WO2018090696A1 - 一种室内定位方法及装置、服务器、用户设备 - Google Patents
一种室内定位方法及装置、服务器、用户设备 Download PDFInfo
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- WO2018090696A1 WO2018090696A1 PCT/CN2017/100404 CN2017100404W WO2018090696A1 WO 2018090696 A1 WO2018090696 A1 WO 2018090696A1 CN 2017100404 W CN2017100404 W CN 2017100404W WO 2018090696 A1 WO2018090696 A1 WO 2018090696A1
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- 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 application relates to, but is not limited to, the field of communication technologies, and in particular, to an indoor positioning method and apparatus, a server, and a user equipment.
- GPS Global Positioning System
- Pressure sensor, Bluetooth, Zigbee, RFID (Radio Frequency Identification) technology these positioning technology application scenarios are also very special, can only provide some local environment positioning, it is more difficult to support a wide range of widely used positioning needs .
- the fingerprint location technology has the performance of meter-level positioning accuracy and does not need to know the location of the base station and the characteristics of the accurate channel model. It can reflect the characteristics of the current environment well, but it needs to establish a fingerprint database and update the fingerprint database to ensure its location when the environment changes. Effectiveness, and the establishment and update of the database requires a lot of manpower and resources.
- Sensor fusion positioning achieves the complementarity and synergy of various sensor information by merging various independent sensor information, which can improve the effectiveness of the whole system.
- the sensor positioning is independent of continuous positioning under the condition of external environmental information, and the noise is small and the stability is good in the short term.
- the sensor has large inherent errors and random measurement errors. Long-term error accumulation leads to a decrease in navigation accuracy, so it is not suitable for long-term individual work and long-distance positioning.
- the embodiment of the present invention provides an indoor positioning method and device, a server, and a user equipment, which can significantly improve the positioning effect while greatly saving resource consumption.
- the embodiment of the present application provides an indoor positioning method, including: receiving, by a wireless positioning node, a user equipment positioning signal measured by the wireless positioning node, where the user equipment positioning signal is a user equipment to the wireless positioning node.
- the uplink signal sent periodically; if the strength and the change trend of the user equipment positioning signal are matched with the fingerprint information of the first indoor area stored in the positioning fingerprint database of the server in advance, the punctuation position information corresponding to the fingerprint information is And sending, by the user equipment, the fingerprint information of the first indoor area and the second indoor area, where the fingerprint density of the first indoor area is greater than or equal to a first threshold, and the second indoor The fingerprint density of the region is less than or equal to a second threshold; the first threshold is greater than the second threshold.
- the embodiment of the present application further provides an indoor positioning method, including: periodically transmitting a user equipment positioning signal to a wireless positioning node, so that the wireless positioning node measures the positioning signal of the user equipment and reports the measurement result to the server; Receiving, by the server, the punctuation position information determined according to the measurement result and the fingerprint information in the positioning fingerprint database; determining the current location by using the punctuation position information; wherein the positioning fingerprint database is set in the server, the positioning The fingerprint database has fingerprint information of the first indoor area and the second indoor area, where the fingerprint density of the first indoor area is greater than or equal to a first threshold, and the fingerprint density of the second indoor area is less than or equal to a second threshold; The first threshold is greater than the second threshold.
- the embodiment of the present application further provides an indoor positioning apparatus, including: a service receiving unit, configured to receive, from a wireless positioning node, a user equipment positioning signal measured by the wireless positioning node, where the user equipment positioning signal An uplink signal sent to the wireless positioning node by the user equipment; the service sending unit is configured to: if the strength and the change trend of the positioning signal of the user equipment are the fingerprints of the first indoor area stored in the positioning fingerprint database of the server in advance The information is matched, and the punctuation position information corresponding to the fingerprint information is sent to the user equipment; wherein the positioning fingerprint database stores fingerprint information of the first indoor area and the second indoor area.
- the fingerprint density of the first indoor area is greater than or equal to a first threshold, and the fingerprint density of the second indoor area is less than or equal to a second threshold; the first threshold is greater than the second threshold.
- the embodiment of the present application further provides an indoor positioning apparatus, including: a terminal sending unit, configured to periodically send a user equipment positioning signal to a wireless positioning node, so that the wireless positioning node measures the positioning signal of the user equipment and Reporting the measurement result to the server; the terminal receiving unit is configured to receive the punctuation position information determined by the server according to the measurement result and the fingerprint information in the positioning fingerprint database; and the terminal determining unit is configured to determine the current position by using the punctuation position information
- the positioning fingerprint database is set in the server, the positioning fingerprint database stores fingerprint information of the first indoor area and the second indoor area, and the fingerprint density of the first indoor area is greater than or equal to the first a threshold, a fingerprint density of the second indoor area is less than or equal to a second threshold; the first threshold is greater than the second threshold.
- the embodiment of the present application further provides a server, including the indoor positioning device of the third aspect described above.
- the embodiment of the present application further provides a user equipment, including the indoor positioning apparatus of the fourth aspect described above.
- the embodiment of the present application further provides a computer readable medium storing an indoor positioning program, where the indoor positioning program is executed by a processor to implement the steps of the indoor positioning method of the first aspect.
- the embodiment of the present application further provides a computer readable medium storing an indoor positioning program, where the indoor positioning program is executed by a processor to implement the steps of the indoor positioning method of the second aspect.
- the indoor positioning method and device, the server, and the user equipment provided by the embodiments of the present application can not only individually match the strength of each user equipment positioning signal but also combine multiple user equipments when the user equipment positioning signal is matched with the fingerprint information.
- the matching trend of the positioning signals is matched with the fingerprint information. Therefore, the location of the user equipment can be more accurately matched to the corresponding fingerprint information, and the punctuation position information corresponding to the fingerprint information is sent to the user equipment. And let the user equipment know the indoor location where it is located.
- the fingerprint density of the first indoor area and the fingerprint density of the second indoor area are different, only dense fingerprint information needs to be deployed at key locations, and relatively sparse fingerprint information is deployed at other locations, so that users of all area ranges can be
- the device is precisely positioned, which significantly improves the positioning effect while greatly reducing resource consumption.
- FIG. 1 is a flow chart of an indoor positioning method provided by an embodiment of the present application.
- FIG. 3 is a schematic structural diagram of a system on which an indoor positioning method according to an embodiment of the present application is based;
- FIG. 4 is a flow chart based on the indoor positioning method shown in FIG. 3;
- Figure 5 is a schematic view showing the position of the door
- Figure 6 is a schematic diagram of the positional positioning of the elevator
- Figure 7 is a schematic view of the positioning of the corner position
- FIG. 8 is a schematic structural diagram of an indoor positioning device according to an embodiment of the present application.
- FIG. 9 is another schematic structural diagram of an indoor positioning device according to an embodiment of the present application.
- an embodiment of the present application provides an indoor positioning method, based on a server, including:
- the punctuation position information corresponding to the fingerprint information is sent to the user equipment. send.
- the fingerprint data of the first indoor area and the second indoor area are stored in the positioning fingerprint database, the fingerprint density of the first indoor area is greater than or equal to a first threshold, and the fingerprint density of the second indoor area is less than or Equal to a second threshold; the first threshold is greater than the second threshold.
- the server can receive the none from the wireless positioning node.
- the user equipment positioning signal measured by the line positioning node may be detected because the user equipment positioning signal is sent periodically; when matching with the fingerprint information, not only the strength of each user equipment positioning signal may be separately matched, but also
- the fingerprint information can be matched by the change trend of the plurality of user equipment positioning signals with each other. Therefore, the location of the user equipment can be more accurately matched to the corresponding fingerprint information, and the punctuation position information corresponding to the fingerprint information can be Send to the user equipment, and let the user equipment know the indoor location where it is located.
