WO2019071762A1 - Procédé et système de positionnement au sol, serveur et support d'enregistrement lisible par ordinateur - Google Patents

Procédé et système de positionnement au sol, serveur et support d'enregistrement lisible par ordinateur Download PDF

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Publication number
WO2019071762A1
WO2019071762A1 PCT/CN2017/114367 CN2017114367W WO2019071762A1 WO 2019071762 A1 WO2019071762 A1 WO 2019071762A1 CN 2017114367 W CN2017114367 W CN 2017114367W WO 2019071762 A1 WO2019071762 A1 WO 2019071762A1
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WO
WIPO (PCT)
Prior art keywords
floor
terminal
signal
wireless signal
location
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Application number
PCT/CN2017/114367
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English (en)
Chinese (zh)
Inventor
黄兴鲁
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深圳数位传媒科技有限公司
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Publication of WO2019071762A1 publication Critical patent/WO2019071762A1/fr

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Classifications

    • 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
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation

Definitions

  • the present invention relates to the field of terminal technologies, and in particular, to a floor location positioning method, system, server, and computer readable storage medium.
  • a primary object of the present invention is to provide a floor location location method, system, server, and computer readable storage medium, which are directed to solving the prior art problem of not being able to determine the current floor location information in an indoor environment.
  • the present invention provides a floor location positioning method, which is applied to a server, and the floor location positioning method includes:
  • the determined floor location is fed back to the terminal for the terminal to display the received floor location in the display interface of the positioning application.
  • the present invention also provides a server including a processor, a memory, and a floor position locating program stored on the memory and operable on the processor, the floor position positioning The steps of the floor location location method as described above are implemented when the program is executed by the processor.
  • the present invention also provides a computer readable storage medium having a floor location locating program stored thereon, the floor location locating program being implemented by a processor as described above The steps of the floor location location method.
  • the present invention further provides a floor location locating system, the floor location locating system comprising a terminal and a server, the server described above;
  • the terminal is configured to collect wireless signal data in an indoor environment by using a built-in positioning application
  • the server first receives the wireless signal data uploaded by the terminal, and then matches the wireless signal data with the pre-stored signal database to determine the floor location where the terminal is located, and finally determines the determined floor position feedback.
  • the terminal for the terminal to display the received floor location in the display interface of the positioning application.
  • the terminal In the indoor environment, the terminal first collects wireless signal data in the indoor environment through the built-in positioning application, and then the server determines the floor location information of the terminal according to the pre-stored signal database and the wireless signal data, thereby realizing the indoor environment. Accurate positioning.
  • FIG. 1 is a schematic structural diagram of a server in a hardware operating environment according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of a first embodiment of a floor position positioning method according to the present invention
  • FIG. 3 is a schematic diagram of a preferred embodiment of the present invention.
  • step S20 in FIG. 2 is a schematic diagram showing the refinement process of step S20 in FIG. 2;
  • FIG. 5 is a schematic flow chart of a second embodiment of a floor position positioning method according to the present invention.
  • FIG. 6 is a schematic diagram of a first refinement process of step S28 in FIG. 5;
  • step S28 in FIG. 5 is a schematic diagram of a second refinement process of step S28 in FIG. 5;
  • FIG. 8 is a schematic diagram of a third refinement flow of step S28 in FIG. 5.
  • the solution of the embodiment of the present invention is mainly: the server first receives the wireless signal data uploaded by the terminal, and then matches the wireless signal data with the pre-stored signal database to determine the floor location where the terminal is located, and finally determines the determined floor location. Feedback to the terminal for the terminal to display the received floor location in the display interface of the positioning application. In order to solve the existing indoor environment, it is impossible to accurately locate the problem.
  • FIG. 1 is a schematic structural diagram of a server in a hardware operating environment according to an embodiment of the present invention.
  • the server in the embodiment of the present invention may be a one-way server, or may be a multi-way server or a distributed server.
  • the server may include a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005.
  • the communication bus 1002 is used to implement connection communication between these components.
  • the user interface 1003 may include a display, an input unit such as a keyboard, and the optional user interface 1003 may also include a standard wired interface (eg, for connecting a wired keyboard, a wired mouse, etc.), a wireless interface (eg, for Connect a wireless keyboard, wireless mouse).
  • the network interface 1004 can optionally include a standard wired interface (for connecting to a wired network), a wireless interface (such as a WI-FI interface, a Bluetooth interface, an infrared interface, a probe interface, a 3G/4G/5G network communication interface, etc.) Connect to a wireless network).
  • the memory 1005 may be a high speed RAM memory or a stable memory (non-volatile) Memory), such as disk storage.
  • the memory 1005 can also optionally be a storage device independent of the aforementioned motherboard 1001.
  • the server may also include a camera, RF (Radio) Frequency, RF) circuits, sensors, audio circuits, WiFi modules, and more.
