • the functions of the foregoing inertial sensor group may be implemented by hardware combination or by a software module.
  • the collection terminal may be a device specially used for obtaining a location record sequence indicating a location relationship of the object to be searched, or may be a smart phone or a smart watch capable of obtaining a location record sequence function indicating a positional relationship of the object to be searched. Can collect terminals.
  • Object-finding terminal A device with a function of transmitting and receiving wireless signals carried by a seeker for data interaction with a server.
  • the object-finding terminal is equipped with an inertial sensor group (accelerometer, gyroscope, compass, air pressure, etc.), and can be used as a collection terminal in the process of searching for a position record indicating the positional relationship of the object to be found. sequence.
  • the processing terminal has strong processing capability, it can be used to calculate a navigation route based on data sent by the server.
  • Server can be used for receiving and processing a location record sequence from the collection terminal, a request sent by the object search terminal, data sent by the object search terminal, and fusing the position record sequence from the collection terminal into an indication object in the object search space.
  • the bit indicating the positional relationship from the collection terminal The method of merging the recorded sequences into a set of position records is described in detail in the following embodiments.
  • the server may calculate a navigation route of the object-finding terminal to the target object-finding terminal based on the location record set.
  • the object-finding terminal and the server can implement interaction through a wireless communication technology; optionally, the interaction is implemented through WiFi or Bluetooth.
  • the object to be searched and the server interact with each other through a wireless technology; the purpose of the object to be searched and interacted with the server is: if the location record of the object to be found does not exist in the location record set, the object to be searched is required to be The location record it obtains is sent to the server or the secondary server to obtain the location record of the sought terminal and added to the location record set.
  • the embodiment of the invention provides a method for obtaining a positional relationship, as shown in FIG. 2, and the specific steps are as follows:
  • S100 detecting, when the mobile terminal is moving, detecting a wireless signal sent by the surrounding object to be searched;
  • S200 Obtain at least two reference location points according to the detected wireless signals sent by the surrounding object-finding terminals, where each reference location point is obtained by the collection terminal by a corresponding multiple wireless signals sent by the object-finding terminal. The location of the strongest wireless signal;
  • S300 obtaining, by using any one of the at least two reference position points as a reference position point, a reference position relationship of each of the other reference position points and the reference position point; the reference position relationship including the other reference a distance and a direction angle of each of the position points relative to the reference position point; the reference position relationship is used to indicate that each of the other reference position points corresponds to the object-finding terminal corresponding to the reference position point The positional relationship of the object to be found.
  • the step further includes: S400: setting a coordinate of the reference position point as an initial coordinate, and assigning the initial coordinate to the initial coordinate; calculating coordinates of the other reference position point based on the reference position relationship and the initial coordinate; and corresponding to the reference position
  • the point generates a position record, and the position record includes the coordinates of the reference position point and the corresponding identifier of the object to be searched.
  • the above steps further include: S500: forming all the location records obtained into one location record sequence; optionally, the collection terminal sends the location record sequence to the server.
  • detecting the wireless signal sent by the surrounding object-finding terminal in S100 comprises: determining, according to the signal ratio, whether the wireless signal received by the collecting terminal is a wireless signal sent by the object-finding terminal. Further, determining whether the wireless signal received by the collecting terminal is a wireless signal sent by the object-finding terminal based on the signal ratio comprises: presetting a signal ratio threshold; determining whether a signal ratio of the wireless signal received by the collecting terminal is greater than Or equal to the signal ratio threshold; if the signal ratio of the wireless signal received by the collecting terminal is greater than or equal to the signal ratio threshold, the wireless signal received by the collecting terminal is a wireless signal sent by the object search terminal; Otherwise, the wireless signal received by the above collection terminal is not a wireless signal sent by the object search terminal.
  • the preset ratio value is 60%
  • the acquisition terminal continuously moves for 10 seconds on a straight track
  • the frequency of the detection signal of the collection terminal is detected once per second, if the number of signals sent by a certain signal source is detected. If it is less than 6 times, the signal source is not processed; if the number of signals sent by a certain signal source is greater than or equal to 6 times, the signal source is processed.
  • An embodiment of the present invention provides a method for merging location relationships, and a method for merging a plurality of received location sequences into a location record set, as shown in FIG. 3, the specific steps are as follows:
  • S1000 Receive at least two location record sequences from the collection terminal of the collection terminal; the location record sequence includes at least two location records; and a location record includes coordinates of a reference location point and an identifier of the corresponding object to be searched terminal One of the above reference position points is obtained by the collection terminal when it is moved. The location of the wireless signal with the strongest intensity of the object-finding terminal;
  • steps further include S3000: updating the location record set.
  • the method for fusing at least two location record sequences into one location record set in the S2000 is as shown in FIG. 4, and the specific steps are as follows:
  • S2100 Configuring a location record set, and initially setting the location record set as an empty set
  • S2200 adding a location record in the first location record sequence to the location record set, where the first location record sequence is any sequence of location records received;
  • S2300 Perform a first determining process, determining whether the next location record sequence and the location record set have at least one location record of the same object to be searched; if the next location record sequence and the location record set are at least one of the same
  • the location record of the object-finding terminal merges the above-mentioned next location record sequence into the location record set; otherwise, saves the next location record sequence to the temporary location record set;
  • S2400 repeating the foregoing first determining process until all the location record sequences received are determined, and the location record set is obtained.
  • the method for merging the next location record sequence into the location record set in the S2300 is as shown in FIG. 5, and the specific steps are as follows:
  • S2310 Obtain a first coordinate according to coordinates in a next location record sequence corresponding to the first object search terminal and coordinates in the location record set, where the first object search terminal is the next location record sequence and the location record. Collecting one of the same object-finding terminals; generating a first location record corresponding to the first object-finding terminal, wherein the first location record includes the first coordinate and the identifier of the same object to be searched ;
  • S2320 Obtain a second coordinate according to the first coordinate and the coordinate corresponding to the first remaining object search terminal, where the first remaining object search terminal is a part of the next position record sequence except the same object to be searched a second location record corresponding to the first remaining object search terminal, wherein the second location record includes the second coordinate and the identifier of the first remaining object search terminal;
  • S2330 Obtain a third coordinate according to the first coordinate and a coordinate corresponding to the second remaining object search terminal, where the second remaining object search terminal is a certain one of the location record set except the same object search terminal. And generating, by the second remaining object search terminal, a third location record, where the third location record includes the third coordinate and the identifier of the second remaining object-finding terminal;
  • S2340 Replace all of the generated first location record, the second location record, and the third location record to replace the location record in the location record set.
  • S3000 a method for updating the location record set is as shown in FIG. 6, and the specific steps are as follows:
  • S3100 Perform a second determining process, and determine whether a location record sequence in the temporary location record set and the location record set store at least one location record of the same object search terminal; if the temporary location location record set A location record sequence and the above location record set have at least one same object search terminal Position record, then merge one of the above location record sequences into the above location record set; otherwise, re-save one of the above location record sequences to the temporary location record set;
  • FIG. 7 a method for merging a certain location record sequence into the location record set in S3100 is as shown in FIG. 7, and the specific steps are as follows:
  • S3110 obtaining a fourth coordinate according to a coordinate in the one location record sequence corresponding to the second object search terminal and a coordinate in the location record set, where the second object search terminal is the above one location record sequence and the foregoing One of the same object-finding terminals existing in the location record set; generating a fourth location record corresponding to the second object-finding terminal, wherein the fourth location record includes the fourth coordinate and one of the same object-finding terminals The fourth coordinate indicates the coordinates of the same object to be searched;
  • S3120 obtaining a fifth coordinate according to the fourth coordinate and a coordinate in the one location record sequence corresponding to the third remaining object search terminal, where the third remaining object search terminal is the same as the one location record sequence a certain object search terminal outside the object search terminal; generating a fifth position record corresponding to the third remaining object search terminal, wherein the fourth position record comprises the fifth coordinate and the third remaining object search terminal Identification
  • S3130 Obtain a sixth coordinate according to the fourth coordinate and coordinates in the location record set corresponding to the fourth remaining object search terminal, where the fourth remaining object search terminal is the same object search terminal in the location record set. a certain object-finding terminal; generating a sixth position record corresponding to the fourth remaining object-finding terminal, wherein the sixth position record comprises the sixth coordinate and the identifier of the fourth remaining object-finding terminal;
  • S3140 Replace all of the generated fourth location record, the fifth location record, and the sixth location record to replace the location record in the location record set.
  • Embodiments of the present invention provide a method for searching for objects. As shown in FIG. 8, the specific steps of the object-seeking method are as follows:
  • the object-finding terminal sends a search request for finding the target object to be searched to the server, and detects a wireless signal sent by the surrounding object-finding terminal; the object-seeking request is used to trigger the server to send the location record set;
  • the location record set includes at least two location records, and the location record includes a coordinate of a reference location point and an identifier of the corresponding object to be searched; the reference location point is obtained by the collection terminal when moving. a location point of the strongest wireless signal from a certain object to be searched;
  • the server After receiving the object-seeking request sent by the object-finding terminal, the server sends the stored location record set to the object-finding terminal; wherein the location record set can be obtained by the method provided in the above embodiment.
  • the object search terminal After receiving the location record set sent by the server, the object search terminal searches for a target location record in the location record set, and obtains coordinates in the target location record, where the coordinate may be referred to as a coordinate of the target object to be searched;
  • the target location is recorded as a location record containing the target searched terminal identifier; and, in the location record set, the reference location record is searched for, and the coordinates in the reference location record are obtained; wherein the reference location record is included in the location search terminal. Recording the location of the identifier of the object to be searched;
  • S104 Calculate coordinates of the object-finding terminal according to the obtained coordinates in the reference position record, or according to the coordinates in the reference position record and the strength of the wireless signal sent by the object-finding terminal detected by the object-finding terminal.
  • the coordinates of the object-finding terminal are calculated; a specific method of calculating the coordinates of the object-finding terminal is described in the following embodiments.
  • S106 The object-finding terminal searches for the target object to be searched according to the navigation route.
  • the navigation route is calculated by the server, and then the navigation route is sent to the searching terminal for searching for objects.
  • An embodiment of the present invention provides a method for searching for objects. As shown in FIG. 9, the specific method for searching for objects includes:
  • the object-finding terminal sends a request for searching for the object to be searched to the server, and detects a wireless signal sent by the surrounding object-finding terminal;
  • the object-finding terminal sends the detected signal strength and identifier of the object to be searched to the server;
  • the server receives the object-seeking request sent by the object-finding terminal and the detected signal strength and identifier of the object-finding terminal.
  • the server searches the stored location record set for the target location record including the target object search terminal identifier and the reference location record detected by the object search terminal to detect the object search terminal identifier; and obtains the coordinates and the reference position in the target location record respectively.
  • a coordinate in the record wherein the coordinate in the target position record is a coordinate indicating a positional relationship of the target, and the coordinate in the reference position record is a coordinate detected by the object search terminal to detect the object to be found;
  • the server calculates the coordinates of the object of the object according to the coordinates of the object to be searched by the object search terminal or the coordinates and intensity of the object to be searched by the object search terminal; the specific method for calculating the coordinates of the object of the object is as follows Described in the examples;
  • S205 The server calculates a navigation route according to the coordinates of the object search terminal and the coordinates of the object search terminal; and sends the calculated navigation route to the object search terminal;
  • S206 The object-finding terminal searches for the target object to be searched according to the navigation route sent by the server.
  • the embodiment of the invention is based on the searching device carrying the object-finding terminal, the object-seeking terminal placed on the object to be searched, and the server, and uses the relative stability feature of the positional relationship between the objects to be searched to convert the positional relationship into ⁇ coordinates.
  • the mark > is the set of position records of the basic elements; in the position record set, the coordinates of the target object and the coordinates of the seeker can be obtained, and then the navigation route is calculated according to the coordinates of both the object and the seeker of the target, which can be realized
  • the positional relationship between the object to be found and the seeker is determined without arranging anchor nodes whose positions are known, and the search target is quickly and easily realized according to the relative positional relationship.
  • the object-seeking method provided by the embodiment of the invention does not need to arrange anchor nodes of known positions, thereby reducing the cost of arranging and maintaining the anchor nodes.
  • an embodiment of the present invention provides a method for calculating coordinates of a search object, wherein the reference location record refers to a location in the location record set that includes the surrounding object search terminal detected by the object search terminal. Record; for the location record set, please refer to the description and acquisition method in the above embodiment.
  • the method has two algorithms, namely the centroid method and the weighted centroid method, as follows:
  • Centroid method The specific steps for calculating the coordinates of the object-finding terminal based on the coordinates in the reference position record are as follows:
  • n is the number of reference position records.
  • the intensity of the wireless signal emitted by the object-finding terminal detected by the object-finding terminal is Pi (dBm);
  • n is the number of reference position records.
  • An embodiment of the present invention provides a method for obtaining a positional relationship.
  • a wireless signal sent by a surrounding object is detected during a process in which the collecting terminal moves along a linear trajectory, and the same object to be searched is detected.
  • Multiple wireless signals of different intensities form a signal sequence; during the movement, the distance and direction angle relative to the previously passed position point are measured by the inertial sensor group; the distance and the direction angle measured by the inertial sensor group can be obtained.
  • Positional relationship between the passing reference position points The above reference position point is a position point when the collecting terminal detects the maximum intensity wireless signal in the signal sequence.
  • the obtained positional relationship of the reference position point is converted into a coordinate representation by setting the coordinates of any one of the reference position points as initial coordinates and assigning values; in the same coordinate system, measuring based on the inertial sensor group The distance and direction angle calculate the coordinates of the remaining reference position points.
  • the identifier of the emitted wireless signal of the object to be searched and the coordinates of the corresponding reference position point constitute a position record of the object to be searched;
  • the position records of the plurality of object-finding terminals detected by the acquisition terminal on the linear trajectory constitute a position record sequence of the linear trajectory of the segment.
  • the signal intensity is maximum, according to the geometric principle, the object to be searched is most likely to be perpendicular to the straight track and past the corresponding position. Online; at this time, the distance between the collection terminal and the object to be found is the closest.
  • the technical solution provided by the embodiment of the present invention corresponds to the location point when the strongest signal is obtained and the object to be searched terminal that sends the signal.
  • the maximum intensity in the signal sequence is a relative value; the trend of the signal strength in the signal sequence may be always larger, or always smaller, or become larger and smaller; a signal sequence is inevitable There is a relatively strong intensity signal that is the most intense wireless signal in the signal sequence.
  • the embodiment of the present invention can improve the accuracy of determining the positional relationship between the objects to be found by one-to-one correspondence between the position point when the strongest signal is obtained and the object to be searched for issuing the signal.
  • the present invention provides a method for fusing a plurality of position sequences, and the obtaining of the position sequence can be obtained by the method provided in the above embodiments or other methods. As shown in Figure 10, the specific steps are as follows:
  • Step 1 Configure the location record set M, and initially set M as an empty set
  • Step 2 Adding a first location record sequence to the location record set M, wherein the first location record sequence is any one of the location record sequences obtained for the first time;
  • Step 3 Investigate the next location record sequence, labeled N;
  • the location record sequence N and the location record set M are merged into a new location record set M; otherwise, the The position record sequence N is saved; the position record of the above-mentioned object search terminal appears in the position record set M means that the position record sequence N and the position record set M both have the position record of the object search terminal, but the two position records
  • the coordinates recorded in the record are not necessarily the same, and are determined according to the corresponding object search terminal identifier in the location record;
  • Step 4 determining whether the number of the object-finding terminals in the location record set M is increased
  • the sequence of position records ignored in step 3 is examined one by one to determine whether at least one location record of the object to be found appears in the location record set M, and the location record of the above-mentioned object search terminal appears in the location record set.
  • M it means that the position record sequence N and the position record set M both have the position record of the object to be searched, but the coordinates recorded in the two position records are not necessarily the same, and are judged according to the corresponding object search terminal identifier in the position record. If so, the location record sequence N and the location record set M are merged into a new location record set M; otherwise, the location record sequence is ignored and saved, and the location record of the next step 3 is ignored; All the sequence of position records ignored in step 3;
  • Step 5 Wait for a new location record sequence to be received and restart the fusion step.
  • the coordinates of the K identical object-finding terminals in M are: (x1, y1, z1), (x2, y2, z2), ..., (xK, yK, zK);
  • the coordinates of the K identical object-finding terminals in N are: (u1, v1, w1), (u2, v2, w2), ..., (uK, vK, wK);
  • the remaining H searched terminals in M are different from N.
  • the coordinates of the H different searched objects in M are: (xx1, yy1, zz1), (xx2, yy2, zz2), ... , (xxH, yyH, zzH);
  • the remaining L searched terminals in N are different from M.
  • the coordinates of the L different searched objects in N are: (uu1, vv1, ww1), (uu2, vv2, ww2), ... , (uuL, vvL, wwL);
  • the coordinates of the K identical object-finding terminals in the new M can be obtained as (a*xi+(1-a)*ui, a*yi+(1-a*vi), a*zi+(1-a*wi) );
  • the coordinates of all the searched terminals in the calculated new M are updated to M.
  • An embodiment of the present invention provides a method for determining that a collection terminal moves along a linear trajectory, as shown in FIG. 12, specifically including:
  • the collecting terminal detects the change of direction through the configured direction measuring module in real time; optionally, the collecting terminal measures the direction change through the accelerator or the compass; optionally, the collecting terminal performs the detecting every second.
  • the collecting terminal presets a direction change rate threshold; if the direction change detected by the direction measuring module exceeds the preset direction change threshold, it is determined that the collecting terminal has turned; for example, the direction measuring module of the collecting terminal detects If the direction of the current position of the collecting terminal changes relative to the initial position by more than 30 degrees, it is determined that the collecting terminal has turned; the current position is a turning point, which marks the end of the straight line of the previous straight line, and the beginning of the new straight line track.
  • the direction of the linear trajectory is the average of the multiple detected values before the turn.
  • the collecting terminal determines that no turning occurs, but the current moving distance from the initial position or the last straight line trajectory reaches or exceeds the preset moving distance threshold, and then the current straight moving trajectory is judged to be ended. , start a straight line again.
  • the embodiment of the invention determines whether the collection terminal moves along a linear trajectory by using a direction change and a moving distance during the movement process, thereby ensuring that the collection terminal moves along a linear trajectory, and improving the accuracy of the positional relationship between the object-finding terminals obtained by the collection terminal. .
  • the object-finding terminal B is far away from the other object-finding terminals. Since the length of a straight-line track is limited, there is no object to be searched for each time. Location record. An appropriate amount of auxiliary navigation terminal may be disposed, the positional relationship between the auxiliary navigation terminal and the object to be searched terminal is relatively stable, and the identifiable wireless signal can be emitted as the object to be searched; optionally, it can also be found.
  • the environmental signal source whose position of the object terminal is relatively stationary is regarded as the auxiliary navigation terminal, and is regarded as the object to be searched.
  • the method for obtaining the location record of the target object is not found in the location record set.
  • the embodiment of the present invention provides a method for obtaining the coordinates of the target object to be searched. As shown in FIG. 14, the method is as follows:
  • S301 The server sends a location record request to the target object search terminal.
  • the target object is detected by the surrounding object to detect a wireless signal sent by another surrounding object, and the detected wireless signal strength and the corresponding identifier are sent to the server;
  • the server calculates the coordinates of the target object search terminal according to the wireless signal strength and the corresponding identifier detected by the object search terminal.
  • the specific calculation method refer to the method for calculating the coordinates of the object search terminal provided by the above embodiment, that is, the centroid method and Weighted centroid method.
  • S304 the server obtains the coordinates of the target object to be searched and its identification component location record is added to the location record set.
  • the location record set is described in the description of the above embodiment.
  • the coordinates of the target object to be searched are calculated by the coordinates of the other to-be-finished terminals detected by the target object-finding terminal, so that the target position of the object-finished terminal is not present in the position record set, and the target is obtained.
  • the location record of the object search terminal is calculated by the coordinates of the other to-be-finished terminals detected by the target object-finding terminal, so that the target position of the object-finished terminal is not present in the position record set, and the target is obtained.
  • the embodiment of the invention provides a method for obtaining a location record sequence, as shown in FIG. 15 , and the specific method is as follows:
  • the physical search space 602 and the object-finding terminal 603 are present in the object-finding space, and the actual positions of the two are unknown; the collecting terminal 601 moves along the linear trajectory L; the collecting terminal 601 receives the object-finding terminal 602 during the moving process.
  • the secondary wireless signal forms a signal sequence 612; the detected plurality of wireless signals emitted by the object-finding terminal 603 form a signal sequence 613 according to the result of the above detection; and the detected terminal 601 detects the detected position at the position A on the linear trajectory L.
  • the intensity of the wireless signal sent by the object-finding terminal 602 is the largest.