- the fingerprint density of the first indoor area and the fingerprint density of the second indoor area are different, only dense fingerprint information needs to be deployed at key locations, and relatively sparse fingerprint information is deployed at other locations, so that users of all area ranges can be
- the device is precisely positioned, which significantly improves the positioning effect while greatly reducing resource consumption.
- the user equipment may send a user equipment positioning signal to the wireless positioning node every preset time period, for example, send a user equipment positioning signal to the wireless positioning node every 5 seconds. Since the user equipment is different from the wireless positioning node, the user equipment positioning signal actually measured by the wireless positioning node is also different.
- the wireless positioning node may send the measured user equipment positioning signal to the server for the server to perform positioning analysis.
- the user equipment positioning signal may be various uplink signals, such as a sounding signal, etc., that the user equipment periodically sends to the wireless positioning node.
- the wireless positioning node may be a device such as a base station, a wireless router, a computer, or the like that can communicate with the user equipment or can receive an uplink signal of the user equipment.
- step S11 after the server receives the user equipment location signal transmitted by the wireless location node, the server may match the user equipment location signal with the pre-stored fingerprint information, and locate the user equipment according to the matching result.
- the fingerprint information may be pre-stored in the positioning fingerprint database, and the fingerprint information stored in the positioning fingerprint database may be derived from the measurement of the indoor signal distribution in the offline phase before the online positioning.
- fingerprint information of different densities may be deployed to different indoor areas. For example, the first indoor area may be deployed with higher density fingerprint information, such as the fingerprint density is greater than or equal to the first threshold, and the second indoor area is deployed with lower density fingerprint information, such as the fingerprint density is less than or equal to the second threshold.
- the first indoor area may include a necessary way for the user to enter and exit the room, or a place where the user frequently moves indoors, such as a doorway area, an elevator area, and a corner.
- the second indoor area may be an area other than the first indoor area.
- the size of the first threshold and the second threshold may be adjusted as needed.
- the second threshold may be 0, that is, only the corresponding fingerprint information is deployed in the first indoor area, and the fingerprint information density of other areas is 0. Through the dense and dense fingerprint deployment, the positioning effect is significantly improved under the condition that the resource consumption is greatly saved.
- the wireless positioning node receives the measurement from the wireless positioning node.
- the indoor positioning method provided by the embodiment may further include:
- the strength matching difference is less than the preset intensity threshold, matching a change trend between the user equipment positioning signals and a corresponding trend of the fingerprint signals in the positioning fingerprint database;
- the trend matching difference is less than the preset change threshold, determining that the strength and the change trend of the user equipment positioning signal match the fingerprint information in the positioning fingerprint database.
- the strength matching difference is that the strength of each user equipment positioning signal is consistent with the signal strength value of the fingerprint information in the positioning fingerprint database, and even if there is a difference, the difference is smaller than the preset intensity threshold.
- the trend matching difference means that the change trend between the plurality of user equipment positioning signals is substantially consistent with the signal change trend of the fingerprint information in the positioning fingerprint database.
- the change trend may include a direction change trend or a strength change.
- the trend may also include a combination of the two, which is not limited in this embodiment. For example, in one embodiment, if the user equipment positioning signal moves at a constant speed of 20 meters/second in the direction of 0.2 meters/second, the signal in the fingerprint information is 23 degrees eastward at a speed of 0.18 meters/second. If the difference between the two is less than the preset direction change threshold of 5 degrees and the intensity change threshold of 0.05 m/s, the punctuation position corresponding to the fingerprint information is determined as the location of the user equipment.
- the matching method may perform different selection according to the usage scenario, and may perform strength matching and change trend matching in one or more of methods such as probability matching, machine learning, and path fitting. At least one. For example, for several options in the fingerprint information The data is collected, and the data with high probability of coincidence is combined with the map information to perform path fitting, thereby completing information matching.
- the matching algorithm can be gradually optimized through machine learning, so that the accuracy of the matching is higher and higher.
- the data characteristics of the positioning fingerprint database corresponding to different first indoor areas are not the same, and the matching step may also be slightly different.
- the following describes the different first indoor areas separately.
- the matching rule may include: firstly performing absolute value matching of L real-time sounding signals, and determining direction matching of L real-time sounding signals after determining the possibility of door position; and matching positions when the matching is higher than the threshold.
- Elevator matching When offline, the server's positioning fingerprint database stores 4L real-time sounding signals and direction information according to the four directions of entering and leaving the elevator and the elevator moving up and down; in the online phase, the L real-time sounding signals and positioning fingerprints will be received.
- the database is matched; the matching rules include: absolute value matching of L real-time sounding signals and direction matching obtained by L real-time sounding signals; when the matching is higher than the threshold, the calibration position.
- Corner matching When offline, the server's positioning fingerprint database passes through the corners in clockwise and counterclockwise directions, storing 2L real-time sounding signals and dramatic changes in energy; in the online phase, L real-time sounding signals will be received.
- the database performs matching; the matching rules include: absolute value matching of L real-time sounding signals, determining the possibility of corner matching position; matching the violent transformation of the corresponding base station energy; when the matching is higher than the threshold, the calibration position.
- the server's location fingerprint database stores L real-time sounding signals and low loss of its corresponding base station; in the online phase, the received L real-time sounding signals are matched with the location fingerprint database; the matching rules include : The absolute value matching of the L real-time sounding signals determines the possibility of matching the position immediately below the base station; matches the low-loss condition of the corresponding base station energy; when the matching is higher than the threshold, the calibration position.
- the embodiment of the present application further provides an indoor positioning method, which is based on user equipment, and includes:
- the user equipment positioning signal is periodically sent to the wireless positioning node, so that the wireless positioning node measures the user equipment positioning signal and reports the measurement result to the server.
- the positioning fingerprint database is set in the server, and the fingerprint information of the first indoor area and the second indoor area is stored in the positioning fingerprint database, and the fingerprint density of the first indoor area is greater than or equal to a first threshold.
- the fingerprint density of the second indoor area is less than or equal to a second threshold; the first threshold is greater than the second threshold.
- the user equipment can periodically send the user equipment positioning signal to the wireless positioning node, so that the wireless positioning node measures the positioning signal of the user equipment and reports the measurement result to the server, and then receives the server according to the The measurement result and the punctuation position information determined by the fingerprint information in the positioning fingerprint database. Since the positioning signal is sent periodically, one will be sent at regular intervals.
- the server performs fingerprint information matching, not only the strength of each user equipment positioning signal can be individually matched, but also multiple user equipment positioning signals can be combined with each other. The change trend of the fingerprint information is matched. Therefore, the location of the user equipment can be more accurately matched to the corresponding fingerprint information.
- the punctuation position information can be used as the punctuation position information.
- the indoor location where it is located. Because the fingerprint density of the first indoor area and the fingerprint density of the second indoor area are different, only dense fingerprint information needs to be deployed at key locations, and relatively sparse fingerprint information is deployed at other locations, so that users of all area ranges can be The device is precisely positioned, which significantly improves the positioning effect while greatly reducing resource consumption.
- periodically transmitting the user equipment positioning signal to the wireless positioning node may include: sending 2 to 6 user equipment positioning signals to the wireless positioning node at intervals of 10 milliseconds, so that the server will wirelessly The user equipment positioning signal measured by the positioning node matches the fingerprint information in the positioning fingerprint database.
- the user equipment Since the user equipment is accurately positioned by using the fingerprint information, the user equipment can correct its own positioning sensor with the accurate positioning information, so that the positioning sensor corrects the accumulated error.
- the user equipment receives the server according to the measurement result and the positioning fingerprint After the punctuation position information determined by the fingerprint information in the database, the method further includes: clearing the initial position coordinate of the positioning sensor of the own. In this way, if the user equipment cannot receive the punctuation position information sent by the server, the positioning sensor and the last received punctuation position information can be used to determine the current position.
- the user can receive the punctuation position received 2 minutes ago.