  • RF Radio
  • RF Radio
  • server structure illustrated in FIG. 1 does not constitute a limitation to the terminal, and may include more or fewer components than those illustrated, or some components may be combined, or different component arrangements.
  • an operating system a network communication module, a user interface module, and a floor location locating program may be included in the memory 1005 as a computer readable storage medium.
  • the operating system is a program for managing and controlling terminal and software resources, and supports operation of a network communication module, a user interface module, a floor location locating program, and other programs or software; a network communication module is used to manage and control the network interface 1002; a user interface The module is used to manage and control the user interface 1003.
  • the server calls the floor location locating program stored in the memory 1005 by the processor 1001 to implement the following steps:
  • the determined floor location is fed back to the terminal for the terminal to display the received floor location in the display interface of the positioning application.
  • the server calls the floor location locating program stored in the memory 1005 by the processor 1001, and further implements a step of matching the wireless signal data with the pre-stored signal database to determine the floor location where the terminal is located:
  • the determined floor location is taken as the floor location where the terminal is located.
  • the server calls the floor location locating program stored in the memory 1005 by the processor 1001, and further implements a step of matching the wireless signal data with the pre-stored signal database to determine the floor location where the terminal is located:
  • the determined floor location is taken as the floor location where the terminal is located.
  • the server calls the floor position locating program stored in the memory 1005 by the processor 1001, and further implements the step of determining the determined floor position as the floor position where the terminal is located:
  • the probability that the signal identifier of each wireless signal number appears in each floor is calculated
  • the floor with the highest probability of aggregation is taken as the floor location where the terminal is located.
  • the server calls the floor position locating program stored in the memory 1005 by the processor 1001, and further implements the step of determining the determined floor position as the floor position where the terminal is located:
  • the wireless signal data reported by the terminal includes multiple, determining a signal strength corresponding to each wireless signal data appearing in each floor;
  • the floor with the highest signal strength average is taken as the floor position where the terminal is located.
  • the server calls the floor position locating program stored in the memory 1005 by the processor 1001, and further implements the step of determining the determined floor position as the floor position where the terminal is located:
  • wireless signal data reported by the terminal includes multiple, calculate the number of wireless signal data covered in each floor;
  • the floor covering the largest number of wireless signal data is taken as the floor position where the terminal is located.
  • the server firstly receives the wireless signal data uploaded by the terminal by calling the floor location locating program stored in the memory, and then matching the wireless signal data with the pre-stored signal database to determine the location of the terminal.
  • the floor location ultimately returns the determined floor location to the terminal for the terminal to display the received floor location in the display interface of the positioning application.
  • the terminal In the indoor environment, the terminal first collects wireless signal data in the indoor environment through the built-in positioning application, and then the server determines the floor location information of the terminal according to the pre-stored signal database and the wireless signal data, thereby realizing the indoor environment. Accurate positioning.
  • FIG. 2 is a schematic flowchart diagram of a first embodiment of a floor position positioning method according to the present invention.
  • the floor location positioning method is applied to a server, and the floor location positioning method includes:
  • the determined floor location is fed back to the terminal for the terminal to display the received floor location in the display interface of the positioning application.
  • the floor location location method is applied to a server, such as the server shown in FIG.
  • the signal database is established, and the establishment of the signal database includes:
  • Step a the server records the location of each signal source included in each floor in the indoor environment, wherein the signal source is used to transmit a wireless signal, so that the terminal receives the wireless signal data;
  • Step b after recording each signal source included in each floor, recording the signal strength of each signal source detected at each position in each floor;
  • Step c storing the signal strength detected by each location and the signal identifier of the signal source in association with each corresponding location;
  • Step d establishing a signal database based on the associated stored location information, signal identification, and signal strength.
  • the signal database is established by the server to record the location of each signal source included in each floor.
  • the location of each signal source can be collected by the terminal and uploaded to the server, or the server can receive the user through the front-end page. Enter and record the location.
  • the server After recording the location of each signal source included in each floor, the server records the signal strength of each signal source detected at each position in each floor. It should be noted that since the signal source in each floor contains multiple, Therefore, there are also multiple signal sources detected at each location in each floor. Accordingly, the signal strength recorded in each location in the floor also includes multiple.
  • the three signal sources may be on the same floor or may be located differently. In the floor, there is no limit here.