  • the object-finding terminal 602 is on the straight line passing the position point A and perpendicular to the straight line trajectory L; at the position point A, the collecting terminal 601 is searched for The distance of the object terminal 602 is the closest, and the position point A can be used to indicate the object to be searched terminal 602; similarly, the available position point B represents the object to be searched terminal 603; the positional relationship between the position point A and the position point B indicates The positional relationship between the object-finding terminal 602 and the object-finding terminal 603; the positional relationship between the position point A and the position point B is determined by the distance and direction angle measured by the inertial sensor group of the collecting terminal 601.
  • the acquisition terminal moves along a linear path in a plane as an example.
  • the specific method is as follows:
  • Position A and position B can be represented by X and Y respectively; the coordinates of position A are (x1, y1) The coordinates of the position point B are (x2, y2); specifically, the direction from the position point A to the position point B measured by the inertial sensor group of the acquisition terminal is changed to ⁇ , the unit is degree; the inertial sensor of the collection terminal
  • Position record of 603 2 [signB(d*cos ⁇ , d*sin ⁇ )]; the above position record 1 and position record 2 are composed of the acquisition terminal 601 in a straight track
  • the position record sequence on L ⁇ [signA(0,0)], [signB(d*cos ⁇ , d*sin ⁇ )] ⁇ .
  • the positional relationship between the plurality of object-finding terminals that determine the unknown position can be realized, according to the position of the object to be searched.
  • the positional relationship calculates the navigation line, reducing the cost of arranging and maintaining the anchor nodes at known locations.
  • Embodiments of the present invention provide a method for obtaining a location record set.
  • the server receives three position record sequences; wherein the position record sequence 1 includes the position records of the object search terminals A, B, and C, and the coordinates of A are (0, 0), according to A
  • the coordinates and the positional relationship with C and B respectively calculate the coordinates of B as (xb, yb) and the coordinates of C as (xc, yc).
  • the position record sequence 1 ⁇ [signA(0, 0)], [signB(xb, yb)], [signC(xc, yc)] ⁇ ;
  • the coordinates of other object-finding terminals in the merged position record set are calculated by the coordinates of the same object-finding terminal existing in the two position record sequences, and so on, and one can obtain more information to be found.
  • the above embodiments of the invention are all in such a way that the seeker does not move for a period of time, and the seeker searches for the target to be found through the navigation line; however, there are scenes in which the seeker is less or not moving, and the object being searched is continuously moving. . In this kind of scene, the positional relationship between the objects to be found is still relatively stable, and the method for realizing the object of the present invention can also be applied. The difference is that the displacement data between the seeker and the object being searched is measured by the relative measurement module. Take a typical example of an application scenario - baggage. As shown in Figure 18, the specific method is as follows:
  • a speed measuring sensor is disposed on the conveyor belt, and the speed measuring sensor transmits the detected information of the conveyor speed of 0.8 m/s to the surrounding object-finding terminals A, B, and C;
  • the object-finding terminals A, B, and C measure the moving speed of the tracking sensor group to be less than or equal to the initial speed of the conveyor belt, and determine that the measured data generated by the wireless signal sent by the object-finding terminal is valid;
  • Each of the object-finding terminals detects a wireless signal sent by the surrounding object-finding terminal, and the detected wireless signal sent by the same object-finding terminal forms a signal sequence, and the object-finding terminal position mark is received when the wireless signal with the strongest intensity in the signal sequence is received.
  • the object-finding terminal corresponding to the location point is closest to the object-finding terminal at the location point, and is used to indicate the location of the corresponding object-finding terminal; multiplied by the time of the object-finding terminal from one location point to another.
  • the initial speed of the conveyor belt can obtain the distance between the position points; if the coordinate of one of the position points is 0, the coordinates of the object-finding terminal detected by the remaining object-finding terminals can be calculated according to the relative distance; the identifier of the object to be searched is The coordinates of the corresponding position points constitute the position record of the object to be searched.
  • the object-finding terminal may transmit the intensity of the wireless signal sent by the object-finding terminal and its own displacement data to the server, and the server calculates the position record of the object-finding terminal and forms a position record set.
  • the searched object position record sequence detected by the object search terminal A is ⁇ 22(0), 21(2.8), 20(4.3), 19(7.5), 18(11), 17(11.9), 14(13), 15(14.2), 12(14.5), 13(14.9) ⁇
  • the numbers in parentheses indicate the coordinates, the unit is meters; the numbers outside the brackets indicate the identification of the terminal to be found;
  • the search terminal B The detected sequence of recorded position records is ⁇ 9(0), 7(3.2), 8(3.3), 5(7.2), 6(7.3), 4(8.1), 3(9.7), 1(13.6 ), 2(13.8), 22(16.7) ⁇ ;
  • the searched position record sequence of the object search terminal C is ⁇ 13(0), 12(0.5), 11(0.7), 10(5.8), 9 (8.1), 8 (9.9), 7 (12.4) ⁇ .
  • the object to be searched for by the object search terminal A is the object to be searched for.
  • the object-finding terminals A, B, and C will detect the location record sequence of the object-finding terminal and send it to the server to form a location record set M containing more records of the location of the object to be searched.
  • the location record sequence of the object-finding terminal is found to be found in the location record set M, and the location record of the object-finding terminal detected by the object-finding terminal B is added to M; according to the above embodiment of the present invention
  • the new coordinates can pass the algorithm in the above embodiment of the present invention.
  • a 2/3
  • the coordinates of the calculated object-finding terminals 7, 8, 9, 12, and 13 are 27.4, 26.6, 23.8, 15.4, and 15.5, respectively; based on the new coordinates of the object-finding terminals 7, 8, 9, 12, and 13,
  • the algorithm can calculate
  • the object-finding terminal detects the wireless signal sent by the surrounding object-finding terminal, and transmits the detected wireless signals of the object-finding terminals 16, 15, 14, 13 to the server; the server does not record the position of the object-finding terminal 16 Therefore, the coordinates of the object-finding terminal A obtained by the centroid method according to the coordinates of the object-finding terminals 15, 14, 13 are (14.8); the coordinates of the target-finished terminal 1 are (37.7), and thus the object-finding terminal A is calculated.
  • the distance from the object to be searched terminal is 22.9 meters, and the object-finding terminal informs the seeker of the result; alternatively, the time of arrival can also be calculated based on the relative speed (the initial speed of the conveyor belt), and the seeker can be informed of the time; Selected, the prompt is about 17.1 meters away from the direction of the seeker.
  • the object-finding terminal in this embodiment has the functions of the collection terminal and the object-finding terminal at the same time.
  • the object-finding terminal is the collection terminal described in the above embodiment, and is the object-finding terminal described above when searching for objects.
  • the coordinates of the position point are obtained based on the measurement result of the relative measuring instrument, and the coordinates of the position point and the identification component position corresponding to the object to be searched are recorded, and the positional relationship between the plurality of object-finding terminals in the unknown position can be determined. Calculating navigation results based on positional relationships reduces the cost of arranging and maintaining known location anchor nodes.
  • a method of measuring the displacement in the height direction is provided in this embodiment.
  • the displacement of the collection terminal in the height direction is measured by a pressure sensor or an accelerometer, and the sensors of the height measurement may be collectively referred to as a height measurement module.
  • Figure 19 is realistically the change of the air pressure measured by the terminal moving downstairs. Based on the change of the air pressure, the displacement of the terminal in the height direction relative to the previously passed position point can be calculated. The concept of the position point is consistent with the definition in the previous embodiment. .
  • the method for measuring the displacement of the height direction provided by the embodiment, the displacement of the terminal in the height direction is measured by the height measuring module, and is used for calculating the positional relationship of the terminal in the height direction, and the method and the algorithm in the previous embodiment can be used to obtain the representation.
  • the present invention provides a collection terminal.
  • the collection terminal 1000 includes a detection module 1100, a first obtaining module 1200, a second obtaining module 1300, an evaluation module 1400, a coordinate obtaining module 1500, and a generating module 1600.
  • the location record sequence is composed of a module 1700 and a sending module 1800;
  • the detecting module 1100 is configured to detect a wireless signal sent by the surrounding object-finding terminal when the collecting terminal 1000 moves;
  • the first obtaining module 1200 is configured to obtain at least two reference position points according to the wireless signals sent by the surrounding object search terminals detected by the detecting module 1100, wherein each of the reference position points obtains a corresponding one for the collecting terminal. a position point of the strongest wireless signal among the plurality of wireless signals sent by the object terminal;
  • a second obtaining module 1300 configured in the at least two reference position points obtained by the first obtaining module 1200 Any one of the reference position points obtains a reference position relationship between the other reference position points and the reference position point; the reference position relationship includes a distance and a direction angle of the other reference position points with respect to the reference position point; a positional relationship of the object-finding terminal corresponding to the reference position point corresponding to the object-finding terminal corresponding to the other reference position point;
  • the assignment module 1400 is configured to set the coordinates of the reference position point set by the second obtaining module 1300 to an initial coordinate, and assign a value to the initial coordinate;
  • the coordinate obtaining module 1500 is configured to calculate coordinates of the other reference position points based on the reference position relationship obtained by the second obtaining module 1300 and the initial coordinates set by the determining unit 1400;
  • the generating module 1600 is configured to generate a location record corresponding to the reference location point obtained by the first obtaining module 1200, where the location record includes coordinates of the corresponding reference location point and an identifier of the corresponding object to be searched terminal;
  • the location record sequence component module 1700 is configured to form all location records generated by the generation module 1600 into a location record sequence
  • the sending module 1800 is configured to send the location record sequence composed by the location record sequence component module 1700 to a third-party device; optionally, the third-party device may be a server.
  • the detecting module 1100 includes: a detecting unit 1110 and a determining unit 1120.
  • the detecting unit 1110 is configured to detect a wireless signal sent by the surrounding object to be searched, and obtain the detected identifier of the object to be searched. And the strength of the wireless signal;
  • the determining unit 1120 is configured to determine, according to the signal ratio, whether the wireless signal detected by the detecting unit 1110 is a wireless signal sent by the object search terminal.
  • the determining unit 1120 is specifically configured to: determine whether a signal ratio of the wireless signal detected by the detecting unit 1110 is greater than or equal to a preset signal ratio threshold; if the signal ratio of the wireless signal detected by the detecting unit 1110 If the signal ratio threshold is greater than or equal to, the wireless signal detected by the detecting unit 1110 is a wireless signal sent by the object search terminal; otherwise, the wireless signal detected by the detecting unit 1110 is not the sought signal. The wireless signal sent by the terminal.
  • the terminal provided by the present invention records the position point of the wireless signal with the strongest intensity among the wireless signals sent by the object search terminal as the reference position point corresponding to the object to be searched terminal, and uses the position between the reference position points.
  • the relationship indicates the positional relationship of the corresponding object to be searched, and the position record sequence indicating the positional relationship of the object to be searched can be obtained based on the positional relationship, and the positional relationship of the object to be searched terminal whose position is unknown can be determined.
  • the known anchor node assists in determining the positional relationship of the object-finding terminal whose position is unknown, and reduces the cost of arranging and maintaining the anchor node.
  • the present invention provides a device for merging a location relationship, as shown in FIG. 21, the device 2000 includes: a receiving module 2100, a fusion module 2200;
  • the receiving module 2100 is configured to receive at least two location record sequences from the collection terminal; the location record sequence includes at least two location records; and a certain one of the location records includes coordinates of a reference location point and corresponding The identifier of the object to be searched; the reference position point is a position point of the wireless signal obtained by the collecting terminal from the most intensive terminal when the track moves;
  • the merging module 2200 is configured to fuse at least two location record sequences received by the receiving module 2100 into a location record set in a coordinate system, where the location record set includes corresponding at least two location records The coordinates of the reference position point in the coordinate system and the end of the object corresponding to the reference position point The identity of the end.
  • the fusion module 2200 includes: a configuration unit 2210, an adding unit 2220, a first determining unit 2230, a temporary location recording set unit 2240, and a first repeating unit 2250;
  • the configuration unit 2210 is configured to configure a location record set, and initially set the location record set as an empty set;
  • the adding unit 2220 is configured to add a location record in the first location record sequence to the initial location record set of the configuration unit 2210, where the first location record sequence is any received by the receiving module 2100. a sequence of position records;
  • the first determining unit 2230 is configured to determine whether the next location record sequence received by the receiving module 2100 and the location record set have at least one location record of the same object to be searched; if the next location record Having a position record of the at least one same object-finding terminal in the sequence and the location record set, then merging the next location record sequence into the location record set; otherwise, saving the next location record sequence to the location
  • the first repeating unit 2250 is configured to trigger the first determining unit 2230 to repeat the determining process until all the location record sequences received by the receiving module 2100 are determined, to obtain the location record set.
  • the first determining unit 2230 includes: a first coordinate obtaining subunit 2231, a first position record generating subunit 2223, a second coordinate obtaining subunit 2233, a second position record generating subunit 2234, and a third coordinate obtaining.
  • the first coordinate obtaining sub-unit 2231 is configured to obtain, according to the coordinates in the next location record sequence and the coordinates in the location record set received by the receiving module 2100 corresponding to the first object-finding terminal. Coordinates, the first object-finding terminal is one of the same object-finding terminal that is received by the receiving module 2100 and the same object-finding terminal that exists in the location record set;
  • the first location record generating sub-unit 22232 is configured to generate a first location record corresponding to the first object-finding terminal, where the first location record includes the first coordinate obtaining sub-unit 2231 to obtain a first coordinate And an identifier of the same object to be searched;
  • the second coordinate obtaining sub-unit 2233 is configured to obtain the first coordinate obtained by the sub-unit 2231 according to the first coordinate and the next position record received by the receiving module 2100 corresponding to the first remaining object-finding terminal.
  • the coordinates in the sequence obtain a second coordinate, and the first remaining object-finding terminal is a certain object-finding terminal other than the same object-finding terminal in the next position record sequence received by the receiving module 2100;
  • the second location record generation subunit 2234 is configured to generate a second location record corresponding to the first remaining object search terminal, where the second location record includes the second coordinate acquisition subunit 2233 a second coordinate and an identifier of the first remaining object-finding terminal;
  • the third coordinate obtaining sub-unit 2235 is configured to obtain a third coordinate according to the first coordinate obtained by the first coordinate obtaining sub-unit 2231 and the coordinate in the position record set corresponding to the second remaining object-finding terminal.
  • the second remaining object-finding terminal is a certain object-finding terminal in the location record set except the same object-finding terminal;
  • the third location record generation subunit 2236 is configured to generate a third location record corresponding to the second remaining object search terminal, where the third location record includes the third coordinate acquisition subunit 2235 a coordinate of the third coordinate and the second remaining object-finding terminal;
  • the first replacement subunit 2237 is configured to generate all the first location record generation subunits 2232
  • the first location record, the second location record generated by the second location record generation sub-unit 2234, and the third location record generated by the third location record generation sub-unit 2236 replace the location record in the location record set.
  • the device 2000 further includes: a location record set update module 2300, configured to update the location record set;
  • the location record set update module 2300 includes: a second determining unit 2310, a second repeating unit 2320;
  • the second determining unit 2310 is configured to determine whether a location record sequence stored in the temporary location record set unit 2240 and the location record set store at least one location record of the same object search terminal; If the location record sequence stored in the location record collection unit 2240 and the location record set have at least one location record of the same object search terminal, the location record sequence is merged into the location record set; otherwise Re-storing the one location record sequence to the temporary location record set unit 2240;
  • the second repeating unit 2320 is configured to trigger the second determining unit 2310 to repeat the determining process until all the location record sequences stored in the temporary location record set unit are determined, and the updated location record set is obtained.
  • the second determining unit 2310 includes: a fourth coordinate obtaining subunit 2311, a fourth position record generating subunit 2312, a fifth coordinate obtaining subunit 2313, a fifth position record generating subunit 2314, and a sixth coordinate obtaining Subunit 2315, sixth location record generation subunit 2316, second replacement subunit 2317;
  • the fourth coordinate obtaining sub-unit 2311 is configured to perform coordinates in a certain position record sequence and coordinates in the position record set stored according to the temporary storage position record set unit 2240 corresponding to the second object search terminal. Obtaining a fourth coordinate, wherein the second object-finding terminal is one of a location record sequence stored by the temporary location record collection unit 2240 and the same object-finding terminal existing in the location record set;
  • the fourth location record generating sub-unit 2312 is configured to generate a fourth location record corresponding to the second object-finding terminal, where the fourth location record includes the fourth coordinate obtaining sub-unit 2311 to obtain a fourth coordinate And an identifier of the same object to be searched;
  • the fifth coordinate obtaining sub-unit 2313 is configured to obtain, according to the fourth coordinate, the fourth coordinate obtained by the sub-unit 2311 and the temporary storage location record set unit 2240 corresponding to the third remaining object-finding terminal.
  • the coordinates in a position record sequence obtain a fifth coordinate
  • the third remaining object search terminal is a certain one of the position record sequences stored in the temporary position record set unit 2240 except the same object search terminal.
  • the fifth location record generation subunit 2314 is configured to generate a fifth location record corresponding to the third remaining object search terminal, where the fourth location record includes the fifth coordinate acquisition subunit 2313 a five-coordinate and an identifier of the third remaining object-finding terminal;
  • the sixth coordinate obtaining sub-unit 2315 is configured to obtain a sixth coordinate according to the fourth coordinate obtained by the fourth coordinate sub-unit 2311 and the coordinate in the position record set corresponding to the fourth remaining object-finding terminal.
  • the fourth remaining object-finding terminal is a certain object-finding terminal in the location record set except the same object-finding terminal;
  • the sixth location record generating sub-unit 2316 is configured to generate a sixth location record corresponding to the fourth remaining object-finding terminal, where the sixth location record includes the sixth obtained by the sixth coordinate obtaining sub-unit 2315. a six-coordinate and an identifier of the fourth remaining object-finding terminal;
  • the second replacement subunit 2317 is configured to generate all the fourth location record generation subunits 2312
  • the fourth location record, the fifth location record generated by the fifth location record generation sub-unit 2314, and the sixth location record generated by the sixth location record generation sub-unit 2316 replace the location record in the location record set.
  • the device provided by the embodiment of the present invention combines the received location record sequence according to whether there is a location record including the same object search terminal identifier as a standard to obtain a location record set, and can integrate multiple location record sequences into one location record. set.
  • the object-finding terminal 3000 includes: a sending module 3100, a detecting module 3200, a receiving module 3300, a first obtaining module 3400, a second obtaining module 3500, and coordinates.
  • the sending module 3100 is configured to send, to a server (or a third-party device), a request for finding a target object to be searched; the request is used to trigger the server to send a location record set; and the location record set includes at least two locations. Recording, a certain position record includes a coordinate of a reference position point and an identifier of a corresponding object to be searched; the one reference position point is obtained by the collection terminal when moving from a certain object search terminal The location of the strongest wireless signal;
  • the detecting module 3200 is configured to detect a wireless signal sent by the surrounding object-finding terminal, obtain the detected identifier of the object-finding terminal, and the strength of the wireless signal, where the target is searched for the target One of the object terminals;
  • the receiving module 3300 is configured to receive the location record set sent by the server;
  • the first obtaining module 3400 is configured to search for a target location record in the location record set received by the receiving module 3300, and obtain coordinates in the target location record; the target location record is included to include the target is found Location record of the object terminal identification;
  • the second obtaining module 3500 is configured to search for a reference location record in the location record set received by the receiving module 3300, and obtain coordinates in the reference location record; the reference location record is to include the object search terminal Detecting a location record of the identifier of the object to be searched;
  • the coordinate obtaining module 3600 is configured to calculate the coordinates of the object-finding terminal according to the coordinates obtained by the second obtaining module 3500, or the coordinates obtained by the second obtaining module 3500 and the wireless signal detected by the detecting module 3200. Calculating the coordinates of the object-finding terminal;
  • the navigation line obtaining module 3700 is configured to calculate a navigation route according to coordinates of the object-finding terminal obtained by the coordinate obtaining module 3600 and coordinates obtained by the first obtaining module 3400;
  • the navigation module 3800 is configured to search for the target object to be searched according to the navigation line obtained by the navigation line obtaining module 3700.
  • the detecting module 3200 includes: the detecting module includes: a detecting unit 3210, a determining unit 3220;
  • the detecting unit 3210 is configured to detect a wireless signal sent by the surrounding object-finding terminal, and obtain the detected identifier of the object-finding terminal and the strength of the wireless signal;
  • the determining unit 3220 is configured to determine, according to the signal ratio, whether the wireless signal detected by the detecting unit 3210 is a wireless signal sent by the object to be searched.
  • the determining unit 3220 is specifically configured to: determine whether a signal ratio of the wireless signal detected by the detecting unit 3210 is greater than or equal to a preset signal ratio threshold;
  • the detecting unit 3210 detects that the wireless signal is a wireless signal sent by the object to be searched;
  • the wireless signal detected by the detecting unit 3210 is not a wireless signal sent by the object to be searched.