- the information and the relative position information recorded by the self-positioning sensor determine the current location of the user equipment. For example, the punctuation position and the sensor positioning result can be merged, the map information can be matched, and the positioning result can be displayed.
- FIG. 3 is a schematic structural diagram of a system on which an indoor positioning method according to an embodiment of the present disclosure is based
- FIG. 4 is a flow chart of an indoor positioning method based on the system.
- the indoor positioning method provided by this embodiment may include the following steps:
- Step 301 The terminal accesses the wireless positioning node.
- the wireless positioning node may be a base station.
- Step 302 The base station configures a user equipment positioning signal, such as a SRS (Sounding Reference Signal), for the terminal (ie, the user equipment);
- a user equipment positioning signal such as a SRS (Sounding Reference Signal)
- SRS Sounding Reference Signal
- Step 303 The terminal sends a user equipment positioning signal to the base station according to the previous configuration.
- Step 304 The base station measures the received SRS.
- Step 305 The base station sends measurement information to the positioning server.
- Step 306 The positioning server matches the user equipment positioning signal in the received measurement information with the fingerprint information in the positioning fingerprint database.
- Step 307 If the matching is successful, the positioning server sends the corresponding punctuation position information to the terminal, otherwise the corresponding message is not sent;
- Step 308 The terminal updates the punctuation information.
- Step 309 The terminal repositions its own positioning sensor.
- Step 310 The terminal estimates its absolute position.
- Step 311 The terminal feeds back its own location information according to the request of the positioning server.
- step 306 whether the user equipment positioning signal can be successfully matched with the fingerprint information in the positioning fingerprint database is related to the location where the user equipment is located. If the user equipment is in the first indoor area where the fingerprint is dense, there is a great possibility that the matching is successful. If the user equipment is in the second indoor area where the fingerprint is sparse, the appropriate fingerprint information may not be matched. When the matching fingerprint information is not matched, the user equipment can estimate its location by combining its own positioning sensor and the latest received punctuation position information.
- Figure 5 is a schematic view of the position of the doorway. As shown in FIG. 5, in this embodiment, there are three base stations in the wireless network, namely, eNodeB1, eNodeB2, eNodeB3, one server and one terminal (UE, User Equipment). Position the scene as entering and leaving the door.
- UE User Equipment
- the indoor positioning method provided in this embodiment will be described in detail below by taking the door position as an example.
- the common movement mode of the door position is: left and right movement in the direction of entrance, exit and doorway.
- the offline stage server database stores 4L real-time sounding signals and direction information according to the four directions of entrance, exit and doorway movement.
- the UE sends a sounding signal to the base station according to the clock interval.
- the base station receives and measures the sounding signal transmitted by the terminal, and continuously uploads L real-time sounding signals to the server at intervals of 10 ms.
- the server matches the received L real-time sounding signals with the database.
- the matching rules include: firstly performing absolute value matching of L real-time sounding signals to determine the possibility of door position; performing direction matching on L real-time sounding signals; and matching positions when the matching is higher than the threshold.
- the server sends the calibrated location coordinates to the UE.
- the UE receives the punctuation identification coordinates of the server and clears the sensor at the same time.
- the punctuation positioning and sensor positioning of the UE fusion server output the real-time position coordinates of the UE.
- Figure 6 is a schematic diagram of the positional positioning of the elevator. As shown in FIG. 6, there are three base stations in the wireless network, namely, eNodeB1, eNodeB2, eNodeB3, one server and one terminal. The positioning scene is the elevator up and down.
- the indoor positioning method provided in this embodiment will be described below by taking the uplink and downlink conditions of the elevator as an example.
- the common movement mode of the elevator position is: moving up and down the elevator and the direction of the elevator.
- Offline stage server database moves up and down in four directions according to the direction of entering and leaving the elevator and elevator Store 4L real-time sounding signals and their direction information.
- the UE During the online positioning phase, when the UE is in the elevator uplink position, the UE continues to send the sounding signal to the base station according to the clock interval.
- the base station receives and measures the sounding signal transmitted by the terminal, and continuously uploads L real-time sounding signals to the server at intervals of 10 ms.
- the server matches the received L real-time sounding signals with the database. Since the power of the different base stations in the up and down movement of the elevator changes obviously, the matching is matched according to the following matching rules: the absolute value matching of the L real-time sounding signals and the direction matching obtained by the L real-time sounding signals; when the matching is higher than the threshold, the calibration position .
- the server sends the calibrated location coordinates to the UE.
- the UE receives the punctuation of the server to determine the elevator coordinates, and simultaneously clears the sensor.
- the punctuation positioning and sensor positioning of the UE fusion server output the real-time position coordinates of the UE.
- Figure 7 is a schematic view of the positioning of the corner position. As shown in FIG. 7, there are three base stations in the wireless network, namely, eNodeB1, eNodeB2, eNodeB3, one server and one terminal.
- the positioning scene is a corner passage.
- the offline stage server database stores 2L real-time sounding signals and their direction information in two directions, clockwise and counterclockwise.
- the UE proceeds to the corner position to transmit a sounding signal to the base station according to the clock interval.
- the base station receives and measures the sounding signal transmitted by the terminal, and continuously uploads L real-time sounding signals to the server at intervals of 10 ms.
- the server matches the received L real-time sounding signals with the database. Since the corner position is usually accompanied by the disappearance and appearance of certain paths, the matching rules include: absolute matching of L real-time sounding signals, determining the possibility of corner matching position; matching the violent transformation of the corresponding base station energy; matching is higher than When the threshold is reached, the position is calibrated.
- the server sends the calibrated location coordinates to the UE.
- the UE receives the punctuation identification coordinates of the server and clears the sensor at the same time.
- the punctuation positioning and sensor positioning of the UE fusion server output the real-time position coordinates of the UE.
- the embodiment of the present application further provides an indoor positioning device, including:
- the service receiving unit 41 is configured to receive, by the wireless positioning node, the wireless positioning node to measure The user equipment positioning signal, where the user equipment positioning signal is an uplink signal that is sent by the user equipment to the wireless positioning node at a time;
- the service sending unit 42 is configured to: if the strength and the change trend of the user equipment positioning signal are matched with the fingerprint information of the first indoor area stored in the positioning fingerprint database of the server in advance, the punctuation position information corresponding to the fingerprint information Send to the user equipment.
- the fingerprint data of the first indoor area and the second indoor area are stored in the positioning fingerprint database, the fingerprint density of the first indoor area is greater than or equal to a first threshold, and the fingerprint density of the second indoor area is less than or Equal to a second threshold; the first threshold is greater than the second threshold.
- the indoor positioning device provided in this embodiment has a plurality of user equipment positioning signals that are periodically transmitted, and when matched with the fingerprint information, the strength of each user equipment positioning signal can be separately matched, and multiple user equipments can be combined. The trend of the change of the signals is matched with the fingerprint information. Therefore, the location of the user equipment can be more accurately matched to the corresponding fingerprint information, and the punctuation position information corresponding to the fingerprint information is sent to the user equipment. The user equipment is made aware of the indoor location where it is located.
- the fingerprint density of the first indoor area and the fingerprint density of the second indoor area are different, only dense fingerprint information needs to be deployed at key locations, and relatively sparse fingerprint information is deployed at other locations, so that users of all area ranges can be
- the device is precisely positioned, which significantly improves the positioning effect while greatly reducing resource consumption.
- the first indoor area includes at least one special indoor space area: a doorway area, an elevator area, a corner area, and a deck area.
- the wireless positioning node includes one or more of the following: a base station, a wireless router, a computer.
- the device may further include:
- the strength matching unit is configured to send, after the service receiving unit 41 receives the user equipment positioning signal measured by the wireless positioning node from the wireless positioning node, the service sending unit 42 sends the punctuation position information corresponding to the fingerprint information to the user equipment. Previously, matching the strength of the user equipment positioning signal and the corresponding fingerprint signal in the positioning fingerprint database;
- a trend matching unit configured to match a change trend between the user equipment positioning signals and a corresponding fingerprint signal in the positioning fingerprint database if the intensity matching difference is less than a preset intensity threshold Trend of change;
- the determining unit is configured to determine that the strength and the changing trend of the user equipment positioning signal match the fingerprint information in the positioning fingerprint database if the trend matching difference is less than the preset change threshold.
- the change trend includes at least one of the following: a direction change trend, a strength change trend.
- the manner of matching includes at least one of probability matching, machine learning, and path fitting.
- the second threshold is equal to zero.
- the functions of the service receiving unit 41 may be implemented by communication elements, and the functions of the service transmitting unit 42 may be implemented by communication elements and processors.
- this application is not limited thereto.
- the embodiment of the present application further provides an indoor positioning device, including:
- the terminal sending unit 51 is configured to periodically send a user equipment positioning signal to the wireless positioning node, so that the wireless positioning node measures the user equipment positioning signal and reports the measurement result to the server;
- the terminal receiving unit 52 is configured to receive the punctuation position information determined by the server according to the measurement result and the fingerprint information in the positioning fingerprint database;
- the terminal determining unit 53 is configured to determine the current location by the punctuation location information.
- the positioning fingerprint database is set in the server, and the fingerprint information of the first indoor area and the second indoor area is stored in the positioning fingerprint database, and the fingerprint density of the first indoor area is greater than or equal to a first threshold.
- the fingerprint density of the second indoor area is less than or equal to a second threshold; the first threshold is greater than the second threshold.
- the user equipment can periodically send the user equipment positioning signal to the wireless positioning node, so that the wireless positioning node measures the positioning signal of the user equipment and reports the measurement result to the server, and then receives the server according to the The measurement result and the punctuation position information determined by the fingerprint information in the positioning fingerprint database. Since the user equipment positioning signal is sent periodically, one will be sent at a time.
- the server performs fingerprint information matching, not only the strength of each user equipment positioning signal can be individually matched, but also multiple user equipment positioning signals can be combined with each other.
- the change trend between the fingerprint information is matched, so that the location of the user equipment can be more accurately matched to the corresponding fingerprint information, and when the user equipment receives the label corresponding to the fingerprint information
- the punctal location information can be used as the indoor location of the location. Because the fingerprint density of the first indoor area and the fingerprint density of the second indoor area are different, only dense fingerprint information needs to be deployed at key locations, and relatively sparse fingerprint information is deployed at other locations, so that users of all area ranges can be The device is precisely positioned, which significantly improves the positioning effect while greatly reducing resource consumption.