  • the coordinate obtaining module 3600 is specifically configured to: The coordinates (Xi, Yi) of the object-finding terminal are calculated, wherein the coordinates obtained by the second obtaining module 3500 are (xi, yi), and n is the number of coordinates obtained by the second obtaining module 3500.
  • the coordinate obtaining module 3600 is specifically configured to: Calculating coordinates (Xi, Yi) of the object-finding terminal, wherein the coordinates obtained by the second obtaining module 3500 are (xi, yi), and Pi (dBm) is a wireless signal detected by the detecting module 3200.
  • the intensity, n is the number of coordinates obtained by the second obtaining module 3500.
  • the embodiment of the invention converts the stable positional relationship into a set of positional relationships including coordinates and identifiers based on the stable characteristics of the positional relationship between the objects to be found, and obtains the coordinates of the target object and the coordinates of the seeker according to the positional relationship set. Then, according to the coordinates of the target and the seeker, the navigation route is calculated, and the target object can be quickly and easily realized under the premise that the location information of the object to be searched and the seeker cannot be determined.
  • the object-seeking method provided by the embodiment of the invention does not need to arrange anchor nodes of known positions, which reduces the cost of arranging and maintaining the anchor nodes.
  • the server 4000 includes: a receiving module 4100, a first coordinate obtaining module 4200, a second coordinate obtaining module 4300, a navigation line obtaining module 4400, and a sending module 4500.
  • the receiving module 4100 is configured to receive a request for searching for a target object to be searched by the object search terminal, where the object search request carries an identifier of the target object to be found;
  • the first coordinate obtaining module 4200 is configured to obtain coordinates of the object-finding terminal
  • the second coordinate obtaining module 4300 is configured to search for a target location record in the location record set according to the identifier of the target object search terminal received by the receiving module 4100, and obtain coordinates in the target location record;
  • the location The record set includes at least two location records, and the one of the location records includes a coordinate of a reference location point and an identifier of the corresponding object to be searched; the reference location point is obtained by the collection terminal when the mobile terminal is moved. a location point of the most intense wireless signal of the object to be searched; the target location is recorded as a location record containing the identifier of the target object to be found;
  • the navigation line obtaining module 4400 is configured to calculate a navigation line according to the coordinates obtained by the first coordinate obtaining module 4200 and the coordinates obtained by the second coordinate obtaining module 4300;
  • the sending module 4500 is configured to send the navigation line obtained by the navigation line obtaining module 4400 to the object-finding terminal.
  • the first coordinate obtaining module 4200 is specifically configured to obtain coordinates of the object-finding terminal from the object-finding terminal.
  • the first coordinate obtaining module 4200 includes: a reference coordinate obtaining unit 4210, a coordinate obtaining unit 4220;
  • the reference coordinate obtaining unit 4210 is configured to search for a reference location record in the location record set, and obtain coordinates in the reference location record; the reference location record is received by the receiving module 4100 and includes the a location record of the identifier of the object-finding terminal detected by the object-finding terminal when transmitting the object-seeking request;
  • the coordinate obtaining unit 4220 is configured to calculate coordinates of the object-finding terminal according to coordinates obtained by the reference coordinate obtaining unit 4210, or according to coordinates obtained by the reference coordinate obtaining unit 4210 and received by the receiving module 4100.
  • the object-finding terminal calculates the coordinates of the object-finding terminal by detecting the intensity of the wireless signal sent by the object-finding terminal detected when the object-seeking request is transmitted.
  • the coordinate obtaining unit 4220 is specifically configured to: Calculating the coordinates (Xi, Yi) of the object-finding terminal, wherein the coordinates obtained by the reference coordinate obtaining unit 4210 are (xi, yi), and n is the number of coordinates obtained by the reference coordinate obtaining unit 4210;
  • the coordinates (Xi, Yi) of the object-finding terminal are calculated, wherein the coordinates obtained by the reference coordinate obtaining unit 4210 are (xi, yi), and Pi (dBm) is the homing received by the receiving module 4100.
  • the strength of the wireless signal detected by the object terminal, n is the number of coordinates obtained by the reference coordinate obtaining unit 4210.
  • the embodiment of the invention converts the stable positional relationship into a set of positional relationships including coordinates and identifiers based on the stable characteristics of the positional relationship between the objects to be found, and obtains the coordinates of the target object and the coordinates of the seeker according to the positional relationship set. Then, according to the coordinates of the target and the seeker, the navigation route is calculated, and the target object can be quickly and easily realized under the premise that the location information of the object to be searched and the seeker cannot be determined.
  • the object-seeking method provided by the embodiment of the invention does not need to arrange anchor nodes of known positions, which reduces the cost of arranging and maintaining the anchor nodes.
  • the embodiment of the present invention provides an application scenario of a parking lot car search: the owner A drives the car B to enter the parking lot C, and stops the car B in one place of the parking lot; the owner A leaves the parking lot and returns to the parking lot after a certain period of time. Looking for car B. In an actual situation, especially in a strange parking lot, even if the parking lot is marked with a guide icon and a code, the general car mainly wants to quickly find the car is a headache; the embodiment of the present invention provides a method for finding a car. details as follows:
  • the owner A After entering the parking lot, the owner A opens the object-finding terminal to search for objects; in actual implementation, the method of searching for objects can be turned into a search for a vehicle on the collection terminal, for example, a mobile phone with a car-seeking APP is a kind of object-finding terminal;
  • the object-finding terminal activated by the owner A scans the wireless signal sent by the device mounted on the surrounding parking car;
  • the parking lot pass card can be equipped with a device that can send wireless signals, and each pass card has a unique signal sign.
  • Each owner enters the parking lot and takes a pass card in the car. At this time, the pass card is equivalent to the object to be searched terminal described in the above embodiment;
  • the object search terminal opened by the owner A can obtain the wireless signal and the identifier sent by the scanned car through scanning; optionally, while scanning the surrounding wireless signal, the object search terminal sends a request for searching for the object to the parking server, requesting the server Sending a set of location records to the object-finding terminal;
  • the object-finding terminal searches for the location record containing the wireless signal identifier in the location record set fed back by the received server according to the wireless signal identifier obtained by the scan, and extracts the coordinates in the location record; the centroid method provided by the above embodiment or Calculating the coordinates of the object-finding terminal by weighted centroid method;
  • the destination card is used to scan the pass card placed on the vehicle to obtain the identifier of the wireless signal sent by the card;
  • the navigation line can be calculated, and the car A can be quickly found according to the navigation route.
  • the position record set in this embodiment is obtained by the position record sequence provided in the above embodiment and the method of fusing a plurality of position record sequences; optionally, the vehicle owner can use the object search terminal in the process of finding his own car.
  • the collection terminal runs in the background to implement the functions of the collection terminal described in the above embodiments, and provides data for obtaining and updating the location record set; optionally, the location record is obtained and updated periodically by the robot corresponding to the collection terminal moving in the parking lot.
  • the collection for example, collects the robot track in the arrangement in the parking lot, and moves the preset track in the parking lot every time interval to realize the function of the collecting terminal.
  • Embodiments of the present invention are formed by placing or installing a device capable of transmitting a wireless signal on a car, a search object carrying a object search terminal (or a collection terminal for installing an object search APP), and a collection terminal (a robot, a seeker carrying an object terminal)
  • An object-finding system determines a positional relationship of a car parked in a parking lot by a wireless signal, and the positional relationship is further converted into a set of identification position records including coordinates and a wireless signal sent by the automobile, and the object-finding terminal and the target are found based on the position record set.