- the indoor positioning apparatus may further include: a clearing unit configured to receive, at the terminal receiving unit 52, the punctuation position information determined by the server according to the measurement result and the fingerprint information in the positioning fingerprint database. After that, the initial position coordinates of its own positioning sensor are cleared.
- a clearing unit configured to receive, at the terminal receiving unit 52, the punctuation position information determined by the server according to the measurement result and the fingerprint information in the positioning fingerprint database. After that, the initial position coordinates of its own positioning sensor are cleared.
- the terminal determining unit 53 may be further configured to determine the current location using the positioning sensor and the last received punctuation position information if the punctuation position information cannot be received.
- the terminal transmitting unit 51 may be configured to transmit 2 to 6 of the user equipment positioning signals to the wireless positioning node at intervals of 10 milliseconds.
- the functions of the terminal transmitting unit 51 and the terminal receiving unit 52 may be implemented by communication elements, and the functions of the terminal determining unit 53 may be implemented by a processor.
- this application is not limited thereto.
- the embodiment of the present application further provides a server, including any indoor positioning device provided in the embodiment shown in FIG. 8, and thus can achieve the corresponding technical effects.
- a server including any indoor positioning device provided in the embodiment shown in FIG. 8, and thus can achieve the corresponding technical effects.
- the embodiment of the present application further provides a mobile terminal, including any indoor positioning device provided in the embodiment shown in FIG. 9, and thus can achieve the corresponding technical effects.
- a mobile terminal including any indoor positioning device provided in the embodiment shown in FIG. 9, and thus can achieve the corresponding technical effects.
- the embodiment of the present application further provides a computer readable medium storing an indoor positioning program, where the indoor positioning program is executed by a processor to implement the step of the indoor positioning method on the server side.
- the embodiment of the present application further provides a computer readable medium, which stores an indoor positioning program, and the indoor positioning program is implemented by a processor to implement the step of the indoor positioning method on the terminal side.
- computer storage medium includes volatile and nonvolatile, implemented in any method or technology for storing information, such as computer readable instructions, data structures, program modules or other data. Sex, removable and non-removable media.
- Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridge, magnetic tape, magnetic disk storage or other magnetic storage device, or may Any other medium used to store the desired information and that can be accessed by the computer.
- communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and can include any information delivery media. .
- the embodiment of the present application provides an indoor positioning method and device, a server, and a user equipment, which significantly improve the positioning effect when the resource consumption is greatly saved.
Abstract
一种室内定位方法，包括：从无线定位节点接收所述无线定位节点测量到的用户设备定位信号，所述用户设备定位信号为用户设备向所述无线定位节点定时发送的上行信号；如果所述用户设备定位信号的强度以及变化趋势都与预先存储于服务器的定位指纹数据库中第一室内区域的指纹信息相匹配，将所述指纹信息对应的标点位置信息向所述用户设备发送；其中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值。
Description
本申请涉及但不限于通信技术领域，尤其涉及一种室内定位方法及装置、服务器、用户设备。
随着时代的进步与发展，定位技术得到越为广泛的重视。高精度定位需求，尤其是米级定位精度需求不断增加。与此同时，室内场景也对无线定位提出了更高的技术要求。
目前还没有一种单一的无线定位技术能够同时满足定位准确、实时、适应性强、可靠性高和成本低的特点。GPS(Global Positioning System，全球定位系统)定位技术由于信号损耗等原因，在室内信号变弱，使得定位终端无法搜索到足够的卫星；蜂窝网系统由于定位误差很大，无论在室外还是在室内都无法达到足够的精度，无法满足无线定位需求。压力传感器、蓝牙、Zigbee、RFID(Radio Frequency Identification，射频识别)等技术，这些定位技术的应用场景也非常特殊，只能够提供某些局部环境的定位，比较难支撑大范围、广泛应用的定位需求。
指纹定位技术具有米级定位精度性能且无需知道基站的位置和准确的信道模型的特点，可以很好地反映当前环境的特征，不过需要建立指纹数据库并在环境变化时更新指纹数据库以保证其定位有效性，而数据库的建立与更新需要耗费大量的人力物力。
传感器融合定位通过对各种独立的传感器信息进行融合，达到各种传感器信息互补和协同工作的效果，能提高整个系统的有效性。传感器定位不依赖于外界环境信息的条件下连续自主定位，并且短期内噪声小、稳定性好。但传感器存在较大的固有误差和随机测量误差等，长时间的误差积累会导致导航精度的下降，因此不适于长期单独工作和长距离定位。
发明概述
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。
本申请实施例提供一种室内定位方法及装置、服务器、用户设备，能够在大大节省了资源消耗的情况下，显著改善定位效果。
第一方面，本申请实施例提供一种室内定位方法，包括：从无线定位节点接收所述无线定位节点测量到的用户设备定位信号，所述用户设备定位信号为用户设备向所述无线定位节点定时发送的上行信号；如果所述用户设备定位信号的强度以及变化趋势都与预先存储于服务器的定位指纹数据库中第一室内区域的指纹信息相匹配，将所述指纹信息对应的标点位置信息向所述用户设备发送；其中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
第二方面，本申请实施例还提供一种室内定位方法，包括：向无线定位节点定时发送用户设备定位信号，以使所述无线定位节点测量所述用户设备定位信号并向服务器上报测量结果；接收所述服务器根据所述测量结果和定位指纹数据库中的指纹信息确定的标点位置信息；以所述标点位置信息确定当前位置；其中，所述定位指纹数据库设置在所述服务器中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
第三方面，本申请实施例还提供一种室内定位装置，包括：服务接收单元，配置为从无线定位节点接收所述无线定位节点测量到的用户设备定位信号，其中，所述用户设备定位信号为用户设备向所述无线定位节点定时发送的上行信号；服务发送单元，配置为如果所述用户设备定位信号的强度以及变化趋势都与预先存储于服务器的定位指纹数据库中第一室内区域的指纹信息相匹配，将所述指纹信息对应的标点位置信息向所述用户设备发送；其中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所
述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
第四方面，本申请实施例还提供一种室内定位装置，包括：终端发送单元，配置为向无线定位节点定时发送用户设备定位信号，以使所述无线定位节点测量所述用户设备定位信号并向服务器上报测量结果；终端接收单元，配置为接收所述服务器根据所述测量结果和定位指纹数据库中的指纹信息确定的标点位置信息；终端确定单元，配置为以所述标点位置信息确定当前位置；其中，所述定位指纹数据库设置在所述服务器中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
第五方面，本申请实施例还提供一种服务器，包括上述的第三方面的室内定位装置。
第六方面，本申请实施例还提供一种用户设备，包括上述的第四方面的室内定位装置。
此外，本申请实施例还提供一种计算机可读介质，存储有室内定位程序，所述室内定位程序被处理器执行时实现上述第一方面的室内定位方法的步骤。
此外，本申请实施例还提供一种计算机可读介质，存储有室内定位程序，所述室内定位程序被处理器执行时实现上述第二方面的室内定位方法的步骤。
本申请实施例提供的室内定位方法及装置、服务器、用户设备，由于用户设备定位信号在与指纹信息进行匹配时，不仅可以单独匹配每个用户设备定位信号的强度，还可以联合多个用户设备定位信号彼此之间的变化趋势进行指纹信息的匹配，因此，可以将用户设备所在位置更为精确地匹配到对应的指纹信息，并通过将该指纹信息对应的标点位置信息发送给该用户设备，而使该用户设备获知自身所在的室内位置。又由于第一室内区域的指纹密度和第二室内区域的指纹密度不同，只需要在关键位置部署较为密集的指纹信息，而在其他位置部署较为稀疏的指纹信息，即可对所有区域范围的用户设备进行精确定位，从而在大大节省了资源消耗的情况下，显著改善了定位效果。
在阅读并理解了附图和详细描述后，可以明白其他方面。
附图概述
图1是本申请实施例提供的室内定位方法的一种流程图；
图2是本申请实施例提供的室内定位方法的另一种流程图；
图3是本申请实施例提供的室内定位方法所基于的系统的结构示意图；
图4是基于图3所示的室内定位方法的一种流程图；
图5是门口位置定位示意图；
图6是电梯位置定位示意图；
图7是拐角位置定位示意图；
图8是本申请实施例提供的室内定位装置的一种结构示意图；
图9是本申请实施例提供的室内定位装置的另一种结构示意图。
详述
以下结合附图对本申请进行详细说明。应当理解，此处所描述的实施例仅仅用以解释本申请，并不限定本申请。
如图1所示，本申请实施例提供一种室内定位方法，基于服务器，包括：
S11，从无线定位节点接收所述无线定位节点测量到的用户设备定位信号，所述用户设备定位信号为用户设备向所述无线定位节点定时发送的上行信号；
S12，如果所述用户设备定位信号的强度以及变化趋势都与预先存储于服务器的定位指纹数据库中第一室内区域的指纹信息相匹配，将所述指纹信息对应的标点位置信息向所述用户设备发送。
其中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
本实施例提供的室内定位方法，服务器能够从无线定位节点接收所述无
线定位节点测量到的用户设备定位信号，由于用户设备定位信号是定时发送的，因此可以检测到多个；在与指纹信息进行匹配时，不仅可以单独匹配每个用户设备定位信号的强度，还可以联合多个用户设备定位信号彼此之间的变化趋势进行指纹信息的匹配，因此，可以将用户设备所在位置更为精确地匹配到对应的指纹信息，并通过将该指纹信息对应的标点位置信息发送给该用户设备，而使该用户设备获知自身所在的室内位置。又由于第一室内区域的指纹密度和第二室内区域的指纹密度不同，只需要在关键位置部署较为密集的指纹信息，而在其他位置部署较为稀疏的指纹信息，即可对所有区域范围的用户设备进行精确定位，从而在大大节省了资源消耗的情况下，显著改善了定位效果。
其中，在步骤S11中，用户设备可以每隔预设时长向无线定位节点发送一个用户设备定位信号，例如每个5秒钟向无线定位节点发送一个用户设备定位信号。由于用户设备距离无线定位节点的远近不同，无线定位节点实际测量到的用户设备定位信号也有所差别。无线定位节点可以将测量到的用户设备定位信号向服务器发送，以供服务器进行定位分析。
示例性地，所述用户设备定位信号可以为所述用户设备向所述无线定位节点定时发送的各种上行信号，例如探测(sounding)信号等。而无线定位节点可以是基站、无线路由器、计算机等可以与用户设备通信或者可以接收用户设备的上行信号的设备。
步骤S11中，服务器接收到无线定位节点传来的用户设备定位信号之后，服务器可以将该用户设备定位信号与预先存储的指纹信息进行匹配，根据匹配结果来定位该用户设备。其中，指纹信息可以预先存储于定位指纹数据库中，定位指纹数据库中存储的指纹信息可以来自在线定位之前的离线阶段对室内信号分布的测量。为了使建立的定位指纹数据库能够精确且高效地对用户设备进行室内定位，可以对不同的室内区域进行不同密度的指纹信息部署。例如，可以对第一室内区域进行较高密度的指纹信息部署，如指纹密度大于或等于第一阈值，对第二室内区域进行较低密度的指纹信息部署，如指纹密度小于或等于第二阈值。其中，第一室内区域可以包括用户进出室内的必经之路，或者用户在室内会频繁活动的场所，例如门口区域、电梯区域、拐角
区域、卡座区域中的一种或几种。第二室内区域可以为第一室内区域以外的区域。第一阈值和第二阈值的大小都可以根据需要进行调整，第二阈值最小可以为0，也就是只在第一室内区域中部署有相应的指纹信息，其他区域的指纹信息密度为0。通过疏密有致的指纹部署，在大大节省了资源消耗的情况下，显著改善了定位效果。
示例性地，为了获知用户设备定位信号的强度以及变化趋势是否都与预先存储于服务器的定位指纹数据库中第一室内区域的指纹信息相匹配，在从无线定位节点接收所述无线定位节点测量到的用户设备定位信号之后，将所述指纹信息对应的标点位置信息向所述用户设备发送之前，本实施例提供的室内定位方法还可包括：
匹配所述用户设备定位信号与所述定位指纹数据库中对应的指纹信号的强度；
如果强度匹配差值小于预设强度阈值，匹配所述用户设备定位信号之间的变化趋势与所述定位指纹数据库中对应的指纹信号的变化趋势；
如果趋势匹配差值小于预设变化阈值，确定所述用户设备定位信号的强度以及变化趋势都与所述定位指纹数据库中的指纹信息相匹配。
其中，强度匹配差值是每个用户设备定位信号的强度与定位指纹数据库中的指纹信息的信号强度值都比较吻合，即使存在差值，该差值也较小，小于预设强度阈值。趋势匹配差值是指多个用户设备定位信号之间的变化趋势与定位指纹数据库中的指纹信息的信号变化趋势大体一致，示例性地，变化趋势既可以包括方向变化趋势，也可以包括强度变化趋势，还可以包括二者的结合，本实施例对此不作限定。例如，在一个实施例中，如果用户设备定位信号以0.2米/秒的速度向北偏东20度方向匀速移动，指纹信息中的信号为以0.18米/秒的速度向北偏东23度，二者差值小于预设的方向变化阈值5度和强度变化阈值0.05米/秒，则确定该指纹信息对应的标点位置即可作为该用户设备的位置。
示例性地，在进行上述匹配时，匹配方法可以根据使用场景进行不同的选择，可以通过概率匹配、机器学习和路径拟合等方法中的一种或几种完成强度匹配和变化趋势匹配中的至少之一。例如，对于指纹信息中的几个可选
数据，采信其中吻合概率大的数据，再结合地图信息进行路径拟合，从而完成信息匹配。示例性地，在经过一次次的匹配和定位后，还可以通过机器学习逐渐优化匹配算法，从而使匹配的准确度越来越高。
示例性地，不同的第一室内区域对应的定位指纹数据库的数据特征不尽相同，匹配步骤也可能稍有差别。下面针对不同的第一室内区域分别进行详细说明。
门口匹配：在离线时，服务器的定位指纹数据库按照进门、出门和门口左右移动4个方向存储4L个实时sounding信号以及其方向信息；在线阶段，将接收到的L个实时sounding信号与定位指纹数据库进行匹配。匹配规则可包括：首先进行L个实时sounding信号的绝对值匹配，确定有门口位置可能性后，对L个实时sounding信号进行方向匹配；匹配均高于门限时，标定位置。
电梯匹配：在离线时，服务器的定位指纹数据库按照进、出电梯和电梯上下移动4个方向存储4L个实时sounding信号以及其方向信息；在线阶段，将接收到的L个实时sounding信号与定位指纹数据库进行匹配；匹配规则包括：L个实时sounding信号的绝对值匹配和通过L个实时sounding信号得到的方向匹配；匹配均高于门限时，标定位置。
拐角匹配：在离线时，服务器的定位指纹数据库按照顺时针和逆时针2个方向通过拐角，存储2L个实时sounding信号和能量的剧烈变化情况；在线阶段，将接收到的L个实时sounding信号与数据库进行匹配；匹配规则包括：L个实时sounding信号的绝对值匹配，确定拐角匹配位置可能性后；匹配对应基站能量的剧烈变换情况；匹配均高于门限时，标定位置。