  • the coordinates of the car that is, the coordinates in the position record containing the wireless signal identification sent by the target vehicle
  • the navigation route calculated by the coordinates of the two can realize the anchor node with no known arrangement position to quickly find the target parked in the parking lot.
  • the search for cars reduces the cost of arranging and maintaining equipment at known locations.
  • an embodiment of the present invention provides a method for finding a container. Specifically, each container is placed in a storage area of the port to install a device capable of transmitting a wireless signal carrying the identification identifier; The identification identifier is used to identify a corresponding container; the device may be a wireless transceiver, a radio frequency card, a Bluetooth device or an infrared device;
  • the terminal or robot carried by the worker moving in the storage area, the terminal and the robot carried by the worker can obtain the position indicating the positional relationship between the containers placed in the detected storage area by the method of obtaining the position recording sequence by the above embodiment. Record the sequence and send the location record sequence to the server in the warehouse area setting;
  • the server obtains a location record set indicating the relationship between the containers in the entire storage area by the method of fusing a plurality of location record sequences provided by the above embodiment based on the received location record sequence;
  • the search object carried by the seeker can automatically or after the seeker activates to start scanning the wireless signal sent by the container around the location of the storage area; the searcher carries a search object, optionally, can achieve the above Any device that provides the function of the object-finding terminal provided by the embodiment may be a collection terminal, such as a mobile phone, installed with the function of the object-finding terminal provided by the foregoing embodiment;
  • the searching terminal sends the wireless signal identifier and signal strength obtained by scanning the surrounding container to the server;
  • the server calculates the coordinates of the object-finding terminal by using the centroid method or the weighted centroid method provided by the above embodiment according to the coordinates in the position record containing the certain identifier searched by the location record set according to the wireless signal identifier or the coordinates and signals.
  • the target of the wireless signal sent by the object search terminal is obtained by the identifier of the wireless signal sent by the container in the location record set, and the navigation route is calculated based on the coordinates of the two, and the navigation route is sent to the object search terminal for finding the target Looking for containers;
  • the object-finding terminal does not scan the wireless signal identification and signal strength obtained by the surrounding container, but requests the server to place the stored location record set to the object-finding terminal, and the object-seeking terminal according to the server.
  • the location record set transformed by the positional relationship of the container is obtained, and the coordinates of the seeker (the object search terminal) and the target searched container are obtained in the position record set, and the navigation route is calculated according to the coordinates, so that the unneeded arrangement position can be realized.
  • the anchor node quickly finds the target container in the storage area and reduces the cost of arranging and maintaining the equipment at the known location.
  • the method of searching can also be applied to check whether a facility or device in a certain area is offset from a predetermined location.
  • the mechanism is to periodically update a location record set indicating a relationship relationship of a facility or a device, and if a location record set is changed or updated, the method is available.
  • the anchor node having the known arrangement position is not required to quickly check whether the facility or device of the certain area is offset from the predetermined position, and the cost of arranging and maintaining the known location device is reduced.

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Abstract

一种获得位置关系的方法，包括：将获得所述强度最强的无线信号的位置点记录为对应于被寻物终端的参考位置点；获得至少两个参考位置点；以至少两个参考位置点中的任一个为基准位置点，获得其它参考位置点与基准位置点的参考位置关系；参考位置关系用于指示其它参考位置点对应的被寻物终端与基准位置点对应的被寻物终端的位置关系。本发明实施例通过将寻物终端获得被寻物终端发出的无线信号中强度最强的无线信号的位置点记录为对应于上述被寻物终端的参考位置点，用上述参考位置点之间的位置关系指示对应的被被寻物终端的位置关系，能够实确定位置未知的被寻物终端之间的位置关系，且不需要布置位置已知锚节点,减少了布置及维护锚节点的成本。

Description

一种获得位置关系的方法和寻物的方法、设备及系统 技术领域
本发明涉及通信领域，尤其涉及一种获得位置关系及寻物的方法和系统。
背景技术
寻物属于定位导航的一类常见的应用。为辅助寻物，可以借助一些技术手段，通常如果能够分别确定被寻物以及寻找者的位置，则可以结合地图进行导航，指示寻找路线，确定位置可以利用定位的技术。
定位技术在商场导购、地下停车场导引、仓储物流、智能工厂等领域具备广阔的应用前景。目前的定位技术有基于无线信号测量的，比如基于无线信号强度、信号飞行时间、信号到达角的定位技术；有基于各种传感器信息的，比如基于惯导传感器(加速度计、陀螺仪、地磁计)、地磁、光、相机、声音传感器的定位技术。实际定位应用中，经常同时利用上述多种位置信息源，采用多种定位技术进行位置标定。
现有的一种基于无线技术的定位技术，需要部署大量的锚节点，上述锚节点是指位置已知的参考位置点或物；在被寻物终端上装有无线模块；在寻物或寻人是，寻找者携带的终端先利用无线信号扫描附近的锚节点以获得自己的位置；同时被寻物也通过无线模块对附近的锚节点进行扫描以获得自己的位置，并且通过无线信号将获得的位置发送给寻找者；寻找者根据自己的位置和接收到的被寻物的位置计算导航路线，实现寻物或寻人。
上述现有技术在进行定位的过程中需要布置大量位置已知的参照物，例如锚节点，布置大量位置已知的参照物不仅复杂而且布置和维护位置已知的参照物的成本很高，大大增加了定位的成本。
发明内容
本发明实施例提供了一种获得位置关系的方法、位置关系融合的方法、寻物的方法及其终端和设备，能够减少部署和维护位置已知的锚节点的成本。
第一方面提供了一种获得位置关系的方法，其特征在于，包括：
采集终端在移动时,检测周围的被寻物终端发出的无线信号；
获得某一个被寻物终端发出的多次无线信号中强度最强的无线信号，将获得所述强度最强的无线信号的位置点记录为对应于所述被寻物终端的参考位置点；其中，每一个被寻物终端对应一个参考位置点；
获得至少两个参考位置点；
以所述至少两个参考位置点中的任一个为基准位置点，获得其它参考位置点与所述基准位置点的参考位置关系；所述参考位置关系包括所述其它参考位置点相对于所 述基准位置点的距离和方向角度；所述参考位置关系用于指示所述其它参考位置点对应的被寻物终端与基准位置点对应的被寻物终端的位置关系。
结合第一方面，在第一方面的第一种可能的实现方式中，还包括：
设所述基准位置点的坐标为初始坐标，并给所述初始坐标赋值；
基于所述参考位置关系及所述初始坐标计算所述其它参考位置点的坐标；
对应于一个所述参考位置点,生成一条位置记录,所述位置记录包括所述参考位置点的坐标和其对应的被寻物终端的标识
将获得的所有所述位置记录组成一个位置记录序列。
结合第一方面的第一种可能的实现方式，在第一方面的第二种可能的实现方式中，该方法还包括：所述寻物终端将所述位置记录序列发送给第三方设备。
结合第一方面或结合第一方面的第一种可能的实现方式或结合第一方面的第二种可能的实现方式，在第一方面的第三种可能的实现方式中，所述检测周围的被寻物终端发出的无线信号包括：
基于信号比率判断所述寻物终端接收到的无线信号是否是所述被寻物终端发出的无线信号。
结合第一方面的第三种可能的实现方式，在第一方面的第四种可能的实现方式中，所述基于信号比率判断所述寻物终端接收到的无线信号是否是所述被寻物终端发出的无线信号包括：
预设一个信号比率阀值；
判断所述寻物终端接收到的无线信号的信号比率是否大于或等于所述信号比率阀值；
如果所述寻物终端接收到的无线信号的信号比率大于或等于所述信号比率阀值，则所述寻物终端接收到的无线信号是所述被寻物终端发出的无线信号；
否则，所述寻物终端接收到的无线信号不是所述被寻物终端发出的无线信号。
第二方面提供了一种位置关系融合的方法,其特征在于,包括:
接收至少两个位置记录序列；在一个坐标系中，将所述至少两个位置记录序列融合成一个位置记录集合，所述位置记录集合包含有对应所述至少两条位置记录的参考位置点在所述坐标系下的坐标及所述参考位置点对应的被寻物终端的标识。
结合第二方面，在第二方面的第一种可能的实现方式中，所述位置记录序列包括至少两条位置记录，且来自于采集终端；某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为所述采集终端在移动时，获得到来自某一个被寻物终端的强度最强的无线信号的位置点。
结合第二方面或第二方面的第一种可能的实现方式，在第二方面的第二种可能的实现方式中，所述将所述至少两个位置记录序列融合成一个位置记录集合，包括：
配置初始位置记录集合，将所述初始位置记录集合初始为空集；
将第一个位置记录序列中的位置记录添加至所述初始位置记录集合中得到添加位置记录集合，所述第一个位置记录序列是接收到的任意一个位置记录序列；
执行第一判断过程，判断下一个位置记录序列与所述添加位置记录集合中是否存在至少一个同一被寻物终端的位置记录；如果所述下一个位置记录序列与所述添加位 置记录集合存在至少一个同一被寻物终端的位置记录，则将所述下一个位置记录序列与所述添加位置记录集合合并成第一中间位置记录集合，并更新所述第一判断过程中的所述添加位置记录集合为所述第一中间位置记录集合；否则，不将所述下一个位置记录序列与所述添加位置记录集合合并，将所述下一个位置记录序列保存至暂存位置记录集合；
重复所述第一判断过程，直到判断完毕所接收到的所有位置记录序列，得到所述位置记录集合。
结合第二方面的第二种可能的实现方式，在第二方面的第三种可能的实现方式中，该方法进一步包括：
执行第二判断过程，遍历判断所述暂存位置记录集合中的所有位置记录序列与所述位置记录集合是否存至少一个同一被寻物终端的位置记录；如果所述暂存位置记录集合中的某一个位置记录序列与所述位置记录集合存在至少一个同一被寻物终端的位置记录，则将所述暂存位置记录集合中的某一个位置记录序列与所述位置记录集合合并成第二中间位置记录集合，并更新所述第二判断过程中的所述位置记录集合为所述第二中间位置记录集合；否则，将所述暂存位置记录集合中的某一个位置记录序列重新保存至所述暂存位置记录集合。
结合第二方面的第三种可能的实现方式，在第二方面的第四种可能的实现方式中，所述执行第二判断过程还包括：
在执行所述第二判断之前，执行第三判断；
其中，所述第三判断包括：与所述第一中间位置记录集合相比，所述位置记录集合中包含的被寻物终端数量是否增加；如果所述位置记录集合中包含的被寻物终端数量增加，则执行所述第二判断；否则，不执行第二判断。
结合第二方面的第四种可能的实现方式，在第二方面的第五种可能的实现方式中，所述与所述第一中间位置记录集合相比中的所述第一中间位置记录结合为第一次出现所述下一个位置记录序列保存至所述暂存位置记录集合时的所述第一中间位置记录集合。
结合第二方面的第二种可能的实现方式中或第二方面的第三种可能的实现方式或第二方面的第四种可能的实现方式或第二方面的第五种可能的实现方式,在第二方面的第六种可能的实现方式中,所述将所述下一个位置记录序列与所述添加位置记录集合合并成第一中间位置记录集合包括：根据某一同一被寻物终端在所述下一个位置记录序列中的坐标和在所述添加位置记录集合中的坐标得到第一坐标；对应于所述某一同一被寻物终端生成一条第一位置记录，所述第一位置记录包括所述第一坐标和所述某一同一被寻物终端的标识，所述第一坐标指示所述某一同一被寻物终端的坐标；
根据至少一个所述第一坐标及第一剩余被寻物终端在所述下一个位置记录序列中的坐标得到第二坐标，所述第一剩余被寻物终端为所述下一个位置记录序列中除同一被寻物终端外的某一被寻物终端；对应于所述第一剩余被寻物终端生成一条第二位置记录，所述第二位置记录包括所述第二坐标和所述第一剩余被寻物终端的标识，所述第二坐标指示所述第一剩余被寻物终端的坐标；
根据至少一个所述第一坐标及第二剩余被寻物终端在所述添加位置记录集合中 的坐标得到第三坐标，所述第二剩余被寻物终端为所述添加位置记录集合中除同一被寻物终端外的某一被寻物终端；对应于所述第二剩余被寻物终端生成一条第三位置记录，所述第三位置记录包括所述第三坐标和所述第二剩余被寻物终端的标识，所述第三坐标指示所述第二剩余被寻物终端的坐标；
将所有的所述第一位置记录、所述第二位置记录和所述第三位置记录汇总成第一中间位置记录集合。
结合第二方面的第三种可能的实现方式或第二方面的第四种可能的实现方式或第二方面的第五种可能的实现方式,在第二方面的第七种可能的实现方式中,所述将所述暂存位置记录集合中的某一个位置记录序列与所述位置记录集合合并成第二中间位置记录集合包括：
根据某一同一被寻物终端在所述暂存位置记录集合中的某一个位置记录序列中的坐标和在所述位置记录集合中的坐标得到第四坐标；对应于所述某一同一被寻物终端生成一条第四位置记录，所述第四位置记录包括所述第四坐标和所述某一同一被寻物终端的标识，所述第四坐标指示所述某一同一被寻物终端的坐标；
根据至少一个所述第四坐标及第三剩余被寻物终端在所述暂存位置记录集合中的某一个位置记录序列中的坐标得到第五坐标，所述第三剩余被寻物终端为所述所述暂存位置记录集合中的某一个位置记录序列中除同一被寻物终端外的某一被寻物终端；对应于所述第三剩余被寻物终端生成一条第五位置记录，所述第四位置记录包括所述第五坐标和所述第三剩余被寻物终端的标识，所述第五坐标指示所述第三剩余被寻物终端的坐标；
根据至少一个所述第四坐标及第四剩余被寻物终端在所述位置记录集合中的坐标得到第六坐标，所述第四剩余被寻物终端为所述位置记录集合中除同一被寻物终端外的某一被寻物终端；对应于所述第四剩余被寻物终端生成一条第六位置记录，所述第六位置记录包括所述第六坐标和所述第四剩余被寻物终端的标识，所述第六坐标为指示所述第四剩余被寻物终端的坐标；
将所有的所述第四位置记录、所述第五位置记录和所述第六位置记录汇总成第二中间位置记录集合。
第三方面提供了一种寻物的方法，其特征在于，包括：
寻物终端向第三方设备发送寻找目标被寻物终端的请求，并检测周围的被寻物终端发出的无线信号，所述目标被寻物终端为所述被寻物终端的一个或多个；
接收所述第三方设备发送的位置记录集合，所述位置记录集合包含有所述被寻物终端的位置记录，所述位置记录包括指示所述被寻物终端的坐标和所述被寻物终端的标识；
从所述位置记录集合获得指示所述目标被寻物终端的坐标及从所述位置记录集合获得指示所述寻物终端检测到的所述被寻物终端的坐标；
根据指示所述寻物终端检测到的所述被寻物终端的坐标计算所述被寻物终端的坐标，或者根据指示所述寻物终端检测到的所述被寻物终端的坐标及所述被寻物终端发出的无线信号的强度计算所述被寻物终端的坐标；
根据所述寻物终端的坐标和指示所述目标被寻物终端的坐标计算导航路线；
根据所述导航线路寻找所述目标被寻物终端。
结合第三方面,在第三方面的第一种可能的实现方式中,所述检测周围的被寻物终端发出的无线信号包括：基于信号比率判断所述寻物终端接收到的无线信号是否是所述被寻物终端发出的无线信号。
结合第三方面的第一种可能的实现方式中,在第三方面的第二种可能的实现方式中,所述基于信号比率判断所述寻物终端接收到的无线信号是否是所述被寻物终端发出的无线信号包括：
预设一个信号比率阀值；
判断所述寻物终端接收到的无线信号的信号比率是否大于或等于所述信号比率阀值；
如果所述寻物终端接收到的无线信号的信号比率大于或等于所述信号比率阀值，则所述寻物终端接收到的无线信号是所述被寻物终端发出的无线信号；
否则，所述寻物终端接收到的无线信号不是所述被寻物终端发出的无线信号。
结合第三方面或第三方面的第一种可能的实现方式或第三方面的第二种可能的实现方式,在第三方面的第三种可能的实现方式中,所述根据指示所述寻物终端检测到的所述被寻物终端的坐标计算所述被寻物终端的坐标的算法为质心法；
具体为：
设指示所述寻物终端检测到的所述被寻物终端的坐标(Xi，Yi)；
则所述寻物终端的坐标为
Figure PCTCN2017080307-appb-000001
结合第三方面或第三方面的第一种可能的实现方式或第三方面的第二种可能的实现方式,在第三方面的第四种可能的实现方式中,所述根据指示所述寻物终端检测到的所述被寻物终端的坐标及所述被寻物终端发出的无线信号的强度计算所述被寻物终端的坐标的算法为加权质心法；
具体为：
设指示所述寻物终端检测到的所述被寻物终端的坐标(Xi，Yi)，所述被寻物终端发出的无线信号的强度为Pi(dBm)；
则所述寻物终端的坐标为
Figure PCTCN2017080307-appb-000002
第四方面提供了一种寻物的方法，其特征在于，包括：
接收到寻物终端发送的寻找目标被寻物终端的寻物请求，所述寻物请求包括：所述目标寻物终端的标识；
获得所述寻物终端的坐标；
从位置记录集合中获得指示目标被寻物终端的坐标，所述位置记录集合包含有所述被寻物终端的位置记录，所述位置记录包括指示所述被寻物终端的坐标和所述被寻 物终端的标识；
根据所述寻物终端的坐标和所述目标被寻物终端的坐标计算导航线路；
将所述导航线路发送给所述寻物终端。
结合第四方面,在第四方面的第一种可能的实现方式中,所述获得所述寻物终端的坐标包括：