基站的正下方：在离线时，服务器的定位指纹数据库存储L个实时sounding信号和其对应基站的低损耗；在线阶段，将接收到的L个实时sounding信号与定位指纹数据库进行匹配；匹配规则包括：L个实时sounding信号的绝对值匹配，确定基站正下方匹配位置可能性后；匹配对应基站能量的低损耗情况；匹配均高于门限时，标定位置。
如图2所示，本申请实施例还提供一种室内定位方法，基于用户设备，包括：
S21，向无线定位节点定时发送用户设备定位信号，以使所述无线定位节点测量所述用户设备定位信号并向服务器上报测量结果；
S22，接收所述服务器根据所述测量结果和定位指纹数据库中的指纹信息确定的标点位置信息；
S23，以所述标点位置信息确定当前位置。
其中，所述定位指纹数据库设置在所述服务器中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
本实施例提供的室内定位方法，用户设备能够向无线定位节点定时发送用户设备定位信号，以使所述无线定位节点测量所述用户设备定位信号并向服务器上报测量结果，然后接收所述服务器根据所述测量结果和定位指纹数据库中的指纹信息确定的标点位置信息。由于定位信号是定时发送的，每隔一段时间就会发送一个，在服务器进行指纹信息匹配时，不仅可以单独匹配每个用户设备定位信号的强度，还可以联合多个用户设备定位信号彼此之间的变化趋势进行指纹信息的匹配，因此，可以将用户设备所在位置更为精确地匹配到对应的指纹信息，当用户设备接收到该指纹信息对应的标点位置信息时，可以将该标点位置信息作为自身所在的室内位置。又由于第一室内区域的指纹密度和第二室内区域的指纹密度不同，只需要在关键位置部署较为密集的指纹信息，而在其他位置部署较为稀疏的指纹信息，即可对所有区域范围的用户设备进行精确定位，从而在大大节省了资源消耗的情况下，显著改善了定位效果。
示例性地，在步骤S21中，向无线定位节点定时发送用户设备定位信号可包括：以10毫秒为间隔向所述无线定位节点发送2至6个所述用户设备定位信号，以使服务器将无线定位节点测量到的用户设备定位信号与定位指纹数据库中的指纹信息做匹配。
由于采用指纹信息对用户设备进行了准确的定位，用户设备可以用这一准确的定位信息校正自身的定位传感器，以便使定位传感器纠正累积误差。在一个实施例中，用户设备在接收所述服务器根据所述测量结果和定位指纹
数据库中的指纹信息确定的标点位置信息之后，还可包括：将自身的定位传感器的初始位置坐标清零。这样在用户设备无法接收服务器发送的标点位置信息的情况下，可以使用所述定位传感器和最近一次接收到的标点位置信息确定当前位置。例如，假如用户当前所在位置并不属于指纹信息密集的区域，而用户设备最近一次从服务器接收到的标点位置信息为2分钟前在电梯附近，则用户可以根据该2分钟前接收到的标点位置信息以及自身定位传感器记录的相对位置信息，确定用户设备当前所处的位置。例如，可以融合标点位置与传感器定位结果，匹配地图信息，显示定位结果。
下面通过实施例对本申请实施例提供的室内定位方法进行详细说明。
图3为本申请实施例提供的室内定位方法所基于的系统的结构示意图，图4为基于该系统的室内定位方法的一种流程图。结合图3和图4，本实施例提供的室内定位方法可包括如下步骤：
步骤301、终端接入无线定位节点，本实施例中无线定位节点可以为基站；
步骤302、基站为终端(即用户设备)配置用户设备定位信号，例如SRS(Sounding Reference Signal，探测参考信号)；
步骤303、终端按照之前的配置向基站发送用户设备定位信号；
步骤304、基站测量接收到的SRS；
步骤305、基站向定位服务器发送测量信息；
步骤306、定位服务器对接收到的测量信息中的用户设备定位信号与定位指纹数据库中的指纹信息进行匹配；
步骤307、如果匹配成功，定位服务器将对应的标点位置信息发送给终端，否则不发送相应的消息；
步骤308、终端更新标点信息；
步骤309、终端将自身的定位传感器重新定位；
步骤310、终端估计自身的绝对位置；
步骤311、终端根据定位服务器的请求反馈自己的位置信息。
其中，在步骤306中，是否能够将用户设备定位信号与定位指纹数据库中的指纹信息匹配成功，与用户设备所处的位置有关。如果该用户设备正处于指纹密集的第一室内区域，则有很大的可能匹配成功，如果该用户设备正处于指纹稀疏的第二室内区域，则可能会匹配不到合适的指纹信息。在匹配不到合适的指纹信息时，用户设备可以结合自身的定位传感器以及最近一次接收到的标点位置信息，估计自身所处位置。
下面分别对几种典型的第一室内区域中的定位情况进行详细说明。
图5是门口位置定位示意图。如图5所示，本实施例中，在无线网络中有3个基站，即eNodeB1、eNodeB2、eNodeB3，一个服务器和一个终端(UE，User Equipment)。定位场景为进出门口。
下面以门口位置进门状况为例，对本实施例提供的室内定位方法进行详细说明。门口位置常见移动方式为：进、出门和门口方向的左右移动。
离线阶段服务器数据库按照进门、出门和门口左右移动4个方向存储4L个实时sounding信号以及其方向信息。
在线定位阶段，UE按照时钟间隔发送sounding信号给基站，行进到门口位置时，基站接收并测量终端发射的sounding信号，以10ms为间隔连续上传L个实时sounding信号给服务器。服务器将接收到的L个实时sounding信号与数据库进行匹配。匹配规则包括：首先进行L个实时sounding信号的绝对值匹配，确定有门口位置可能性后；对L个实时sounding信号进行方向匹配；匹配均高于门限时，标定位置。服务器将标定的位置坐标发送给UE。
UE接收服务器的标点认定坐标，同时对传感器清零。UE融合服务器的标点定位和传感器定位，输出UE的实时位置坐标。
图6是电梯位置定位示意图。如图6所示，在无线网络中有3个基站，即eNodeB1、eNodeB2、eNodeB3，一个服务器和一个终端。定位场景为电梯上下行。
下面以电梯位置上下行状况为例，对本实施例提供的室内定位方法进行说明。电梯位置常见移动方式为：进、出电梯和电梯方向的上下移动。
离线阶段服务器数据库按照进、出电梯和电梯方向的上下移动4个方向
存储4L个实时sounding信号以及其方向信息。
在线定位阶段，UE处于电梯上行位置时，UE继续按照时钟间隔发送sounding信号给基站，基站接收并测量终端发射的sounding信号，以10ms为间隔连续上传L个实时sounding信号给服务器。服务器将接收到的L个实时sounding信号与数据库进行匹配。由于电梯上下移动中接收不同基站功率变化方向明显，所以按照如下匹配规则匹配：L个实时sounding信号的绝对值匹配和通过L个实时sounding信号得到的方向匹配；匹配均高于门限时，标定位置。服务器将标定的位置坐标发送给UE。
UE接收服务器的标点认定电梯坐标，同时对传感器清零。UE融合服务器的标点定位和传感器定位，输出UE的实时位置坐标。
图7是拐角位置定位示意图。如图7所示，在无线网络中有3个基站，即eNodeB1、eNodeB2、eNodeB3，一个服务器和一个终端。定位场景为拐角通行。
下面以拐角位置顺时针通行状况为例，对网络侧稀疏指纹定位与手机传感器融合定位进行说明。拐角位置常见移动方式为：顺时针和逆时针移动。离线阶段服务器数据库按照顺、逆时针2个方向存储2L个实时sounding信号以及其方向信息。
在线定位阶段，行进到拐角位置时的UE继续按照时钟间隔发送sounding信号给基站，基站接收并测量终端发射的sounding信号，以10ms为间隔连续上传L个实时sounding信号给服务器。服务器将接收到的L个实时sounding信号与数据库进行匹配。由于拐角位置通常伴有某些径的消失和出现，所以匹配规则包括：L个实时sounding信号的绝对值匹配，确定拐角匹配位置可能性后；匹配对应基站能量的剧烈变换情况；匹配均高于门限时，标定位置。服务器将标定的位置坐标发送给UE。
UE接收服务器的标点认定坐标，同时对传感器清零。UE融合服务器的标点定位和传感器定位，输出UE的实时位置坐标。
如图8所示，本申请实施例还提供一种室内定位装置，包括：
服务接收单元41，配置为从无线定位节点接收所述无线定位节点测量到
的用户设备定位信号，其中，所述用户设备定位信号为用户设备向所述无线定位节点定时发送的上行信号；
服务发送单元42，配置为如果所述用户设备定位信号的强度以及变化趋势都与预先存储于服务器的定位指纹数据库中第一室内区域的指纹信息相匹配，将所述指纹信息对应的标点位置信息向所述用户设备发送。
其中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
本实施例提供的室内定位装置，由于用户设备定位信号定时发送，具有多个，在与指纹信息进行匹配时，不仅可以单独匹配每个用户设备定位信号的强度，还可以联合多个用户设备定位信号彼此之间的变化趋势进行指纹信息的匹配，因此，可以将用户设备所在位置更为精确地匹配到对应的指纹信息，并通过将该指纹信息对应的标点位置信息发送给该用户设备，而使该用户设备获知自身所在的室内位置。又由于第一室内区域的指纹密度和第二室内区域的指纹密度不同，只需要在关键位置部署较为密集的指纹信息，而在其他位置部署较为稀疏的指纹信息，即可对所有区域范围的用户设备进行精确定位，从而在大大节省了资源消耗的情况下，显著改善了定位效果。
示例性地，所述第一室内区域包括以下至少一种特殊的室内空间区域：门口区域、电梯区域、拐角区域、卡座区域。
示例性地，所述无线定位节点包括以下一种或几种：基站、无线路由器、计算机。
示例性地，所述装置还可以包括：
强度匹配单元，配置为在服务接收单元41从无线定位节点接收所述无线定位节点测量到的用户设备定位信号之后，服务发送单元42将所述指纹信息对应的标点位置信息向所述用户设备发送之前，匹配所述用户设备定位信号与所述定位指纹数据库中对应的指纹信号的强度；
趋势匹配单元，配置为如果强度匹配差值小于预设强度阈值，匹配所述用户设备定位信号之间的变化趋势与所述定位指纹数据库中对应的指纹信号
的变化趋势；
确定单元，配置为如果趋势匹配差值小于预设变化阈值，确定所述用户设备定位信号的强度以及变化趋势都与所述定位指纹数据库中的指纹信息相匹配。
示例性地，所述变化趋势包括以下至少之一：方向变化趋势、强度变化趋势。示例性地，匹配的方式包括概率匹配、机器学习和路径拟合中的至少一种。示例性地，所述第二阈值等于0。
在实际应用中，服务接收单元41的功能可以由通信元件实现，服务发送单元42的功能可以由通信元件和处理器实现。然而，本申请对此并不限定。
如图9所示，本申请实施例还提供一种室内定位装置，包括：
终端发送单元51，配置为向所述无线定位节点定时发送用户设备定位信号，以使所述无线定位节点测量所述用户设备定位信号并向服务器上报测量结果；