根据指示所述寻物终端检测到的所述被寻物终端的坐标计算所述寻物终端的坐标，或者根据指示所述寻物终端检测到的所述被寻物终端的坐标及所述被寻物终端发出的无线信号的强度计算所述被寻物终端的坐标；
其中，所述指示所述寻物终端检测到的所述被寻物终端的坐标在所述位置记录集合中获得。
结合第四方面的第一种可能的实现方式,在第四方面的第二种可能的实现方式中,所述根据指示所述寻物终端检测到的所述被寻物终端的坐标计算所述被寻物终端的坐标的算法为质心法；
具体为：
设指示所述寻物终端检测到的所述被寻物终端的坐标(Xi，Yi)；
则所述寻物终端的坐标为
Figure PCTCN2017080307-appb-000003
结合第四方面的第一种可能的实现方式,在第四方面的第三种可能的实现方式中,所述根据指示所述寻物终端检测到的所述被寻物终端的坐标及所述被寻物终端发出的无线信号的强度计算所述被寻物终端的坐标的算法为加权质心法；
具体为：
设指示所述寻物终端检测到的所述被寻物终端的坐标(Xi，Yi)，所述被寻物终端发出的无线信号的强度为Pi(dBm)；
则所述寻物终端的坐标为
Figure PCTCN2017080307-appb-000004
第五方面提供了一种采集终端，其特征在于，包括：射频RF模块、检测模块、惯导传感器模块、处理器、第一存储器、第二存储器；
所述RF模块用于收发通信信号，可用于与外界通过无线报文交互；
所述检测模块用于检测所述终端周围的无线信号；
所述惯导传感器模块用于测量所述终端的移动数据，所述移动数据包括距离和方向角度；
所述处理器用于指令运行程序；
所述第一存储模块用于存储预设程序；
所述第二存储器用于存储所述终端产生和接收到的数据文件；
所述处理器与所述第一存储器耦合，通过指令运行存储在所述第一存储器中的预 设程序，所述第一存储器中的所述预设程序接收所述处理器的指令，执行如下步骤：
所述采集终端在移动时,检测周围的被寻物终端发出的无线信号；
获得某一个被寻物终端发出的多次无线信号中强度最强的无线信号，将获得所述强度最强的无线信号的位置点记录为对应于所述被寻物终端的参考位置点；其中，每一个被寻物终端对应一个参考位置点；
获得至少两个参考位置点；
以所述至少两个参考位置点中的任一个为基准位置点，获得其它参考位置点与所述基准位置点的参考位置关系；所述参考位置关系包括所述其它参考位置点相对于所述基准位置点的距离和方向角度；所述参考位置关系用于指示所述其它参考位置点对应的被寻物终端与基准位置点对应的被寻物终端的位置关系。
结合第五方面,在第五方面的第一种可能的实现方式中,所述执行如下步骤还包括：设所述基准位置点的坐标为初始坐标，并给所述初始坐标赋值；
基于所述参考位置关系及所述初始坐标计算所述其它参考位置点的坐标；
对应于一个所述参考位置点,生成一条位置记录,所述位置记录包括所述参考位置点的坐标和其对应的被寻物终端的标识
将获得的所有所述位置记录组成一个位置记录序列。
第六方面提供了一种服务器，其特征在于，至少包括：通信模块、处理器、第一存储器、第二存储器；
通信模块用于收发通信信号，与外界通过无线报文交互；
所述处理器用于指令运行程序；
所述第一存储器用于存储预设程序；
所述第二存储器用于存储所述终端产生和接收到的数据文件；
所述处理器与所述第一存储器耦合，通过指令运行存储在所述第一存储器中的预设程序，所述第一存储器中的所述预设程序接收所述处理器的指令，执行如下步骤：
接收来自寻物终端的至少两个位置记录序列；所述位置记录序列包括至少两条位置记录；某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为所述采集终端在移动时，获得到来自某一个被寻物终端的强度最强的无线信号的位置点；
在一个坐标系中，将所述至少两个位置记录序列融合成一个位置记录集合，所述位置记录集合包含有对应所述至少两条位置记录的参考位置点在所述坐标系下的坐标及所述参考位置点对应的被寻物终端的标识。
结合第六方面,在第六方面的第一种可能的实现方式中,所述将所述至少两个位置记录序列融合成一个位置记录集合，包括：
配置初始位置记录集合，将所述初始位置记录集合初始为空集；
将第一个位置记录序列中的位置记录添加至所述初始位置记录集合中得到添加位置记录集合，所述第一个位置记录序列是接收到的任意一个位置记录序列；
执行第一判断过程，判断下一个位置记录序列与所述添加位置记录集合中是否存在至少一个同一被寻物终端的位置记录；如果所述下一个位置记录序列与所述添加位置记录集合存在至少一个同一被寻物终端的位置记录，则将所述下一个位置记录序列 与所述添加位置记录集合合并成第一中间位置记录集合，并更新所述第一判断过程中的所述添加位置记录集合为所述第一中间位置记录集合；否则，不将所述下一个位置记录序列与所述添加位置记录集合合并，且将所述下一个位置记录序列保存至暂存位置记录；
重复所述第一判断过程，直到判断完毕所接收到的所有位置记录序列，得到所述位置记录集合。
结合第六方面的第一种可能的实现方式,在第六方面的第二种可能的实现方式中,该设备进一步包括：
执行第二判断过程，遍历判断所述暂存位置记录集合中的所有位置记录序列与所述位置记录集合是否存至少一个同一被寻物终端的位置记录；如果所述暂存位置记录集合中的某一个位置记录序列与所述位置记录集合存在至少一个同一被寻物终端的位置记录，则将所述暂存位置记录集合中的某一个位置记录序列与所述位置记录集合合并成第二中间位置记录集合，并更新所述第二判断过程中的所述位置记录集合为所述第二中间位置记录集合；否则，将所述暂存位置记录集合中的某一个位置记录序列重新保存至所述暂存位置记录集合。
结合第六方面的第二种可能的实现方式,在第六方面的第三种可能的实现方式所述执行第二判断过程还包括：
在执行所述第二判断之前，执行第三判断；
其中，所述第三判断包括：与所述第一中间位置记录集合相比，所述位置记录集合中包含的被寻物终端数量是否增加；如果所述位置记录集合中包含的被寻物终端数量增加，则执行所述第二判断；否则，不执行第二判断。
结合第六方面的第三种可能的实现方式,在第六方面的第四种可能的实现方式中，所述与所述第一中间位置记录集合相比中的所述第一中间位置记录结合为第一次出现所述下一个位置记录序列保存至所述暂存位置记录集合时的所述第一中间位置记录集合。
结合第六方面的第一种可能的实现方式或第六方面的第二种可能的实现方式或第六方面的第三种可能的实现方式或第六方面的第四种可能的实现方式,在第六方面的第五种可能的实现方式中,所述将所述下一个位置记录序列与所述添加位置记录集合合并成第一中间位置记录集合包括：根据某一同一被寻物终端在所述下一个位置记录序列中的坐标和在所述添加位置记录集合中的坐标得到第一坐标；对应于所述某一同一被寻物终端生成一条第一位置记录，所述第一位置记录包括所述第一坐标和所述某一同一被寻物终端的标识，所述第一坐标指示所述某一同一被寻物终端的坐标；
根据至少一个所述第一坐标及第一剩余被寻物终端在所述下一个位置记录序列中的坐标得到第二坐标，所述第一剩余被寻物终端为所述下一个位置记录序列中除同一被寻物终端外的某一被寻物终端；对应于所述第一剩余被寻物终端生成一条第二位置记录，所述第二位置记录包括所述第二坐标和所述第一剩余被寻物终端的标识，所述第二坐标指示所述第一剩余被寻物终端的坐标；
根据至少一个所述第一坐标及第二剩余被寻物终端在所述添加位置记录集合中的坐标得到第三坐标，所述第二剩余被寻物终端为所述添加位置记录集合中除同一被 寻物终端外的某一被寻物终端；对应于所述第二剩余被寻物终端生成一条第三位置记录，所述第三位置记录包括所述第三坐标和所述第二剩余被寻物终端的标识，所述第三坐标指示所述第二剩余被寻物终端的坐标；
将所有的所述第一位置记录、所述第二位置记录和所述第三位置记录汇总成第一中间位置记录集合。
第六方面的第二种可能的实现方式或第六方面的第三种可能的实现方式或第六方面的第四种可能的实现方式,在第六方面的第六种可能的实现方式中,所述将所述暂存位置记录集合中的某一个位置记录序列与所述位置记录集合合并成第二中间位置记录集合包括：
根据某一同一被寻物终端在所述暂存位置记录集合中的某一个位置记录序列中的坐标和在所述位置记录集合中的坐标得到第四坐标；对应于所述某一同一被寻物终端生成一条第四位置记录，所述第四位置记录包括所述第四坐标和所述某一同一被寻物终端的标识，所述第四坐标指示所述某一同一被寻物终端的坐标；
根据至少一个所述第四坐标及第三剩余被寻物终端在所述暂存位置记录集合中的某一个位置记录序列中的坐标得到第五坐标，所述第三剩余被寻物终端为所述所述暂存位置记录集合中的某一个位置记录序列中除同一被寻物终端外的某一被寻物终端；对应于所述第三剩余被寻物终端生成一条第五位置记录，所述第四位置记录包括所述第五坐标和所述第三剩余被寻物终端的标识，所述第五坐标指示所述第三剩余被寻物终端的坐标；
根据至少一个所述第四坐标及第四剩余被寻物终端在所述位置记录集合中的坐标得到第六坐标，所述第四剩余被寻物终端为所述位置记录集合中除同一被寻物终端外的某一被寻物终端；对应于所述第四剩余被寻物终端生成一条第六位置记录，所述第六位置记录包括所述第六坐标和所述第四剩余被寻物终端的标识，所述第六坐标为指示所述第四剩余被寻物终端的坐标；
将所有的所述第四位置记录、所述第五位置记录和所述第六位置记录汇总成第二中间位置记录集合。
第七方面提供了一种寻物系统，包括：寻物终端，被寻物终端，服务器；
所述寻物终端检测周围所述被寻物终端的发出的无线信号；
所述寻物终端向所述服务器发送寻物请求，所述寻物请求携带所述目标被寻物终端的标识及检测结果，所述检测结果包括所述寻物终端检测到的所述被寻物终端的标识及无线信号强度；
所述服务器接收到所述寻物请求，在位置记录集合中产找所述目标被寻物终端的坐标；及根据所述寻物终端检测到的所述被寻物终端的标识及无线信号强度计算所述寻物终端的坐标；
根据寻物终端的坐标和所述目标被寻物终端的坐标计算导航路线；
所述服务器将所述导航路线发送给所述寻物终端。
第八方面提供了一种系统,包括：采集终端，被寻物终端，服务器；
所述采集终端为第五方面或第五方面的第一种可能的实现方式的任选一所述的采集终端；
所述服务器为第六方面或第六方面的第一种可能的实现方式或第六方面的第二种可能的实现方式或第六方面的第三种可能的实现方式或第六方面的第四种可能的实现方式或第六方面的第五种可能的实现方式或第六方面的第六种可能的实现方式的任选一所述的服务器。
本发明通过将获得被寻物终端发出的无线信号中强度最强的无线信号的位置点记录为对应于被寻物终端的参考位置点，用参考位置点之间的位置关系指示对应的被被寻物终端的位置关系，再基于参考位置点之间的位置关系确定寻物终端与目标被寻物终端的位置关系，能够实现在不布置位置已知的锚节点的情况下确定被寻物终端之间的位置关系，提供了一种更加简单的定位技术方案。
附图说明
图1：本发明实施例给出的一种寻物系统结构示意图；
图2：本发明实施例给出的一种获得位置记录序列方法的流程图；
图3：本发明实施例给出的一种融合多个位置记录序列方法的流程图；
图4：本发明实施例给出的一种融合多个位置记录序列方法的流程图；
图5：本发明实施例给出的一种获得位置记录方法的流程图；
图6：本发明实施例给出的一种更新位置记录集合方法的流程图；
图7：本发明实施例给出的一种更新位置记录集合方法的流程图；
图8：本发明实施例给出的一种寻物方法的流程图；
图9：本发明实施例给出的一种寻物方法的流程图；
图10：本发明实施例给出的一种获得位置记录方法的示意图；
图11：本发明实施例给出的一种获得位置记录集合的示意图；
图12：本发明实施例给出的一种判断直线轨迹方法的示意图；
图13：本发明实施例给出的一种辅助导航终端布置示意图；
图14：本发明实施例给出的一种获得目标被寻物位置记录方法的示意图；
图15：本发明实施例给出的一种获得位置记录序列方法的示意图；
图16：本发明实施例给出的一种转化坐标表示方法的示意图；
图17：本发明实施例给出的一种获得位置记录集合的流程图；
图18：本发明实施例给出的一种提取行李示意图；
图19：本发明实施例给出的一种终端下楼过程气压测量值变化示意图；
图20：本发明实施例给出的一种终端的示意图；
图21：本发明实施例给出的一种设备的示意图；
图22:本发明实施例给出的一种寻物终端的示意图；
图23：本发明实施例给出的一种服务器的示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然地，所描述的实施例是本发明一部分实施例，而不是全部的实施例。 需要说明的是，基于本发明的实施例，本领域普通技术人员在没有创造性劳动前提下所获得的所有其他实施例都属于本发明保护的范围。
本发明实施例适用于一定范围的空间,称为寻物空间。上述寻物空间内除了存在寻找者要寻找的对象，称为目标被寻物；还存在与目标被寻物相同或类似的其他物，其他物之间以及其他物与目标被寻物之间的位置关系在一定时间内是相对稳定的，可选的，寻物空间内的其他物可以是其他寻找者的目标被寻物，为了与目标被寻物在概念上加以区分，称为其他被寻物；寻物空间内的目标被寻物和其他被寻物统称为被寻物。例如：停车场是一个寻物空间，停泊在停车场内的所有车辆是被寻物，其中一辆汽车A是车主B要寻找的车辆，则车辆A是目标被寻物，而其他车辆是其他被寻物。
要实现寻物，需要确定寻找者和目标被寻物的位置，在根据两者位置进行导航，其主要技术在于如何定位，即如何确定寻找者和目标被寻物的位置。在现有定位技术中，例如基于无线技术的定位技术，需要布置大量锚节点，锚节点是指位置已知的节点或参照物，再根据锚节点的位置间接确定寻找者和目标被寻物的位置。本发明实施例提供的技术方案利用被寻物(包括目标被寻物)之间位置关系相对稳定的特点，基于无线信号技术和惯导测量技术确定被寻物之间的位置关系；再确定寻找者与周围被寻物之间的位置关系；最后可间接地确定寻找者与目标被寻物之间的位置关系，实现导航。能够实现在没有布置位置已知的锚节点的情况下确定寻找者与目标被寻物之间的位置关系，即确定寻找者和目标被寻物的位置。
本发明实施例提供了一种寻物系统，如图1所示,系统中存在以下关键设备：
被寻物终端：安置在被寻物(物、人、动物等)上的一种至少能够发送可识别无线信号的设备,包括目标被寻物终端和其他被寻物终端。可选的，寻物空间内具有发送可识别无线信号功能且与被寻物相对静止的设备或信号源可以作为被寻物终端，比如：WiFi设备、蓝牙设备。其中，可识别无线信号是指被寻物终端发出的无线信号携带有特定标识，该特定标识称之为被寻物终端的标识。
采集终端：具有收发无线信号功能且配备惯导传感器组(加速度计、陀螺仪、指南针、气压器等)的设备，用于获得指示被寻物终端位置关系的位置记录序列。其中，获得指示位置关系的位置记录序列的方法在下面的实施例详细描述。可选的，上述惯导传感器组根据功能可划分为距离测量模块和方向角测量模块。可选的，上述惯导传感器组的功能可以通过硬件组合实现，也可以通过软件模块实现。可选的，采集终端可以是专门用于获得指示被寻物终端位置关系的位置记录序列的设备，也可以是能够实现获得指示被寻物终端位置关系的位置记录序列功能的智能手机、智能手表等可采集终端。
寻物终端：寻找者携带的具有收发无线信号功能的设备，用于与服务器进行数据交互。可选的，寻物终端配备惯导传感器组(加速度计、陀螺仪、指南针、气压器等)，在寻物的过程中可作为采集终端，用于获得指示被寻物终端位置关系的位置记录序列。可选的，如果寻物终端处理能力较强，可用于基于服务器发送的数据计算导航路线。
服务器：可用于接收和处理来自采集终端的位置记录序列、寻物终端发送的请求、被寻物终端发送的数据，并将来自采集终端的位置记录序列融合成一个指示寻物空间内被寻物终端位置关系的位置记录集合。其中，将来自采集终端的指示位置关系的位 置记录序列融合成位置记录集合的方法在下面的实施例详细描述。可选的，服务器基于位置记录集合可以计算寻物终端到目标被寻物终端的导航路线。
在本发明实施例提供的寻物系统中，寻物终端与服务器可以通过无线通信技术实现交互；可选的，通过WiFi或蓝牙实现交互。可选的，被寻物终端与服务器通过无线技术实现交互；被寻物终端与服务器交互的目的在于：如果位置记录集合中不存在被寻物终端的位置记录，则需要该被寻物终端将其获得的其位置记录发送给服务器或者辅助服务器获得被寻终端的位置记录并添加至位置记录集合中。
本发明实施例提供一种获得位置关系的方法，如图2所示，具体步骤如下：
S100：采集终端寻物终端在移动时,检测周围的被寻物终端发出的无线信号；
S200：根据检测到的周围的被寻物终端发出的无线信号获得至少两个参考位置点，其中每一个参考位置点为所述采集终端获得对应的一个被寻物终端发出的多次无线信号中强度最强的无线信号的位置点；
S300：以所述至少两个参考位置点中的任一个为基准位置点，获得其它参考位置点中的每一个与所述基准位置点的参考位置关系；所述参考位置关系包括所述其它参考位置点中的每一个相对于所述基准位置点的距离和方向角；所述参考位置关系用于指示所述其它参考位置点中的每一个对应的被寻物终端与所述基准位置点对应的被寻物终端的位置关系。
进一步地，上述步骤还包括S400：设上述基准位置点的坐标为初始坐标，并给上述初始坐标赋值；基于上述参考位置关系及上述初始坐标计算上述其它参考位置点的坐标；对应一个上述参考位置点生成一条位置记录,上述位置记录包括上述参考位置点的坐标和其对应的被寻物终端的标识。
进一步地，上述步骤还包括：S500：将获得的所有所述位置记录组成一个位置记录序列；可选的，采集终端将上述位置记录序列发送给服务器。
可选的，S100中检测周围的被寻物终端发出的无线信号包括：基于信号比率判断上述采集终端接收到的无线信号是否是被寻物终端发出的无线信号。进一步地，上述基于信号比率判断上述采集终端接收到的无线信号是否是被寻物终端发出的无线信号包括：预设一个信号比率阀值；判断上述采集终端接收到的无线信号的信号比率是否大于或等于所述信号比率阀值；如果上述采集终端接收到的无线信号的信号比率大于或等于所述信号比率阀值，则上述采集终端接收到的无线信号是被寻物终端发出的无线信号；否则，上述采集终端接收到的无线信号不是被寻物终端发出的无线信号。举一个例子，预设比率值为60％，采集终端在一段直线轨迹上持续移动时间为10秒，采集终端检测信号的频率为每秒检测一次，若检测到的某一信号源发出的信号次数小于6次，则不处理该信号源；若检测的某一信号源发出的信号次数大于等于6次，则处理该信号源。
本发明实施例提供了一种位置关系融合的方法，用于将接收到的多个位置序列融合成位置记录集合的方法，如图3所示，具体步骤如下：
S1000：接收来自采集终端寻物终端的至少两个位置记录序列；上述位置记录序列包括至少两条位置记录；某一条位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；上述某一个参考位置点为采集终端在移动时获得到来自某一个被 寻物终端的强度最强的无线信号的位置点；
S2000：在一个坐标系中，将至少两个位置记录序列融合成一个位置记录集合，位置记录集合包含有对应至少两条位置记录的参考位置点在该坐标系下的坐标及参考位置点对应的被寻物终端的标识；
进一步地，上述步骤还包括S3000：对所述位置记录集合进行更新。
进一步地，S2000中将至少两个位置记录序列融合成一个位置记录集合的方法如图4所示，具体步骤如下：
S2100：配置位置记录集合，将上述位置记录集合初始为空集；
S2200：将第一个位置记录序列中的位置记录添加至上述位置记录集合，其中，第一个位置记录序列是接收到的任意一个位置记录序列；
S2300：执行第一判断过程，判断下一个位置记录序列与所述位置记录集合是否存在至少一个同一被寻物终端的位置记录；如果上述下一个位置记录序列与上述位置记录集合存在至少一个同一被寻物终端的位置记录，则将上述下一个位置记录序列合并到所述位置记录集合中；否则，将上述下一个位置记录序列保存至暂存位置记录集合；
S2400:重复上述第一判断过程，直到判断完毕所接收到的所有位置记录序列，得到所述位置记录集合。
进一步地，S2300中将下一个位置记录序列合并到所述位置记录集合中的方法如图5所示，具体步骤为下：
S2310：根据与第一被寻物终端对应的下一个位置记录序列中的坐标和上述位置记录集合中的坐标得到第一坐标，第一被寻物终端为上述下一个位置记录序列与上述位置记录集合存在的同一被寻物终端中的某一个；对应于上述第一被寻物终端生成一条第一位置记录，上述第一位置记录包括上述第一坐标和上述某一同一被寻物终端的标识；
S2320：根据上述第一坐标及与第一剩余被寻物终端对应的坐标得到第二坐标，上述第一剩余被寻物终端为上述下一个位置记录序列中除同一被寻物终端外的某一被寻物终端；对应于上述第一剩余被寻物终端生成一条第二位置记录，上述第二位置记录包括上述第二坐标和上述第一剩余被寻物终端的标识；
S2330：根据上述第一坐标及与第二剩余被寻物终端对应的坐标得到第三坐标，上述第二剩余被寻物终端为上述位置记录集合中除同一被寻物终端外的某一被寻物终端；对应于上述第二剩余被寻物终端生成一条第三位置记录，上述第三位置记录包括上述第三坐标和上述第二剩余被寻物终端的标识；
S2340：将生成的所有上述第一位置记录、上述第二位置记录和上述第三位置记录更替上述位置记录集合中的位置记录。
进一步地，S3000：对所述位置记录集合进行更新的方法如图6所示，具体步骤如下：
S3100:执行第二判断过程，判断上述暂存位置记录集合中的某一位置记录序列与上述位置记录集合是否存至少一个同一被寻物终端的位置记录；如果上述暂存位置记录集合中的某一个位置记录序列与上述位置记录集合存在至少一个同一被寻物终端 的位置记录，则将上述某一个位置记录序列合并到上述位置记录集合中；否则，将上述某一个位置记录序列重新保存至上述暂存位置记录集合；
S3200:重复上述第二判断过程，直到判断完毕上述暂存位置记录集合中的所有位置记录序列，得到更新后的位置记录集合。
进一步地，S3100中的将某一个位置记录序列合并到上述位置记录集合中的方法如图7所示，具体步骤如下：
S3110：根据与第二被寻物终端对应的上述某一个位置记录序列中的坐标和上述位置记录集合中的坐标得到第四坐标,上述第二被寻物终端为上述某一个位置记录序列与上述位置记录集合存在的同一被寻物终端中的某一个；对应于上述第二被寻物终端生成一条第四位置记录，上述第四位置记录包括上述第四坐标和上述某一同一被寻物终端的标识，上述第四坐标指示上述某一同一被寻物终端的坐标；
S3120：根据上述第四坐标及与第三剩余被寻物终端对应的上述某一个位置记录序列中的坐标得到第五坐标，上述第三剩余被寻物终端为上述某一个位置记录序列中除同一被寻物终端外的某一被寻物终端；对应于上述第三剩余被寻物终端生成一条第五位置记录，上述第四位置记录包括上述第五坐标和上述第三剩余被寻物终端的标识；
S3130:根据上述第四坐标及与第四剩余被寻物终端对应的上述位置记录集合中的坐标得到第六坐标，上述第四剩余被寻物终端为上述位置记录集合中除同一被寻物终端外的某一被寻物终端；对应于上述第四剩余被寻物终端生成一条第六位置记录，上述第六位置记录包括上述第六坐标和上述第四剩余被寻物终端的标识；
S3140:将生成的所有上述第四位置记录、上述第五位置记录和上述第六位置记录更替上述位置记录集合中的位置记录。
本发明实施例提供了一种寻物的方法。如图8所示，该寻物方法具体步骤如下：
S101：寻物终端向服务器发送寻找目标被寻物终端的寻物请求，并且检测周围的被寻物终端发出的无线信号；所述寻物请求用于触发所述服务器发送位置记录集合；所述位置记录集合包括至少两条位置记录，某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为采集终端在移动时获得到来自某一个被寻物终端的强度最强的无线信号的位置点；
S102：服务器接收到寻物终端发送的寻物请求后，将存储的位置记录集合发送给寻物终端；其中，位置记录集合可以通过上面实施例提供的方法获得。
S103：寻物终端接收到服务器发送的位置记录集合后，在位置记录集合中查找目标位置记录，并获得上述目标位置记录中的坐标，该坐标可以称为目标被寻物终端的坐标；其中，目标位置记录为包含目标被寻物终端标识的位置记录；并且，在位置记录集合中查找参考位置记录，并获得上述参考位置记录中的坐标；其中，参考位置记录为包含寻物终端检测到的所述被寻物终端的标识的位置记录；
S104：根据获得的上述参考位置记录中的坐标计算寻物终端的坐标，或者根据所述参考位置记录中的坐标及所述寻物终端检测到的所述被寻物终端发出的无线信号的强度计算所述寻物终端的坐标；具体的计算寻物终端坐标的方法在下面的实施例中描述。
S105:根据所述寻物终端的坐标和所述目标位置记录中的坐标计算导航路线计算 导航路线；
S106：寻物终端按照导航路线寻找目标被寻物终端。
在寻物终端计算能力有限的情况下，可选的，由服务器计算导航路线，再将导航路线发送给寻物终端用于寻物。本发明实施例提供了一种寻物方法，如图9所示，具体的寻物方法包括：
S201：寻物终端将寻找目标被寻物的寻物请求发送给服务器，并且检测周围的被寻物终端发出的无线信号；
S202：寻物终端将检测到的被寻物终端的信号强度及标识发送给服务器；
S203：服务器接收到寻物终端发送的寻物请求和检测到的被寻物终端的信号强度及标识。服务器在存储的位置记录集合中查找包含目标被寻物终端标识的目标位置记录和寻物终端发送的检测到被寻物终端标识的参考位置记录；且分别获得目标位置记录中的坐标和参考位置记录中的坐标；其中，目标位置记录中的坐标是指示目标被寻物位置关系的坐标，参考位置记录中的坐标是寻物终端发送的检测到被寻物终端的坐标；
S204：服务器根据寻物终端检测到的被寻物终端的坐标，或者寻物终端检测到的被寻物终端的坐标和强度计算寻物终端坐标；具体的计算寻物终端坐标的方法在下面的实施例中描述；
S205：服务器根据寻物终端的坐标和目标被寻物终端的坐标计算导航路线；且将上述计算得到的导航路线发送给寻物终端；
S206：寻物终端根据服务器发送的导航路线寻找目标被寻物终端。
本发明实施例基于寻找者携带着寻物终端、被寻物上安置被寻物终端、服务器组成的寻物系统，利用被寻物之间位置关系的相对稳定特点，将位置关系转化成<坐标，标识>的为基本要素的位置记录集合；在位置记录集合中可获得目标被寻物的坐标和寻找者的坐标，再根据目标被寻物和寻找者两者的坐标计算导航路线，能够实现在没有布置任何位置已知的锚节点的情况下确定被寻物与寻找者的位置关系，根据相对位置关系快速、简便的实现寻找目标。本发明实施例提供的寻物方法不需要布置已知位置的锚节点，降低了布置及维护锚节点的成本备。
基于以上实施例的描述，本发明实施例提供了一种计算寻物终端坐标的方法，其中，参考位置记录是指在位置记录集合中包含寻物终端检测到的周围被寻物终端标识的位置记录；关于位置记录集合请参见上面实施例中的描述与获得方法。
该方法有两种算法实现，分别是质心法和加权质心法，具体如下：
(1)质心法。根据参考位置记录中的坐标计算寻物终端的坐标的具体步骤如下：
假设参考位置记录中的坐标为(xi，yi)；
则寻物终端的坐标为
Figure PCTCN2017080307-appb-000005
其中，n为参考位置记录的个数。
(2)加权质心法。根据参考位置记录中的坐标及寻物终端检测到的被寻物终端发出的无线信号的强度计算寻物终端的坐标的具体步骤如下：
假设参考位置记录中的的坐标(xi，yi)，寻物终端检测到的被寻物终端发出的无线信号的强度为Pi(dBm)；
则寻物终端的坐标为
Figure PCTCN2017080307-appb-000006
其中，n为参考位置记录的个数。
本发明实施例提供了一种获得位置关系的方法，如图10所示，采集终端沿直线轨迹移动的过程中检测周围的被寻物终端发出的无线信号，将检测到的同一被寻物终端的多次不同强度的无线信号形成一个信号序列；在移动过程中，通过惯导传感器组测量相对于此前经过的位置点的距离、方向角；基于惯导传感器组测量的距离、方向角可以获得经过的参考位置点之间的位置关系上述参考位置点是采集动终端检测到信号序列中强度最大无线信号时的位置点。
进一步地，将获得的参考位置点的位置关系转化成坐标表示，具体方法为：设其中任一个上述参考位置点的坐标为初始坐标并赋值；在同一坐标系中，基于上述惯导传感器组测量的距离、方向角计算其余参考位置点的坐标。
进一步地，将一个被寻物终端的发出的无线信号的标识和对应的参考位置点的坐标组成该被寻物终端的位置记录；
进一步地，将直线轨迹上采集终端检测到的多个被寻物终端的位置记录组成该段直线轨迹的一个位置记录序列。
一般情况下，检测到的信号越强表明采集终端与被寻物终端的距离越近；信号强度最大时，根据几何原理，被寻物终端最可能在垂直于直线轨迹且过相应位置点的垂线上；此时，采集终端与被寻物终端的距离最近。正是基于上述理论，本发明实施例提供的技术方案将获得最强信号时的位置点与发出该信号的被寻物终端一一对应。在本发明实施例中，信号序列中最大强度是相对值；信号序列中的信号强度变化趋势可能是一直变大的，或者一直变小的，或者先变大再变小；一个信号序列中必然存在一个相对最大强度的信号，该信号就是信号序列中强度最大的无线信号。
本发明实施例通过将获得最强信号时的位置点与发出该信号的被寻物终端一一对应，可以提高确定被寻物终端之间位置关系的精确程度。
本发明是是提供了一种融合多个位置序列的方法，位置序列的获得可以通过上面实施例提供的方法，也可以是其他方法获得。如图10所示，具体步骤如下：
步骤1：配置位置记录集合M，且将M初始为空集；
步骤2：将第一个位置记录序列添加至位置记录集合M中，上述第一位置记录序列是首次获得的任意一个位置记录序列；
步骤3：考察下一个位置记录序列，标记为N；
若上述位置记录序列N中至少存在一个被寻物终端的位置记录出现在位置记录集合M中，则将该位置记录序列N与位置记录集合M合并成新的位置记录集合M；否则，忽略并保存该位置记录序列N；上述一个被寻物终端的位置记录出现在位置记录集合M中是指位置记录序列N和位置记录集合M都存在该被寻物终端的位置记录，但是两个位置记录中记录的坐标不一定相同，是根据位置记录中对应的被寻物终端标识判断；
重复执行步骤3，直至考察完毕所有的位置记录序列。
步骤4：判断位置记录集合M中的被寻物终端的数量是否增加；
若增加，则逐一考察步骤3中被忽略的位置记录序列，判断是否至少存在一个被寻物终端的位置记录出现在位置记录集合M中，上述一个被寻物终端的位置记录出现在位置记录集合M中是指位置记录序列N和位置记录集合M都存在该被寻物终端的位置记录，但是两个位置记录中记录的坐标不一定相同，是根据位置记录中对应的被寻物终端标识判断；若是，则将该位置记录序列N与位置记录集合M合并成新的位置记录集合M；否则，忽略并保存该位置记录序列，且继续考察下一个步骤3被忽略的位置记录；直至考察完毕所有步骤3中被忽略的位置记录序列；
否则进行步骤5。
步骤5：等待接收到新的位置记录序列，重新启动融合步骤。
进一步地，位置记录序列N与位置记录集合M合并成新的位置记录集合M的具体算法如下：
假设M与N有K个相同的被寻物终端；
该K个相同的被寻物终端在M中的坐标分别是：(x1，y1，z1)，(x2，y2，z2)，……，(xK，yK，zK)；
该K个相同的被寻物终端在N中的坐标分别是：(u1，v1，w1)，(u2，v2，w2)，……，(uK，vK，wK)；
M中剩余H个被寻物终端与N不相同，该H个不相同的被寻物终端在M中的坐标分别是：(xx1，yy1，zz1)，(xx2，yy2，zz2)，……，(xxH，yyH，zzH)；
N中剩余L个被寻物终端与M不相同，该L个不相同的被寻物终端在N中的坐标分别是：(uu1，vv1，ww1)，(uu2，vv2，ww2)，……，(uuL，vvL，wwL)；
设K个相同的被寻物终端在融合后的新的M中的坐标为(Xi，Yi，Zi)，其中i＝1～K，a∈(0,1)；
根据Xi＝a*xi+(1-a)*ui，Yi＝a*yi+(1-a*vi)，Zi＝a*zi+(1-a*wi)；
可获得新的M中K个相同的被寻物终端的坐标为(a*xi+(1-a)*ui，a*yi+(1-a*vi)，a*zi+(1-a*wi))；
设M剩余的H个不相同的被寻物终端在融合后的新M中的坐标为(XXp,YYp，ZZp)，其中p＝1～H；
则计算(XXp,YYp，ZZp)得
Figure PCTCN2017080307-appb-000007
或者
Figure PCTCN2017080307-appb-000008
设N剩余的L个不相同的被寻物终端在融合后的新M中的坐标为(UUq,VVq，WWq)，其中q＝1～L；
则计算(UUq,VVq，WWq)得
Figure PCTCN2017080307-appb-000009
或者
Figure PCTCN2017080307-appb-000010
将计算得到的新的M中的所有被寻物终端的坐标更新至M。
可选的，可选的，权值a＝W/(W+1)，上述W是融合过程中添加的位置记录序列的个数；可选的，权值a可以取0.5。本发明实施例提供了一种判断采集终端沿直线轨迹移动的方法，如图12所示，具体包括：；
采集终端在移动的过程中，实时通过配置的方向测量模块检测方向变化；可选的，采集终端通过加速器或是指南针测量方向变化；可选的，采集终端每一秒进行一次检测。
进一步地，采集终端预设一个方向变化率阀值；若方向测量模块检测到的方向变化超过了预设方向变化阀值，则判断采集终端发生了拐弯；比如：采集终端的方向测量模块检测到采集终端当前位置相对于初始位置的方向变化超过30度，则判断采集终端发生了拐弯；上述当前位置为拐弯点，标志着上一段直线轨迹结束，新的直线轨迹的开始。可选的，直线轨迹的方向去拐弯前多次检测值的平均值。
可选的，采集终端在移动的过程中，虽然判断没有发生拐弯，但是自初始位置或是上一段直线轨迹结束累计的移动距离达到或超过预设移动距离阀值，则判断当前直线移动轨迹结束，重新开始一段直线轨迹。
本发明实施例通过移动过程中的方向变化和移动距离判断采集终端是否是沿直线轨迹移动，能够保证采集终端沿直线轨迹移动，提高采集终端获得的被寻物终端之间的位置关系的准确程度。
在寻物空间内可存在如图13所示的情况，被寻物终端B离其余被寻物终端都比较远，由于一段直线轨迹的长度限定，存在每次检测都无法获得被寻物终端B的位置记录。可以通过布置适量的辅助导航终端，该辅助导航终端与被寻物终端的位置关系相对稳定且能够发出可识别无线信号，将其视作被寻物终端；可选的，也可以将与被寻物终端位置相对静止的环境信号源作为辅助导航终端，视为被寻物终端。通过布置辅助导航终端能够确保获得寻物空间内的所有被寻物终端之间的位置关系。
在位置记录集合中没有查找到包含目标被寻物终端标识的位置记录的情况，本发明实施例提供了一种获得目标被寻物终端坐标的方法，如图14所示，该方法具体如下：
S301：服务器向目标被寻物终端发送位置记录请求；
S302:目标被寻物终端检测周围其他被寻物终端发出的无线信号，并将检测到的无线信号强度和对应的标识发送给服务器；
S303：服务器根据目标被寻物终端检测到的无线信号强度和对应的标识计算目标被寻物终端的坐标；具体计算方法参见上面的实施例提供的计算寻物终端坐标的方法，即质心法和加权质心法。
进一步地，S304：服务器获得目标被寻物终端的坐标和其标识组成位置记录添加到位置记录集合中。位置记录集合参见上面的实施例的描述。
本发明实施例通过与目标被寻物终端检测到的其他被寻终端的坐标计算目标被寻物终端的坐标，能够实现在位置记录集合中不存在目标被寻物终端位置记录的情况获得目标被寻物终端的位置记录。
本发明实施例提供了一种获得位置记录序列的方法，如图15所示，具体方法如下：
寻物空间内存在被寻物终端602和被寻物终端603，两者的实际位置是未知的；采集终端601沿直线轨迹L移动；采集终端601在移动的过程中接收到被寻物终端602和被寻物终端603发出的无线信号，并对接收到的被寻物终端602和被寻物终端603发出的无线信号进行检测；根据上述检测的结果将检测的被寻物终端602发出的多次无线信号形成一个信号序列612；根据上述检测的结果将检测的被寻物终端603发出的多次无线信号形成一个信号序列613；采集终端601在直线轨迹L上位置点A处检测到的被寻物终端602发出的无线信号的强度最大，从图可以看出，被寻物终端602在过位置点A且垂直于直线轨迹L的直线上；在位置点A处，采集终端601与被寻物终端602的距离最近，可用位置点A表示被寻物终端602；同理，可用位置点B表示被寻物终端603；位置点A与位置点B之间的位置关系则表示被寻物终端602和被寻物终端603之间的位置关系；位置点A与位置点B之间的位置关系通过采集终端601的惯导传感器组测量的距离和方向角确定。
进一步地，将位置点A与位置点B之间的位置关系转化为坐标表示。如图16所示，以采集终端在平面内沿直线轨迹移动为例，具体的方法如下：
建立一个互相垂直的X-Y坐标系，位置点A到位置B的一段轨迹分别投影至X轴和Y轴，位置A和位置B可分别用X和Y表示；位置点A的坐标为(x1，y1)，位置点B的坐标为(x2，y2)；具体地，采集终端的惯导传感器组测量的从位置点A到位置点B的方向变化为α，单位是度；采集终端的惯导传感器组测量的从位置点A到位置点B的距离是d，由此可获得x2-x1＝d*cosα，y2-y1＝d*sinα；可选的，设位置点A的坐标为(0，0)，那么位置点B的坐标为(d*cosα，d*sinα)；上述根据惯导传感器组测量的位移确定的位置点之间位置关系可以推广至两个以上；将位置点A的坐标和被寻物终端602的标识组成被寻物终端602的位置记录1＝[signA(0，0)]；同样地，将位置点B的坐标和被寻物终端603的标识组成被寻物终端603的位置记录2＝[signB(d*cosα，d*sinα)]；将上述位置记录1和位置记录2组成采集终端601在直线轨迹L上的位置记录序列＝{[signA(0，0)]、[signB(d*cosα，d*sinα)]}。
本发明实施例通过获得最强信号的位置点的坐标和对应被寻物终端的标识组成位置记录，能够实现确定未知位置的多个被寻物终端之间的位置关系，根据被寻物终端的位置关系计算导航线路，减少了布置和维护已知位置锚节点的成本。
本发明实施例提供了一种获得位置记录集合的方法。如图17所示，服务器接收到3个位置记录序列；其中，位置记录序列1中包含被寻物终端A、B、C的位置记录，设A的坐标为(0，0)，根据A的坐标及与C和B之间的位置关系分别计算B的坐标为(xb，yb)、C的坐标为(xc，yc)，那么，位置记录序列1＝{[signA(0，0)]、 [signB(xb，yb)]、[signC(xc，yc)]}；位置记录序列2中包含被寻物终端B、C、D、E的位置记录，设B的坐标为(0，0)，根据B的坐标及与C、D、E之间的位置关系分别计算C的坐标为(uc，vc)、D的坐标为(ud，vd)、E的坐标为(ue，ve)，那么，位置记录序列2＝{[signB(0，0)]、[signC(uc，vc)]、[signD(ud，vd)]、[signE(ue，ve)]}；位置记录序列3包含被寻物终端E和F的位置记录，设E的坐标为(0,0)，根据E的坐标及与F的之间的位置关系计算F的坐标为(uf，vf)，那么位置记录序列3＝{[signE(0,0)]、[signF(uf，vf)]}。
服务器配置位置记录集合M，初始化M为空集；将第一个获得位置记录序列1添加至位置记录集合M中，M＝{A、B、C}；考察下一个位置记录序列2＝{B、C、D、E}，位置记录序列2存在被寻物终端B和C的位置记录出现在位置记录集合M中，则将位置记录序列2与位置记录集合融合，M将新增被寻物终端D和E的位置记录，那么M＝{A、B、C、D、E}；具体算法为：根据Xi＝a*xi+(1-a)*ui，Yi＝a*yi+(1-a*vi)，Zi＝a*zi+(1-a*wi)可计算B的新坐标为(xb/2，yb/2),C的新坐标为((xc+uc)/2，(yc+vc)/2)，取a＝1/2；根据
Figure PCTCN2017080307-appb-000011
和
Figure PCTCN2017080307-appb-000012
分别计算出A的新坐标为((uc-xb-xc)/4,(vc-yb-yc)/4)，D的新坐标为((uc-xb-xc)/4+ud,(vc-yb-yc)/4+vd)，E的新坐标为((uc-xb-xc)/4+ue,(vc-yb-yc)/4+ve)；将新计算的A、B、C、D、E的新坐标更新至新的M中，得到M＝{[signA((uc-xb-xc)/4,(vc-yb-yc)/4)]、[signB(xb/2，yb/2)]、[signC((xc+uc)/2，(yc+vc)/2)]、[signD((uc-xb-xc)/4+ud,(vc-yb-yc)/4+vd)]、[signE((uc-xb-xc)/4+ue,(vc-yb-yc)/4+ve)]}；
考察下一个位置记录序列3＝{E、F}，位置记录序列3存在被寻物终端E的位置记录出现在位置记录集合M中，则将位置记录序列3与位置记录集合M融合，M将新增被寻物终端F的位置记录，那么M＝{A、B、C、D、E、F}；具体算法为：根据Xi＝a*xi+(1-a)*ui，Yi＝a*yi+(1-a*vi)，Zi＝a*zi+(1-a*wi)可计算E的新坐标为((uc-xb-xc)/6+2*ue/3,(vc-yb-yc)/6+2*ve/3)，取a＝2/3；根据
Figure PCTCN2017080307-appb-000013
和
Figure PCTCN2017080307-appb-000014
分别计算A的新坐标为((uc-xb-xc)/6-ue/3,(vc-yb-yc)/6-ve/3)，B的新坐标为((7*xb+xc-uc)/12-ue/3,(7*yb+yc-vc)/12-ve/3)，C的新坐标为((xb+7*xc+5*uc)/12-ue/3,(yb+7*yc+5*vc)/12-ve/3)，D的新坐标为((uc-xb-xc)/6-ue/3+ud,(vc-yb-yc)/6-ve/3+vd)，F的新坐标为((xb+xc-uc)/12-ue/3+uf,(yb+yc-vc)/12-ve/3+vf)；将新计算的A、B、C、D、E、F的新坐标更新至新的M中，得到M＝{[signA((uc-xb-xc)/6-ue/3,(vc-yb-yc)/6-ve/3)]、[signB((7*xb+xc-uc)/12-ue/3,(7*yb+yc-vc)/12-ve/3)]、[signC((xb+7*xc+5*uc)/12-ue/3,(yb+7*yc+5*vc)/12-ve/3)]、[signD((uc-xb-xc)/6-ue/3+ud,(vc-yb-yc)/6-ve/3+vd)]、[signE((uc-xb-xc)/6+2*ue/3,(vc-yb-yc)/6+2*ve/3)]、[signF((xb+xc-uc)/12-ue/3+uf,(yb+yc-vc)/12-ve/3+vf)]}。
本发明实施例通过两个位置记录序列存在的相同的被寻物终端的坐标计算出在合并后的位置记录集合中其他被寻物终端的坐标，以此类推，能够获得一个包含更多被寻物终端位置记录的位置记录集合。
上面发明实施例都是以一段时间内被寻物不移动，寻找者通过导航线路寻找目标被寻物的情况；但是，存在寻找者较少或甚至不移动，而被寻物处于持续移动的场景。在这种场景内，被寻物之间的位置关系仍然是相对稳定的，同样能够适用本发明实现寻物的方法。不同之处在于，由相对测量模块测量寻找者与被寻物之间的位移数据。举一个典型的应用场景实例——提行李。如图18所示，具体方法如下：
传送带上安置测速传感器，测速传感器将检测到的传送带速度0.8米/秒的信息发送给周围的寻物终端A、B、C；
可选的，寻物终端A、B、C通过惯导传感器组测量自身的移动速度小于等于传送带的初始速度，判断测量的被寻物终端发出的无线信号生成的数据有效；
寻物终端各自检测周围的被寻物终端发出的无线信号，检测到的同一被寻物终端发出的无线信号形成一个信号序列，接收到信号序列中强度最大的无线信号时的寻物终端位置标记为位置点，位置点对应的被寻物终端在位置点处与寻物终端最近，用于表示对应被寻物终端的位置；根据寻物终端从一个位置点到另一个位置点的时间乘以传送带初始速度可获得位置点之间的距离；设其中一个位置点的坐标为0，根据相对距离可以计算出其余寻物终端检测到的被寻物终端的坐标；将被寻物终端的标识与对应位置点的坐标组成该被寻物终端的位置记录。可选的，寻物终端可以将检测到被寻物终端发出的无线信号的强度及自身的位移数据传送服务器，由服务器计算被寻物终端的位置记录，并形成位置记录集合。
假设经过计算，寻物终端A检测到的被寻物终端位置记录序列是{22(0),21(2.8),20(4.3),19(7.5),18(11),17(11.9),14(13),15(14.2),12(14.5),13(14.9)}，说明：括号内的数字表示坐标，单位为米；括号外的数字表示被寻物终端的标识；寻物终端B检测到的被寻物终端位置记录序列是{9(0),7(3.2),8(3.3),5(7.2),6(7.3),4(8.1),3(9.7),1(13.6),2(13.8),22(16.7)}；寻物终端C检测到的被寻物终端位置记录序列是{13(0),12(0.5),11(0.7),10(5.8),9(8.1),8(9.9),7(12.4)}。
假设寻物终端A要寻找的目标被寻物是被寻物终端1。寻物终端A、B、C将检测到被寻物终端的位置记录序列发送给服务器，形成一个包含更多被寻物终端位置记录的位置记录集合M。按照上述本发明实施例中的方法，首先将寻物终端A检测到的被寻物终端的位置记录序列添加到位置记录集合M中，即位置记录集合M＝{22(0),21(2.8),20(4.3),19(7.5),18(11),17(11.9),14(13),15(14.2),12(14.5),13(14.9)}；考察寻物终端B检测到的被寻物终端的位置记录序列，发现被寻物终端22出现在位置记录集合M中，将寻物终端B检测的被寻物终端的位置记录添加至M中；根据上述本发明实施例中的算法Xi＝a*xi+(1-a)*ui，取a＝1/2，可计算得到被寻物终端22的新坐标为(16.7+0)/2＝8.4；基于被寻物终端22的新坐标可以通过上述本发明实施例中的算法
Figure PCTCN2017080307-appb-000015
和
Figure PCTCN2017080307-appb-000016
得到其余的被寻物的坐标；将计算得到的M中的被寻物终端的新坐标更新至位置记录集合M，即M＝{9(-8.3),7(-5.1),8(-5),5(-1.1),6-1),4(-0.2),3(1.4),1(5.3),2(5.5),22(8.4),21(11.2),20(12.7),19(15.9),18(19.4),17(20.3),14(21.4),15(22.6),12(22.9),13(23.3)}；进一步地，变换坐标值。假设坐标最大值为40，则需要将坐标变换成[0,40)内的范围，根据变换公式可得到集合M＝{9(31.7),7(34.9),8(35),5(38.9),6(39),4(39.8),3(1.4),1(5.3),2(5.5),22(8.4),21(11.2),20(12.7),19(15.9),18(19.4),17(20.3),14(21.4),15(22.6),12(22.9),13(23.3)}；继续考察寻物终端C检测到的被寻物终端的位置记录序列，发现被寻物终端7、8、9、12、13的位置记录出现在集合M中，将寻物终端检测到被寻物终端的位置记录添加至位置记录结婚M中；同上算法，取a＝2/3，可计算的被寻物终端7、8、9、12、13的坐标分别为27.4、26.6、23.8、15.4、15.5；基于被寻物终端7、8、9、12、13的新坐标，通过上述同 样算法可计算位置记录集合M的其余被寻物终端的新坐标，并更新至位置记录集合M中，即M＝{5(31.3),6(31.4),4(32.2),3(33.8),1(37.7),2(37.9),22(0.8),21(3.6),20(5.1),19(8.3),18(11.8),17(12.7),14(13.8),15(15),12(15.4),13(15.5),11(16.3),10(21.4),9(23.8),8(26.6),7(27.4)}；