终端接收单元52，配置为接收所述服务器根据所述测量结果和定位指纹数据库中的指纹信息确定的标点位置信息；
终端确定单元53，配置为以所述标点位置信息确定当前位置。
其中，所述定位指纹数据库设置在所述服务器中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
本实施例提供的室内定位装置，用户设备能够向无线定位节点定时发送用户设备定位信号，以使所述无线定位节点测量所述用户设备定位信号并向服务器上报测量结果，然后接收所述服务器根据所述测量结果和定位指纹数据库中的指纹信息确定的标点位置信息。由于用户设备定位信号是定时发送的，每隔一段时间就会发送一个，在服务器进行指纹信息匹配时，不仅可以单独匹配每个用户设备定位信号的强度，还可以联合多个用户设备定位信号彼此之间的变化趋势进行指纹信息的匹配，因此，可以将用户设备所在位置更为精确地匹配到对应的指纹信息，当用户设备接收到该指纹信息对应的标
点位置信息时，可以将该标点位置信息作为自身所在的室内位置。又由于第一室内区域的指纹密度和第二室内区域的指纹密度不同，只需要在关键位置部署较为密集的指纹信息，而在其他位置部署较为稀疏的指纹信息，即可对所有区域范围的用户设备进行精确定位，从而在大大节省了资源消耗的情况下，显著改善了定位效果。
示例性地，本实施例提供的室内定位装置，还可包括：清零单元，配置为在终端接收单元52接收所述服务器根据所述测量结果和定位指纹数据库中的指纹信息确定的标点位置信息之后，将自身的定位传感器的初始位置坐标清零。
示例性地，终端确定单元53，还可配置为在无法接收所述标点位置信息的情况下，使用所述定位传感器和最近一次接收到的标点位置信息确定当前位置。
示例性地，终端发送单元51，可配置为以10毫秒为间隔向所述无线定位节点发送2至6个所述用户设备定位信号。
在实际应用中，终端发送单元51和终端接收单元52的功能可以由通信元件实现，终端确定单元53的功能可以由处理器实现。然而，本申请对此并不限定。
本申请实施例还提供一种服务器，包括如图8所示实施例提供的任一种室内定位装置，因此也能实现相应的技术效果，前文已经进行了详细的说明，此处不再赘述。
本申请实施例还提供一种移动终端，包括如图9所示实施例提供的任一种室内定位装置，因此也能实现相应的技术效果，前文已经进行了详细的说明，此处不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
此外，本申请实施例还提供一种计算机可读介质，存储有室内定位程序，所述室内定位程序被处理器执行时实现服务器侧的室内定位方法的步骤。
此外，本申请实施例还提供一种计算机可读介质，存储有室内定位程序，所述室内定位程序被处理器执行时实现终端侧的室内定位方法的步骤。
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、系统、装置中的功能模块或单元可以被实施为软件、固件、硬件及其适当的组合。在硬件实施方式中，在以上描述中提及的功能模块或单元之间的划分不一定对应于物理组件的划分；例如，一个物理组件可以具有多个功能，或者一个功能或步骤可以由若干物理组件合作执行。某些组件或所有组件可以被实施为由处理器，如数字信号处理器或微处理器执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。这样的软件可以分布在计算机可读介质上，计算机可读介质可以包括计算机存储介质(或非暂时性介质)和通信介质(或暂时性介质)。如本领域普通技术人员公知的，术语计算机存储介质包括在用于存储信息(诸如计算机可读指令、数据结构、程序模块或其他数据)的任何方法或技术中实施的易失性和非易失性、可移除和不可移除介质。计算机存储介质包括但不限于RAM、ROM、EEPROM、闪存或其他存储器技术、CD-ROM、数字多功能盘(DVD)或其他光盘存储、磁盒、磁带、磁盘存储或其他磁存储装置、或者可以用于存储期望的信息并且可以被计算机访问的任何其他的介质。此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。
以上仅为本申请的示例性实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。
本申请实施例提供一种室内定位方法及装置、服务器、用户设备，在大大节省了资源消耗的情况下，显著改善了定位效果。
Claims (20)
- 一种室内定位方法，包括：从无线定位节点接收所述无线定位节点测量到的用户设备定位信号(S11、305)，所述用户设备定位信号为用户设备向所述无线定位节点定时发送的上行信号；如果所述用户设备定位信号的强度以及变化趋势都与预先存储于服务器的定位指纹数据库中第一室内区域的指纹信息相匹配，将所述指纹信息对应的标点位置信息向所述用户设备发送(S12、307)；其中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
- 根据权利要求1所述的方法，其中，所述第一室内区域包括以下至少一种特殊的室内空间区域：门口区域、电梯区域、拐角区域、卡座区域。
- 根据权利要求1至2中任一项所述的方法，所述从无线定位节点接收所述无线定位节点测量到的用户设备定位信号之后，将所述指纹信息对应的标点位置信息向所述用户设备发送之前，所述方法还包括：匹配所述用户设备定位信号与所述定位指纹数据库中对应的指纹信号的强度；如果强度匹配差值小于预设强度阈值，匹配所述用户设备定位信号之间的变化趋势与所述定位指纹数据库中对应的指纹信号的变化趋势；如果趋势匹配差值小于预设变化阈值，确定所述用户设备定位信号的强度以及变化趋势都与所述定位指纹数据库中的指纹信息相匹配。
- 根据权利要求3所述的方法，其中，所述变化趋势包括以下至少之一：方向变化趋势、强度变化趋势。
- 根据权利要求3所述的方法，其中，匹配的方式包括概率匹配、机器学习和路径拟合中的至少一种。
- 根据权利要求1所述的方法，其中，所述第二阈值等于0。
- 一种室内定位方法，包括：向无线定位节点定时发送用户设备定位信号(S21、303)，以使所述无线定位节点测量所述用户设备定位信号并向服务器上报测量结果；接收所述服务器根据所述测量结果和定位指纹数据库中的指纹信息确定的标点位置信息(S22、307)；以所述标点位置信息确定当前位置(S23、308至310)；其中，所述定位指纹数据库设置在所述服务器中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
- 根据权利要求7所述的方法，所述接收所述服务器根据所述测量结果和定位指纹数据库中的指纹信息确定的标点位置信息之后，所述方法还包括：将自身的定位传感器的初始位置坐标清零。
- 根据权利要求8所述的方法，所述方法还包括：在无法接收所述标点位置信息的情况下，使用所述定位传感器和最近一次接收到的标点位置信息确定当前位置。
- 根据权利要求7至9中任一项所述的方法，其中，所述向无线定位节点定时发送用户设备定位信号包括：以10毫秒为间隔向所述无线定位节点发送2至6个所述用户设备定位信号。
- 一种室内定位装置，包括：服务接收单元(41)，配置为从无线定位节点接收所述无线定位节点测量到的用户设备定位信号，其中，所述用户设备定位信号为用户设备向所述无线定位节点定时发送的上行信号；服务发送单元(42)，配置为如果所述用户设备定位信号的强度以及变化趋势都与预先存储于服务器的定位指纹数据库中第一室内区域的指纹信息相匹配，将所述指纹信息对应的标点位置信息向所述用户设备发送；其中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
- 根据权利要求11所述的装置，所述装置还包括：强度匹配单元，配置为在所述服务接收单元从无线定位节点接收所述无线定位节点测量到的用户设备定位信号之后，在所述服务发送单元将所述指纹信息对应的位置信息向所述用户设备发送之前，匹配所述用户设备定位信号与所述定位指纹数据库中对应的指纹信号的强度；趋势匹配单元，配置为如果强度匹配差值小于预设强度阈值，匹配所述用户设备定位信号之间的变化趋势与所述定位指纹数据库中对应的指纹信号的变化趋势；确定单元，配置为如果趋势匹配差值小于预设变化阈值，确定所述用户设备定位信号的强度以及变化趋势都与所述定位指纹数据库中的指纹信息相匹配。
- 根据权利要求12所述的装置，其中，所述变化趋势包括以下至少之一：方向变化趋势、强度变化趋势。
- 一种室内定位装置，包括：终端发送单元(51)，配置为向无线定位节点定时发送用户设备定位信号，以使所述无线定位节点测量所述用户设备定位信号并向服务器上报测量结果；终端接收单元(52)，配置为接收所述服务器根据所述测量结果和定位指纹数据库中的指纹信息确定的标点位置信息；终端确定单元(53)，配置为以所述标点位置信息确定当前位置；其中，所述定位指纹数据库设置在所述服务器中，所述定位指纹数据库中存储有第一室内区域和第二室内区域的指纹信息，所述第一室内区域的指纹密度大于或等于第一阈值，所述第二室内区域的指纹密度小于或等于第二阈值；所述第一阈值大于所述第二阈值。
- 根据权利要求14所述的装置，所述装置还包括：清零单元，配置 为在所述终端接收单元接收所述服务器根据所述测量结果和定位指纹数据库中的指纹信息确定的标点位置信息之后，将自身的定位传感器的初始位置坐标清零。
- 根据权利要求15所述的装置，其中，所述终端确定单元，还配置为在无法接收所述标点位置信息的情况下，使用所述定位传感器和最近一次接收到的标点位置信息确定当前位置。
- 一种服务器，包括如权利要求11至13中任一项所述的室内定位装置。
- 一种用户设备，包括如权利要求14至16中任一项所述的室内定位装置。
- 一种计算机可读介质，存储有室内定位程序，所述室内定位程序被处理器执行时实现如权利要求1至6中任一项所述的室内定位方法的步骤。
- 一种计算机可读介质，存储有室内定位程序，所述室内定位程序被处理器执行时实现如权利要求7至10中任一项所述的室内定位方法的步骤。
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| CN110430533A (zh) * | 2019-08-26 | 2019-11-08 | 浙江三维通信科技有限公司 | 移动终端定位方法、装置、系统、计算机设备和存储介质 |
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