进一步地，寻物终端检测周围的被寻物终端发出的无线信号，将检测到的被寻物终端16、15、14、13的无线信号发送给服务器；服务器没有被寻物终端16的位置记录，因此根据被寻物终端15、14、13的坐标通过质心法得到的寻物终端A的坐标为(14.8)；目标被寻物终端1的坐标为(37.7)，因此计算得到寻物终端A与被寻物终端的1距离是22.9米，寻物终端将这一结果告知寻找者；可选的，也可以基于相对速度(传送带的初始速度)计算到达的时间，将时间告知寻找者；可选的，提示在离开寻找者方向的间距约为17.1米的位置。
值得注意的是，本实施例中的寻物终端同时具有采集终端与寻物终端的功能。在获得位置关系的时候，寻物终端是上面实施例描述的采集终端，在寻物的时候是上面描述的寻物终端。
本发明实施例基于相对测量仪测量结果获得位置点的坐标，将位置点的坐标与对应被寻物终端的标识组成位置记录，能够确定未知位置的多个被寻物终端之间的位置关系，根据位置关系计算导航结果，减少了布置和维护已知位置锚节点的成本。
前面几个实施例大多只考虑二维的平面，而实际应用可能涉及到多楼层，就形成了一个三维的寻物空间；这种情况只需将位置记录中的坐标参数增加一个表示高度的参数。在前面的二维平面实施例的基础上，本实施例中提供了一种测量高度方向位移的方法。可选的，通过气压传感器或者加速度器测量采集终端在高度方向上的位移，这些测量高度的传感器可以统称为高度测量模块。图19现实的是终端往楼下移动式测量的气压变化，基于气压变化可以计算出终端相对于此前经过的位置点的高度方向上的位移，位置点的概念与前面实施例中的定义保持一致。
本实施例提供的测量高度方向位移的方法，通过高度测量模块测量终端在高度方向上的位移，用于计算终端在高度方向上的位置关系，结合前面实施例中的方法和算法，能够获得表示三维寻物空间内未知位置的被寻物终端位置关系的位置记录集合，用于三维寻物空间内寻物，减少布置和维护已知位置的锚节点的成本。
本发明提供了一种采集终端，如图20所示，该采集终端1000包括：检测模块1100、第一获得模块1200、第二获得模块1300、赋值模块1400、坐标获得模块1500、生成模块1600、位置记录序列组成模块1700、发送模块1800；
检测模块1100，用于在采集终端1000移动时,检测周围的被寻物终端发出的无线信号；
第一获得模块1200，用于根据检测模块1100检测到的周围的被寻物终端发出的无线信号获得至少两个参考位置点，其中每一个参考位置点为所述采集终端获得对应的一个被寻物终端发出的多次无线信号中强度最强的无线信号的位置点；
第二获得模块1300，用于以第一获得模块1200获得的至少两个参考位置点中的 任一个为基准位置点，获得其它参考位置点与上述基准位置点的参考位置关系；上述参考位置关系包括所述其它参考位置点相对于上述基准位置点的距离和方向角度；上述参考位置关系用于指示上述其它参考位置点对应的被寻物终端与上述基准位置点对应的被寻物终端的位置关系；
赋值模块1400，用于设第二获得模块1300设定的基准位置点的坐标为初始坐标，并给上述初始坐标赋值；
坐标获得模块1500，用于基于第二获得模块1300获得的参考位置关系及赋值单元1400设的初始坐标计算上述其它参考位置点的坐标；
生成模块1600，用于对应一个第一获得模块1200获得的参考位置点生成一条位置记录,上述位置记录包括所对应的参考位置点的坐标和其对应的被寻物终端的标识；
位置记录序列组成模块1700，用于将生成模块1600生成的所有位置记录组成一个位置记录序列；
发送模块1800，用于将位置记录序列组成模块1700组成的位置记录序列发送给第三方设备；可选的，第三方设备可以是服务器。
进一步地，所述检测模块1100包括:检测单元1110和判断单元1120；所述检测单元1110，用于检测周围的被寻物终端发出的无线信号，获得检测到的所述被寻物终端的标识和无线信号的强度；
所述判断单元1120，用于基于信号比率判断所述检测单元1110检测到的无线信号是否是所述被寻物终端发出的无线信号。
进一步地，所述判断单元1120具体用于：判断所述检测单元1110检测到的无线信号的信号比率是否大于或等于预设的信号比率阀值；如果检测单元1110检测到的无线信号的信号比率大于或等于所述信号比率阀值，则所述检测单元1110检测到的无线信号是所述被寻物终端发出的无线信号；否则，所述检测单元1110检测到的无线信号不是所述被寻物终端发出的无线信号。
本发明提供的终端通过将终端获得被寻物终端发出的无线信号中强度最强的无线信号的位置点记录为对应于上述被寻物终端的参考位置点，用上述参考位置点之间的位置关系指示对应的被被寻物终端的位置关系，可基于上述位置关系获得表示被寻物终端位置关系的位置记录序列，能够实现确定位置未知的被寻物终端的位置关系，不需要布置位置已知的锚节点辅助确定上述位置未知的被寻物终端的位置关系，减少了布置及维护锚节点的成本。
本发明提供了一种设备，用于对位置关系进行融合，如图21所示，该设备2000包括；接收模块2100、融合模块2200；
所述接收模块2100，用于接收来自采集终端的至少两个位置记录序列；所述位置记录序列包括至少两条位置记录；某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为所述采集终端在迹移动时获得到来自某一个被寻物终端的强度最强的无线信号的位置点；
所述融合模块2200，用于在一个坐标系中，将所述接收模块2100接收的至少两个位置记录序列融合成一个位置记录集合，所述位置记录集合包含有对应所述至少两条位置记录的参考位置点在所述坐标系下的坐标及所述参考位置点对应的被寻物终 端的标识。
进一步地，所述融合模块2200包括：配置单元2210、添加单元2220、第一判断单元2230、暂存位置记录集合单元2240、第一重复单元2250；
所述配置单元2210，用于配置位置记录集合，且将所述位置记录集合初始为空集；
所述添加单元2220，用于将第一个位置记录序列中的位置记录添加至所述配置单元2210初始的位置记录集合，所述第一个位置记录序列是所述接收模块2100接收到的任意一个位置记录序列；
所述第一判断单元2230，用于判断所述接收模块2100接收到的下一个位置记录序列与所述位置记录集合是否存在至少一个同一被寻物终端的位置记录；如果所述下一个位置记录序列与所述位置记录集合存在至少一个同一被寻物终端的位置记录，则将所述下一个位置记录序列合并到所述位置记录集合中；否则，将所述下一个位置记录序列保存至所述暂存位置记录集合单元2240；
所述第一重复单元2250，用于触发所述第一判断单元2230重复判断过程，直到判断完毕所述接收模块2100接收到的所有位置记录序列，得到所述位置记录集合。
进一步地，所述第一判断单元2230包括：第一坐标获得子单元2231、第一位置记录生成子单元2232、第二坐标获得子单元2233、第二位置记录生成子单元2234、第三坐标获得子单元2235、第三位置记录生成子单元2236、第一更替子单元2237；
所述第一坐标获得子单元2231，用于根据与第一被寻物终端对应的所述接收模块2100接收到的下一个位置记录序列中的坐标和所述位置记录集合中的坐标得到第一坐标，所述第一被寻物终端为所述接收模块2100接收到的下一个位置记录序列与所述位置记录集合存在的同一被寻物终端中的某一个；
所述第一位置记录生成子单元22232，用于对应于所述第一被寻物终端生成一条第一位置记录，所述第一位置记录包括所述第一坐标获得子单元2231获得第一坐标和所述某一同一被寻物终端的标识；
所述第二坐标获得子单元2233，用于根据所述第一坐标获得子单元2231获得的第一坐标及与第一剩余被寻物终端对应的所述接收模块2100接收到的下一个位置记录序列中的坐标得到第二坐标，所述第一剩余被寻物终端为所述接收模块2100接收到的下一个位置记录序列中除同一被寻物终端外的某一被寻物终端；
所述第二位置记录生成子单元2234，用于对应于所述第一剩余被寻物终端生成一条第二位置记录，所述第二位置记录包括所述第二坐标获得子单元2233获得的第二坐标和所述第一剩余被寻物终端的标识；
所述第三坐标获得子单元2235，用于根据所述第一坐标获得子单元2231获得的第一坐标及与第二剩余被寻物终端对应的所述位置记录集合中的坐标得到第三坐标，所述第二剩余被寻物终端为所述位置记录集合中除同一被寻物终端外的某一被寻物终端；
所述第三位置记录生成子单元2236，用于对应于所述第二剩余被寻物终端生成一条第三位置记录，所述第三位置记录包括所述第三坐标获得子单元2235获得的第三坐标和所述第二剩余被寻物终端的标识；
所述第一更替子单元2237，用于将所有所述第一位置记录生成子单元2232生成 的第一位置记录、所述第二位置记录生成子单元2234生成的第二位置记录和所述第三位置记录生成子单元2236生成的第三位置记录更替所述位置记录集合中的位置记录。
进一步地，该设备2000还包括：位置记录集合更新模块2300，，用于对所述位置记录集合进行更新；
所述位置记录集合更新模块2300包括：第二判断单元2310、第二重复单元2320；
所述第二判断单元2310，用于判断所述暂存位置记录集合单元2240存储的某一位置记录序列与所述位置记录集合是否存至少一个同一被寻物终端的位置记录；如果所述暂存位置记录集合单元2240存储的某一个位置记录序列与所述位置记录集合存在至少一个同一被寻物终端的位置记录，则将所述某一个位置记录序列合并到所述位置记录集合中；否则，将所述某一个位置记录序列重新保存至所述暂存位置记录集合单元2240；
第二重复单元2320，用于触发第二判断单元2310重复判断过程，直到判断完毕所述暂存位置记录集合单元存储的所有位置记录序列，得到更新后的位置记录集合。
进一步地，所述第二判断单元2310包括：第四坐标获得子单元2311、第四位置记录生成子单元2312、第五坐标获得子单元2313、第五位置记录生成子单元2314、第六坐标获得子单元2315、第六位置记录生成子单元2316、第二更替子单元2317；
所述第四坐标获得子单元2311，用于根据与第二被寻物终端对应的所述暂存位置记录集合单元2240存储的某一个位置记录序列中的坐标和所述位置记录集合中的坐标得到第四坐标,所述第二被寻物终端为所述暂存位置记录集合单元2240存储的某一个位置记录序列与所述位置记录集合存在的同一被寻物终端中的某一个；
所述第四位置记录生成子单元2312，用于对应于所述第二被寻物终端生成一条第四位置记录，所述第四位置记录包括所述第四坐标获得子单元2311获得第四坐标和所述某一同一被寻物终端的标识；
所述第五坐标获得子单元2313，用于根据所述第四坐标获得子单元2311获得的第四坐标及与第三剩余被寻物终端对应的所述暂存位置记录集合单元2240存储的某一个位置记录序列中的坐标得到第五坐标，所述第三剩余被寻物终端为所述暂存位置记录集合单元2240存储的某一个位置记录序列中除同一被寻物终端外的某一被寻物终端；
所述第五位置记录生成子单元2314，用于对应于所述第三剩余被寻物终端生成一条第五位置记录，所述第四位置记录包括所述第五坐标获得子单元2313获得的第五坐标和所述第三剩余被寻物终端的标识；
所述第六坐标获得子单元2315，用于根据所述第四坐标子单元2311获得的第四坐标及与第四剩余被寻物终端对应的所述位置记录集合中的坐标得到第六坐标，所述第四剩余被寻物终端为所述位置记录集合中除同一被寻物终端外的某一被寻物终端；
所述第六位置记录生成子单元2316，用于对应于所述第四剩余被寻物终端生成一条第六位置记录，所述第六位置记录包括所述第六坐标获得子单元2315获得的第六坐标和所述第四剩余被寻物终端的标识；
所述第二更替子单元2317，用于将所有所述第四位置记录生成子单元2312生成 的第四位置记录、所述第五位置记录生成子单元2314生成的第五位置记录和所述第六位置记录生成子单元2316生成的第六位置记录更替所述位置记录集合中的位置记录。
本发明实施例提供的设备将接收到的位置记录序列根据是否存在包含相同被寻物终端标识的位置记录为标准进行融合以获得位置记录集合，能够实现将多个位置记录序列融合成一个位置记录集合。
本发明实施例提供了一种寻物终端，如图22所示，该寻物终端3000包括：发送模块3100、检测模块3200、接收模块3300、第一获得模块3400、第二获得模块3500、坐标获得模块3600、导航线路获得模块3700、导航模块3800；
所述发送模块3100，用于向服务器(或第三方设备)发送寻找目标被寻物终端的请求；所述请求用于触发所述服务器发送位置记录集合；所述位置记录集合包括至少两条位置记录，某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为采集终端在移动时获得到来自某一个被寻物终端的强度最强的无线信号的位置点；
所述检测模块3200，用于检测周围的被寻物终端发出的无线信号，获得检测到的所述被寻物终端的标识和无线信号的强度，所述目标被寻物终端为所述被寻物终端中的一个；
所述接收模块3300，用于接收所述服务器发送的所述位置记录集合；
所述第一获得模块3400，用于在所述接收模块3300接收的位置记录集合中查找目标位置记录，并获得所述目标位置记录中的坐标；所述目标位置记录为包含所述目标被寻物终端标识的位置记录；
所述第二获得模块3500，用于在所述接收模块3300接收的位置记录集合中查找参考位置记录，并获得所述参考位置记录中的坐标；所述参考位置记录为包含所述寻物终端检测到的所述被寻物终端的标识的位置记录；
所述坐标获得模块3600，用于根据所述第二获得模块3500获得的坐标计算所述寻物终端的坐标，或者根据第二获得模块3500获得的坐标及所述检测模块3200检测到的无线信号的强度计算所述寻物终端的坐标；
所述导航线路获得模块3700，用于根据所述坐标获得模块3600获得的寻物终端的坐标和所述第一获得模块3400获得的坐标计算导航路线；
所述导航模块3800，用于根据所述导航线路获得模块3700获得的导航线路寻找所述目标被寻物终端。
进一步地，所述检测模块3200包括：所述检测模块包括：检测单元3210、判断单元3220；
所述检测单元3210，用于检测周围的被寻物终端发出的无线信号，获得检测到的所述被寻物终端的标识和无线信号的强度；
所述判断单元3220，用于基于信号比率判断所述检测单元3210检测到的无线信号是否是所述被寻物终端发出的无线信号。
进一步地，所述判断单元3220具体用于：判断所述检测单元3210检测到的无线信号的信号比率是否大于或等于预设的信号比率阀值；
如果所述检测单元3210检测到的无线信号的信号比率大于或等于所述信号比率阀值，则所述检测单元3210检测到无线信号是所述被寻物终端发出的无线信号；
否则，所述检测单元3210检测到的无线信号不是所述被寻物终端发出的无线信号。
可选的，所述坐标获得模块3600具体用于：根据
Figure PCTCN2017080307-appb-000017
计算得到所述寻物终端的坐标(Xi，Yi)，其中，所述第二获得模块3500获得的坐标为(xi，yi)，n为所述第二获得模块3500获得的坐标的个数。
可选的，所述坐标获得模块3600具体用于：根据
Figure PCTCN2017080307-appb-000018
计算得到所述寻物终端的坐标(Xi，Yi)，其中，所述第二获得模块3500获得的坐标为(xi，yi)，Pi(dBm)为所述检测模块3200检测到的无线信号的强度，n为所述第二获得模块3500获得的坐标的个数。
本发明实施例基于被寻物之间位置关系的稳定特点，将稳定的位置关系转化为包含坐标和标识的位置关系集合，根据位置关系集合可获得目标被寻物的坐标和寻找者的坐标，再根据目标被寻物和寻找者两者的坐标计算导航路线，能够在无法确定被寻物与寻找者位置信息的前提下，快速、简便的实现寻找目标物。本发明实施例提供的寻物方法不需要布置已知位置的锚节点，降低了布置及维护锚节点的成本。
本发明实施例提供了一种服务器，如图23所示，该服务器4000包括：接收模块4100、第一坐标获得模块4200、第二坐标获得模块4300、导航线路获得模块4400、发送模块4500；
所述接收模块4100，用于接收寻物终端发送的寻找目标被寻物终端的寻物请求，所述寻物请求携带有所述目标被寻物终端的标识；
所述第一坐标获得模块4200，用于获得所述寻物终端的坐标；
所述第二坐标获得模块4300，用于根据所述接收模块4100接收到的目标寻物终端的标识在位置记录集合中查找目标位置记录，并获得所述目标位置记录中的坐标；所述位置记录集合包括至少两条位置记录，某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为采集终端在移动时获得到来自某一个被寻物终端的强度最强的无线信号的位置点；所述目标位置记录为包含所述目标被寻物终端标识的位置记录；
所述导航线路获得模块4400，用于根据所述第一坐标获得模块4200获得的坐标和所述第二坐标获得模块4300获得的坐标计算导航线路；
所述发送模块4500，用于将所述导航线路获得模块4400获得的导航线路发送给所述寻物终端。
可选的，所述第一坐标获得模块4200具体用于从所述寻物终端获得所述寻物终端的坐标。
可选的，所述第一坐标获得模块4200包括：参考坐标获得单元4210、坐标获得单元4220；
所述参考坐标获得单元4210，用于在所述位置记录集合中查找参考位置记录，并获得所述参考位置记录中的坐标；所述参考位置记录为所述接收模块4100接收到的包含所述寻物终端在发送所述寻物请求时检测到的所述被寻物终端的标识的位置记录；
所述坐标获得单元4220，用于根据所述参考坐标获得单元4210获得的坐标计算所述寻物终端的坐标，或者根据所述参考坐标获得单元4210获得的坐标及所述接收模块4100接收到的所述寻物终端在发送所述寻物请求时检测到的所述被寻物终端发出的无线信号的强度计算所述寻物终端的坐标。
进一步地，所述坐标获得单元4220具体用于：根据
Figure PCTCN2017080307-appb-000019
计算得到所述寻物终端的坐标(Xi，Yi)，其中，所述参考坐标获得单元4210获得的坐标为(xi，yi)，n为所述参考坐标获得单元4210获得的坐标的个数；
或者，根据
Figure PCTCN2017080307-appb-000020
计算得到所述寻物终端的坐标(Xi，Yi)，其中，所述参考坐标获得单元4210获得的坐标为(xi，yi)，Pi(dBm)为所述接收模块4100接收到的所述寻物终端检测到的无线信号的强度，n为所述参考坐标获得单元4210获得的坐标的个数。
本发明实施例基于被寻物之间位置关系的稳定特点，将稳定的位置关系转化为包含坐标和标识的位置关系集合，根据位置关系集合可获得目标被寻物的坐标和寻找者的坐标，再根据目标被寻物和寻找者两者的坐标计算导航路线，能够在无法确定被寻物与寻找者位置信息的前提下，快速、简便的实现寻找目标物。本发明实施例提供的寻物方法不需要布置已知位置的锚节点，降低了布置及维护锚节点的成本。
本发明实施例提供了的一种停车场寻车的应用场景：车主A驾驶汽车B进入停车场C，将汽车B停在停车场的一处；车主A离开停车场过了一段时间返回停车场寻找汽车B。在实际场景中，特别是在陌生的停车场，即使停车场标有指引图标和编码，一般车主要想快速寻找汽车也是一件头痛的事；本发明实施例提供了一种寻车的方法，具体如下：
车主A进入停车场后打开寻物终端进行寻物；在实际实现中，寻物方法可以具化为采集终端上的一个寻车APP，例如安装寻车APP的手机是一种寻物终端；
1、车主A激活的寻物终端扫描周围停放的汽车上装有的设备发出的无线信号； 在实际实现中，停车场通行卡可以植入一种能发出无线信号的装置，且每一张通行卡都有特有的信号标识，每一个车主进入停车场时取一张通行卡放在车中，此时通行卡相当于上面实施例描述的被寻物终端；
2、车主A打开的寻物终端通过扫描可以获得扫描到的汽车发出的无线信号及标识；可选的，扫描周围无线信号的同时，寻物终端会向停车场服务器发送寻物请求，请求服务器将位置记录集合发送至寻物终端；
3、寻物终端根据扫描获得的无线信号标识在接收到的服务器反馈的位置记录集合中查找包含有无线信号标识的位置记录，并提取位置记录中的坐标；通过上面实施例提供的质心法或加权质心法计算寻物终端的坐标；
4、在根据汽车A发出的无线信号的标识在位置记录集合中查找包含汽车A发出的无线信号标识的位置记录，在该位置记录中提取的坐标为汽车A的坐标；在实际实现中，车主在停放车后用寻物终端扫描放在车上的通行卡获得该卡发出的无线信号的标识；
5、根据寻物终端的坐标和汽车A的坐标可以计算导航线路，根据导航路线可以很快的找到汽车A。
本实施例中的位置记录集合是通过上面的实施例中提供的位置记录序列和融合多个位置记录序列的方法获得；可选的，车主在寻找自己车的的过程中，寻物终端可以作为采集终端在后台运行实现上面的实施例描述的采集终端的功能，为获得和更新位置记录集合提供数据；可选的，定时地通过在停车场移动的相当于采集终端的机器人获得和更新位置记录集合，例如，在停车场内的布置采集机器人轨道，每间隔一段时间就在停车场内按预设轨道移动实现采集终端的功能。
本发明实施例通过在汽车上放置或安装能够发射无线信号的设备、寻物者携带寻物终端(或者安装寻物APP的采集终端)、采集终端(机器人、寻找者携带寻的物终端)形成一个寻物系统，通过无线信号确定停车场停放的汽车的位置关系，位置关系进一步转化成包含坐标和汽车发出的无线信号的标识位置记录集合，基于位置记录集合获得指示寻物终端和目标被寻汽车的坐标(即包含目标被寻汽车发出的无线信号标识的位置记录中的坐标)，通过两者的坐标计算导航路线能够实现不需要布置位置已知的锚节点快速找到停放在停车场的目标被寻汽车，降低了布置和维护已知位置设备的成本。
在另一个实际应用场景中，本发明实施例提供了一种寻找集装箱的方法，具体的，每一个集装箱在放置在在港口仓储区域前安置一个能够发射携带有识别标识的无线信号的设备；该识别标识用来识别对应的集装箱；该设备可以为无线收发器，射频卡，蓝牙设备或者红外装置等；
1、通过在仓储区域移动的工人携带的终端或是机器人，工人携带的终端和机器人可以通过上述实施例获得位置记录序列的方法获得表示检测到的仓储区域内放置的集装箱之间位置关系的位置记录序列，并将位置记录序列发送至仓储区域设置的服务器；
2、服务器基于接收到的位置记录序列通过上述实施例提供的融合多个位置记录序列方法获得指示整个仓储区域内集装箱之间关系的位置记录集合；
3、寻找者携带的寻物终端启动时可以自动或寻找者激活后开始扫描所处仓储区域位置周围的集装箱发出的无线信号；寻找者携带一种寻物终端，可选的，可以是实现上述实施例提供的寻物终端功能的任一设备，也可以是安装有一个实现上述实施例提供的寻物终端功能APP的采集终端，例如手机；
4、寻物终端将扫描周围集装箱获得的无线信号标识及信号强度发送给服务器；
5、服务器基于根据无线信号标识在位置记录集合查找的包含某一标识的位置记录中的坐标中或坐标及信号通过以上实施例提供的质心法或加权质心法计算寻物终端的坐标，在通过寻物终端发送的目标被寻集装箱发出的无线信号的标识在位置记录集合中获得目标被寻集装箱的坐标，基于两者坐标计算导航路线，并将导航路线发送给寻物终端用于寻找目标被寻集装箱；
当然可代替上述第4和5步的是，寻物终端不将扫描周围集装箱获得的无线信号标识及信号强度，而是请求服务器将存储的位置记录集合放给寻物终端，寻物终端根据服务器获得寻物终端和目标被寻物集装箱坐标的方法获得寻物终端和目标被寻物集装箱坐标，并基于两者坐标计算导航路线，在根据导航路线寻找目标被寻集装箱。
本发明实施例通过集装箱的位置关系转化的位置记录集合，并在位置记录集合获得寻找者(寻物终端)和目标被寻集装箱的坐标，根据坐标计算导航路线，能够实现不需要布置位置已知的锚节点快速找到仓储区域内的目标被寻集装箱，降低了布置和维护已知位置设备的成本。
该寻物方法同样可以应用到检查一定区域的设施或设备是否偏移预定的位置，机制是不定期更新表示设施或设备位置关系的位置记录集合，若出现位置记录集合发生改变或更新，则可用于判断设施或设备是否偏移预定的位置，能够实现不需要布置位置已知的锚节点快速检查一定区域的设施或设备是否偏移预定的位置，降低了布置和维护已知位置设备的成本。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (32)

  1. 一种获得位置关系的方法，其特征在于，包括：
    采集终端在移动时,检测周围的被寻物终端发出的无线信号；
    根据检测到的周围的被寻物终端发出的无线信号获得至少两个参考位置点，其中每一个参考位置点为所述采集终端获得对应的一个被寻物终端发出的多次无线信号中强度最强的无线信号的位置点；
    以所述至少两个参考位置点中的任一个为基准位置点，获得其它参考位置点中的每一个与所述基准位置点的参考位置关系；所述参考位置关系包括所述其它参考位置点中的每一个相对于所述基准位置点的距离和方向角；所述参考位置关系用于指示所述其它参考位置点中的每一个对应的被寻物终端与所述基准位置点对应的被寻物终端的位置关系。
  2. 如权利要求1所述的方法，其特征在于，还包括：
    设所述基准位置点的坐标为初始坐标，并给所述初始坐标赋值；
    基于所述参考位置关系及所述初始坐标计算所述其它参考位置点的坐标；
    对应一个所述参考位置点生成一条位置记录,所述位置记录包括所述参考位置点的坐标和其对应的被寻物终端的标识；
    将获得的所有所述位置记录组成一个位置记录序列。
  3. 如权利要求2所述的方法，其特征在于，还包括：所述采集终端将所述位置记录序列发送给第三方设备。
  4. 如权利要求1-3任选一所述的方法，其特征在于，所述检测周围的被寻物终端发出的无线信号包括：
    基于信号比率判断所述采集终端接收到的无线信号是否是所述被寻物终端发出的无线信号。
  5. 如权利要求4所述的方法，其特征在于，所述基于信号比率判断所述采集终端接收到的无线信号是否是所述被寻物终端发出的无线信号包括：
    判断所述采集终端接收到的无线信号的信号比率是否大于或等于预设的信号比率阀值；
    如果所述采集终端接收到的无线信号的信号比率大于或等于所述信号比率阀值，则所述采集终端接收到的无线信号是所述被寻物终端发出的无线信号；
    否则，所述采集终端接收到的无线信号不是所述被寻物终端发出的无线信号。
  6. 一种位置关系融合的方法,其特征在于,包括:
    接收来自采集终端的至少两个位置记录序列；所述位置记录序列包括至少两条位置记录；某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为所述采集终端在移动时获得到来自某一个被寻物终端的强度最强的无线信号的位置点；
    在一个坐标系中，将所述至少两个位置记录序列融合成一个位置记录集合，所述位置记录集合包含有对应所述至少两条位置记录的参考位置点在所述坐标系下的坐 标及所述参考位置点对应的被寻物终端的标识。
  7. 如权利要求6所述的方法，其特征在于，所述将所述至少两个位置记录序列融合成一个位置记录集合，包括：
    配置位置记录集合，将所述位置记录集合初始为空集；
    将第一个位置记录序列中的位置记录添加至所述位置记录集合，所述第一个位置记录序列是接收到的任意一个位置记录序列；
    执行第一判断过程，判断下一个位置记录序列与所述位置记录集合是否存在至少一个同一被寻物终端的位置记录；如果所述下一个位置记录序列与所述位置记录集合存在至少一个同一被寻物终端的位置记录，则将所述下一个位置记录序列合并到所述位置记录集合中；否则，将所述下一个位置记录序列保存至暂存位置记录集合；
    重复所述第一判断过程，直到判断完毕所接收到的所有位置记录序列，得到所述位置记录集合。
  8. 如权利要求7所述的方法，其特征在于，进一步包括：对所述位置记录集合进行更新，具体包括：
    执行第二判断过程，判断所述暂存位置记录集合中的某一位置记录序列与所述位置记录集合是否存至少一个同一被寻物终端的位置记录；如果所述暂存位置记录集合中的某一个位置记录序列与所述位置记录集合存在至少一个同一被寻物终端的位置记录，则将所述某一个位置记录序列合并到所述位置记录集合中；否则，将所述某一个位置记录序列重新保存至所述暂存位置记录集合；
    重复所述第二判断过程，直到判断完毕所述暂存位置记录集合中的所有位置记录序列，得到更新后的位置记录集合。
  9. 如权利要求7或8所述的方法，其特征在于，所述将所述下一个位置记录序列合并到所述位置记录集合中，包括：
    根据与第一被寻物终端对应的所述下一个位置记录序列中的坐标和所述位置记录集合中的坐标得到第一坐标，所述第一被寻物终端为所述下一个位置记录序列与所述位置记录集合存在的同一被寻物终端中的某一个；对应于所述第一被寻物终端生成一条第一位置记录，所述第一位置记录包括所述第一坐标和所述某一同一被寻物终端的标识；
    根据所述第一坐标及与第一剩余被寻物终端对应的坐标得到第二坐标，所述第一剩余被寻物终端为所述下一个位置记录序列中除同一被寻物终端外的某一被寻物终端；对应于所述第一剩余被寻物终端生成一条第二位置记录，所述第二位置记录包括所述第二坐标和所述第一剩余被寻物终端的标识；
    根据所述第一坐标及与第二剩余被寻物终端对应的坐标得到第三坐标，所述第二剩余被寻物终端为所述位置记录集合中除同一被寻物终端外的某一被寻物终端；对应于所述第二剩余被寻物终端生成一条第三位置记录，所述第三位置记录包括所述第三坐标和所述第二剩余被寻物终端的标识；
    将生成的所有所述第一位置记录、所述第二位置记录和所述第三位置记录更替所述位置记录集合中的位置记录。
  10. 如权利要求8或9所述的方法，其特征在于，所述将所述某一个位置记录序 列合并到所述位置记录集合中包括：
    根据与第二被寻物终端对应的所述某一个位置记录序列中的坐标和所述位置记录集合中的坐标得到第四坐标,所述第二被寻物终端为所述某一个位置记录序列与所述位置记录集合存在的同一被寻物终端中的某一个；对应于所述第二被寻物终端生成一条第四位置记录，所述第四位置记录包括所述第四坐标和所述某一同一被寻物终端的标识；
    根据所述第四坐标及与第三剩余被寻物终端对应的所述某一个位置记录序列中的坐标得到第五坐标，所述第三剩余被寻物终端为所述某一个位置记录序列中除同一被寻物终端外的某一被寻物终端；对应于所述第三剩余被寻物终端生成一条第五位置记录，所述第四位置记录包括所述第五坐标和所述第三剩余被寻物终端的标识；
    根据所述第四坐标及与第四剩余被寻物终端对应的所述位置记录集合中的坐标得到第六坐标，所述第四剩余被寻物终端为所述位置记录集合中除同一被寻物终端外的某一被寻物终端；对应于所述第四剩余被寻物终端生成一条第六位置记录，所述第六位置记录包括所述第六坐标和所述第四剩余被寻物终端的标识；
    将生成的所有所述第四位置记录、所述第五位置记录和所述第六位置记录更替所述位置记录集合中的位置记录。
  11. 一种寻物的方法，其特征在于，包括：
    寻物终端向服务器发送寻找目标被寻物终端的寻物请求；所述寻物请求用于触发所述服务器发送位置记录集合；所述位置记录集合包括至少两条位置记录，某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为采集终端在移动时获得到来自某一个被寻物终端的强度最强的无线信号的位置点；
    检测周围的被寻物终端发出的无线信号，获得检测到的所述被寻物终端的标识和无线信号的强度，所述目标被寻物终端为所述被寻物终端中的一个；
    接收所述服务器发送的位置记录集合；在所述位置记录集合中查找目标位置记录，并获得所述目标位置记录中的坐标；所述目标位置记录为包含所述目标被寻物终端标识的位置记录；
    在所述位置记录集合中查找参考位置记录，并获得所述参考位置记录中的坐标；所述参考位置记录为包含所述寻物终端检测到的所述被寻物终端的标识的位置记录；
    根据所述参考位置记录中的坐标计算所述寻物终端的坐标，或者根据所述参考位置记录中的坐标及所述寻物终端检测到的所述被寻物终端发出的无线信号的强度计算所述寻物终端的坐标；
    根据所述寻物终端的坐标和所述目标位置记录中的坐标计算导航路线。
  12. 如权利要求11任选一所述的方法，其特征在于，所述根据所述参考位置记录中的坐标计算所述寻物终端的坐标的算法具体为：
    设所述参考位置记录中的坐标为(xi，yi)；
    则所述寻物终端的坐标为
    Figure PCTCN2017080307-appb-100001
    其中，n为所述参考位置记录的个 数。
  13. 如权利要求11或12任选一所述的方法，其特征在于，所述根据所述参考位置记录中的坐标及所述寻物终端检测到的所述被寻物终端发出的无线信号的强度计算所述寻物终端的坐标的算法具体为：
    设所述参考位置记录中的的坐标(xi，yi)，所述寻物终端检测到的所述被寻物终端发出的无线信号的强度为Pi(dBm)；
    则所述寻物终端的坐标为
    Figure PCTCN2017080307-appb-100002
    其中，n为所述参考位置记录的个数。
  14. 一种寻物的方法，其特征在于，包括：
    接收寻物终端发送的寻找目标被寻物终端的寻物请求，所述寻物请求携带有所述目标被寻物终端的标识；
    获得所述寻物终端的坐标；
    根据所述目标寻物终端的标识在位置记录集合中查找目标位置记录，并获得所述目标位置记录中的坐标；所述位置记录集合包括至少两条位置记录，某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为采集终端在移动时获得到来自某一个被寻物终端的强度最强的无线信号的位置点；所述目标位置记录为包含所述目标被寻物终端标识的位置记录；
    根据所述寻物终端的坐标和所述目标位置记录中的坐标计算导航线路；
    将所述导航线路发送给所述寻物终端。
  15. 如权利要求14所述的方法，其特征在于，所述获得所述寻物终端的坐标包括：
    在所述位置记录集合中查找参考位置记录，并获得所述参考位置记录中的坐标；所述参考位置记录为包含所述寻物终端在发送所述寻物请求时检测到的所述被寻物终端的标识的位置记录；
    根据所述参考位置记录中的坐标计算所述寻物终端的坐标，或者根据所述参考位置记录中的坐标及所述寻物终端在发送所述寻物请求时检测到的所述被寻物终端发出的无线信号的强度计算所述寻物终端的坐标。
  16. 如权利要求15所述的方法，其特征在于，所述根据所述参考位置记录中的坐标计算所述寻物终端的坐标的算法具体为：
    设所述参考位置记录中的坐标为(xi，yi)；
    则所述寻物终端的坐标为
    Figure PCTCN2017080307-appb-100003
    其中，n为所述参考位置记录的个数。
  17. 如权利要求15所述的方法，其特征在于，所述根据所述参考位置记录中的坐标及所述寻物终端在发送所述寻物请求时检测到的所述被寻物终端发出的无线信号的强度计算所述寻物终端的坐标的算法具体为：
    设所述参考位置记录中的的坐标(xi，yi)，所述寻物终端检测到的所述被寻物终端发出的无线信号的强度为Pi(dBm)；
    则所述寻物终端的坐标为
    Figure PCTCN2017080307-appb-100004
    其中，n为所述参考位置记录的个数。
  18. 一种采集终端，其特征在于，包括：检测模块、第一获得模块、第二获得模块；
    所述检测模块，用于在所述采集终端移动时检测周围的被寻物终端发出的无线信号；
    所述第一获得模块，用于根据所述检测模块检测到的周围的被寻物终端发出的无线信号获得至少两个参考位置点，其中每一个参考位置点为所述采集终端获得对应的一个被寻物终端发出的多次无线信号中强度最强的无线信号的位置点；
    所述第二获得模块，用于以所述第一获得模块获得的至少两个参考位置点中的任一个为基准位置点，获得其它参考位置点与所述基准位置点的参考位置关系；所述参考位置关系包括所述其它参考位置点相对于所述基准位置点的距离和方向角度；所述参考位置关系用于指示所述其它参考位置点对应的被寻物终端与所述基准位置点对应的被寻物终端的位置关系。
  19. 如权利要求18所述的终端，其特征在于，还包括：赋值模块、坐标获得模块、生成模块；
    所述赋值模块，用于设所述第二获得模块设定的基准位置点的坐标为初始坐标，并给所述初始坐标赋值；
    所述坐标获得模块，用于基于所述第二获得模块获得的参考位置关系及所述赋值模块赋值的初始坐标计算所述其它参考位置点的坐标；
    所述生成模块，用于对应一个所述第一获得模块获得的参考位置点生成一条位置记录,所述位置记录包括所述参考位置点的坐标和其对应的被寻物终端的标识。
  20. 如权利要求19所述的终端，其特征在于，还包括：位置记录序列组成模块、发送模块；
    所述位置记录序列组成模块，用于将所述生成模块生成的所有位置记录组成一个位置记录序列；
    所述发送模块，用于将所述位置记录序列组成模块组成的位置记录序列发送给第三方设备。
  21. 如权利要求18-20所述的终端，其特征在于，所述检测模块包括检测单元和判断单元；
    所述检测单元，用于检测周围的被寻物终端发出的无线信号，获得检测到的所述被寻物终端的标识和无线信号的强度；
    所述判断单元，用于基于信号比率判断所述检测单元检测到的无线信号是否是所述被寻物终端发出的无线信号。
  22. 如权利要求21所述的终端，其特征在于，所述判断单元具体用于：
    判断所述检测模块检测到的无线信号的信号比率是否大于或等于预设的信号比率阀值；
    如果检测模块检测到的无线信号的信号比率大于或等于所述信号比率阀值，则所述检测模块检测到的无线信号是所述被寻物终端发出的无线信号；
    否则，所述检测模块检测到的无线信号不是所述被寻物终端发出的无线信号。
  23. 一种设备,用于对位置关系进行融合，其特征在于,包括:接收模块、融合模块；
    所述接收模块，用于接收来自采集终端的至少两个位置记录序列；所述位置记录序列包括至少两条位置记录；某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为所述寻物终端在移动时获得到来自某一个被寻物终端的强度最强的无线信号的位置点；
    所述融合模块，用于在一个坐标系中，将所述接收模块接收的至少两个位置记录序列融合成一个位置记录集合，所述位置记录集合包含有对应所述至少两条位置记录的参考位置点在所述坐标系下的坐标及所述参考位置点对应的被寻物终端的标识。
  24. 如权利要求23所述的设备，其特征在于，所述融合模块包括：配置单元、添加单元、第一判断单元、暂存位置记录集合单元、第一重复单元；
    所述配置单元，用于配置位置记录集合，且将所述位置记录集合初始为空集；
    所述添加单元，用于将第一个位置记录序列中的位置记录添加至所述配置单元初始的位置记录集合，所述第一个位置记录序列是所述接收模块接收到的任意一个位置记录序列；
    所述第一判断单元，用于判断所述接收模块接收到的下一个位置记录序列与所述位置记录集合是否存在至少一个同一被寻物终端的位置记录；如果所述下一个位置记录序列与所述位置记录集合存在至少一个同一被寻物终端的位置记录，则将所述下一个位置记录序列合并到所述位置记录集合中；否则，将所述下一个位置记录序列保存至所述暂存位置记录集合单元；
    所述第一重复单元，用于触发所述第一判断单元重复判断过程，直到判断完毕所述接收模块接收到的所有位置记录序列，得到所述位置记录集合。
  25. 如权利要求24所述的设备，其特征在于，进一步地包括：位置记录集合更新模块，用于对所述位置记录集合进行更新；
    其中，所述位置记录集合更新模块包括：第二判断单元、第二重复单元；
    所述第二判断单元，用于判断所述暂存位置记录集合单元存储的某一位置记录序列与所述位置记录集合是否存至少一个同一被寻物终端的位置记录；如果所述暂存位置记录集合单元存储的某一个位置记录序列与所述位置记录集合存在至少一个同一被寻物终端的位置记录，则将所述某一个位置记录序列合并到所述位置记录集合中； 否则，将所述某一个位置记录序列重新保存至所述暂存位置记录集合单元；
    第二重复单元，用于触发第二判断单元重复判断过程，直到判断完毕所述暂存位置记录集合单元存储的所有位置记录序列，得到更新后的位置记录集合。
  26. 如权利要求24或25所述的设备，其特征在于，所述第一判断单元包括：第一坐标获得子单元、第一位置记录生成子单元、第二坐标获得子单元、第二位置记录生成子单元、第三坐标获得子单元、第三位置记录生成子单元、第一更替子单元；
    所述第一坐标获得子单元，用于根据与第一被寻物终端对应的所述接收模块接收到的下一个位置记录序列中的坐标和所述位置记录集合中的坐标得到第一坐标，所述第一被寻物终端为所述接收模块接收到的下一个位置记录序列与所述位置记录集合存在的同一被寻物终端中的某一个；
    所述第一位置记录生成子单元，用于对应于所述第一被寻物终端生成一条第一位置记录，所述第一位置记录包括所述第一坐标获得子单元获得第一坐标和所述某一同一被寻物终端的标识；
    所述第二坐标获得子单元，用于根据所述第一坐标获得子单元获得的第一坐标及与第一剩余被寻物终端对应的所述接收模块接收到的下一个位置记录序列中的坐标得到第二坐标，所述第一剩余被寻物终端为所述接收模块接收到的下一个位置记录序列中除同一被寻物终端外的某一被寻物终端；
    所述第二位置记录生成子单元，用于对应于所述第一剩余被寻物终端生成一条第二位置记录，所述第二位置记录包括所述第二坐标获得子单元获得的第二坐标和所述第一剩余被寻物终端的标识；
    所述第三坐标获得子单元，用于根据所述第一坐标获得子单元获得的第一坐标及与第二剩余被寻物终端对应的所述位置记录集合中的坐标得到第三坐标，所述第二剩余被寻物终端为所述位置记录集合中除同一被寻物终端外的某一被寻物终端；
    所述第三位置记录生成子单元，用于对应于所述第二剩余被寻物终端生成一条第三位置记录，所述第三位置记录包括所述第三坐标获得子单元获得的第三坐标和所述第二剩余被寻物终端的标识；
    所述第一更替子单元，用于将所有所述第一位置记录生成子单元生成的第一位置记录、所述第二位置记录生成子单元生成的第二位置记录和所述第三位置记录生成子单元生成的第三位置记录更替所述位置记录集合中的位置记录。
  27. 如权利要求25或26所述的设备，其特征在于，所述第二判断单元包括：第四坐标获得子单元、第四位置记录生成子单元、第五坐标获得子单元、第五位置记录生成子单元、第六坐标获得子单元、第六位置记录生成子单元、第二更替子单元；
    所述第四坐标获得子单元，用于根据与第二被寻物终端对应的所述暂存位置记录集合单元存储的某一个位置记录序列中的坐标和所述位置记录集合中的坐标得到第四坐标,所述第二被寻物终端为所述暂存位置记录集合单元存储的某一个位置记录序列与所述位置记录集合存在的同一被寻物终端中的某一个；
    所述第四位置记录生成子单元，用于对应于所述第二被寻物终端生成一条第四位置记录，所述第四位置记录包括所述第四坐标获得子单元获得第四坐标和所述某一同一被寻物终端的标识；
    所述第五坐标获得子单元，用于根据所述第四坐标获得子单元获得的第四坐标及与第三剩余被寻物终端对应的所述暂存位置记录集合单元存储的某一个位置记录序列中的坐标得到第五坐标，所述第三剩余被寻物终端为所述暂存位置记录集合单元存储的某一个位置记录序列中除同一被寻物终端外的某一被寻物终端；
    所述第五位置记录生成子单元，用于对应于所述第三剩余被寻物终端生成一条第五位置记录，所述第四位置记录包括所述第五坐标获得子单元获得的第五坐标和所述第三剩余被寻物终端的标识；
    所述第六坐标获得子单元，用于根据所述第四坐标子单元获得的第四坐标及与第四剩余被寻物终端对应的所述位置记录集合中的坐标得到第六坐标，所述第四剩余被寻物终端为所述位置记录集合中除同一被寻物终端外的某一被寻物终端；
    所述第六位置记录生成子单元，用于对应于所述第四剩余被寻物终端生成一条第六位置记录，所述第六位置记录包括所述第六坐标获得子单元获得的第六坐标和所述第四剩余被寻物终端的标识；
    所述第二更替子单元，用于将所有所述第四位置记录生成子单元生成的第四位置记录、所述第五位置记录生成子单元生成的第五位置记录和所述第六位置记录生成子单元生成的第六位置记录更替所述位置记录集合中的位置记录。
  28. 一种寻物终端，其特征在于，包括：发送模块、检测模块、接收模块、第一获得模块、第二获得模块、坐标获得模块、导航线路获得模块、导航模块；
    所述发送模块，用于向服务器发送寻找目标被寻物终端的请求；所述请求用于触发所述服务器发送位置记录集合；所述位置记录集合包括至少两条位置记录，某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为采集终端在移动时，获得到来自某一个被寻物终端的强度最强的无线信号的位置点；
    所述检测模块，用于检测周围的被寻物终端发出的无线信号，获得检测到的所述被寻物终端的标识和无线信号的强度，所述目标被寻物终端为所述被寻物终端中的一个；
    所述接收模块，用于接收所述服务器发送的所述位置记录集合；
    所述第一获得模块，用于在所述接收模块接收的位置记录集合中查找目标位置记录，并获得所述目标位置记录中的坐标；所述目标位置记录为包含所述目标被寻物终端标识的位置记录；
    所述第二获得模块，用于在所述接收模块接收的位置记录集合中查找参考位置记录，并获得所述参考位置记录中的坐标；所述参考位置记录为包含所述寻物终端检测到的所述被寻物终端的标识的位置记录；
    所述坐标获得模块，用于根据所述第二获得模块获得的坐标通过质心法计算所述寻物终端的坐标，或者根据第二获得模块获得的坐标及所述检测模块检测到的无线信号的强度通过加权质心法计算所述寻物终端的坐标；
    所述导航线路获得模块，用于根据所述坐标获得模块获得的寻物终端的坐标和所述第一获得模块获得的坐标计算导航路线。
  29. 一种服务器，其特征在于，包括：接收模块、第一坐标获得模块、第二坐标 获得模块、导航线路获得模块、发送模块；
    所述接收模块，用于接收寻物终端发送的寻找目标被寻物终端的寻物请求，所述寻物请求包括所述目标被寻物终端的标识、所述寻物终端检测周围被寻物终端获得的无线信号强度和无线信号标识；
    所述第一坐标获得模块，根据接收模块接收到的所述寻物终端检测周围被寻物终端获得的无线信号强度和无线信号标识计算所述寻物终端的坐标；
    所述第二坐标获得模块，用于根据所述接收模块接收到的目标寻物终端的标识在位置记录集合中查找目标位置记录，并获得所述目标位置记录中的坐标；所述位置记录集合包括至少两条位置记录，某一条所述位置记录包括某一个参考位置点的坐标和其对应的被寻物终端的标识；所述某一个参考位置点为采集终端在移动时获得到来自某一个被寻物终端的强度最强的无线信号的位置点；所述目标位置记录为包含所述目标被寻物终端标识的位置记录；
    所述导航线路获得模块，用于根据所述第一坐标获得模块获得的坐标和所述第二坐标获得模块获得的坐标计算导航线路；
    所述发送模块，用于将所述导航线路获得模块获得的导航线路发送给所述寻物终端。
  30. 如权利要求29所述的服务器，其特征在于，所述第一坐标获得模块包括：参考坐标获得单元、坐标获得单元；
    所述参考坐标获得单元，用于在所述位置记录集合中查找参考位置记录，并获得所述参考位置记录中的坐标；所述参考位置记录为包含有所述接收模块接收到的所述寻物终端检测周围被寻物终端获得的无线信号标识的位置记录；
    所述坐标获得单元，用于根据所述参考坐标获得单元获得的坐标通过质心法计算所述寻物终端的坐标，或者根据所述参考坐标获得单元获得的坐标及所述接收模块接收到的所述寻物终端在发送所述寻物请求时检测到的所述被寻物终端发出的无线信号的强度通过加权质心法计算所述寻物终端的坐标。
  31. 一种寻物系统，其特征在于，至少包括：如权利要求18-22任选一所述的采集终端和如权利要求23-27任选一所述的设备。
  32. 一种寻物系统，其特征在于，至少包括：如权利要求18-22任选一所述的采集终端和如权利要求29或30任选一所述的设备。
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