  • the M point is currently used as the detection point, the signal strength of each signal source is detected at the position of the M point. As shown in FIG. 3, the distance between the M point and the signal source B, the signal source A, and the signal source C is sequentially decreased. Therefore, the signal strengths of the signal source B, the signal source A, and the signal source C are sequentially increased at the point M.
  • the signal strength of the signal source B detected at the point M is -15 dBm, and the M point and the detected signal source are detected.
  • the signal strength of A is -11 dBm, and the signal strength of point M and detected signal source C is -6 dBm.
  • the signal strength of the signal source detected at each position is determined according to the distance between the detection point and the signal source. The longer the distance, the weaker the detected signal strength, and the shorter the distance, the stronger the detected signal strength. . It can be understood that when another point is selected as the detection point in the floor, the signal strengths of the three signal sources can also be detected. It should be noted that the detection points are different, and the detected signal strengths of the respective signal sources are also different. In this way, the signal strength of each signal source detected in each position can be obtained.
  • the signal strength detected by each position and the signal identifier of the signal source are stored in association with each corresponding position.
  • the M point is Signal source A and -11dBm are stored in association with source B and -15dBm and with source C and -6dBm.
  • a signal database can be established.
  • the signal database records the distance between each location and each signal source in each floor of the indoor environment, and the signal strength of each signal source detected at each location.
  • the server can determine the floor position of the terminal according to the pre-stored signal database.
  • Step S10 Receive wireless signal data uploaded by the terminal, where the wireless signal data is collected by the terminal in an indoor environment through a built-in positioning application;
  • the server first receives wireless signal data reported by the terminal, and the wireless signal data is wireless signal data collected by the terminal in the indoor environment through the built-in positioning application.
  • the wireless signal data uploaded by the terminal may optionally include one or more, and the specific number of the wireless signal data is determined according to the signal source, that is, when the terminal detects multiple signal sources, the terminal uploads multiple wireless signal data, and detects 1 When one source is used, one wireless signal data is uploaded.
  • the wireless signal data includes a Wi-Fi signal, a Bluetooth signal, or a base station signal.
  • Step S20 matching the wireless signal data with a pre-stored signal database to determine a floor location where the terminal is located;
  • the server After receiving the wireless signal data uploaded by the terminal, the server matches the received wireless signal data with the pre-stored signal database, that is, compares the wireless signal data with the signal data in the pre-stored signal database to determine where the terminal is located. Floor location.
  • the step S20 includes:
  • Step S21 determining a signal identifier and a signal strength corresponding to the received wireless signal data
  • Step S22 in the pre-stored signal database, searching for a floor area included in the signal source corresponding to the signal identifier;
  • Step S23 in the searched floor area, determining a floor position corresponding to the signal source that detects the signal strength
  • step S24 the determined floor location is taken as the floor location where the terminal is located.
  • the embodiment after receiving the wireless signal data uploaded by the terminal, extracting the signal identifier and signal strength carried by the wireless signal data, and then searching for a signal source corresponding to the signal identifier in the pre-stored signal database, And determining, according to the floor area included in the pre-stored signal source, the floor area included in the signal source corresponding to the signal identifier. After finding the floor area included in the signal source corresponding to the signal identifier, further querying a specific floor position of the signal source capable of detecting the signal strength, that is, after determining the floor included in the signal source, determining that the signal can be detected. The specific floor location of the intensity signal source.
  • the server has determined that the wireless signal data reported by the terminal is the signal source A, and when the signal transmission capability of the signal source A is strong, the terminal on the same floor of the signal source A can The wireless signal data transmitted by the signal source A is detected.
  • the wireless signal data transmitted by the signal source A can be detected at the terminal of the adjacent floor of the signal source A, but the signal strength detected by the terminals of the two floors is different, therefore,
  • the floor area included in the signal source may be determined according to the coverage range of the wireless signal in the signal source A, and then, in the included floor area, the floor position corresponding to the signal source capable of detecting the signal strength is determined, for example, a signal
  • the signal strength detected by the terminal on the same floor of source A is -11. dBm
  • the signal strength detected at the terminal on the adjacent floor of the signal source is -6dBm. If the signal strength of the wireless signal data received by the server is -11 dBm, the floor position where the terminal is located can be determined.
  • the server is in the pre-stored signal.
  • the signal source corresponding to each signal identifier is searched to determine the floor area where the signal source corresponding to each signal identifier is located according to the floor area where each pre-stored signal source is located. After determining the floor area where the signal source of each signal identification is located, the specific location of the signal source capable of detecting each signal strength is further queried. The specific determination method is consistent with the above, and will not be described here.
  • Step S30 feeding back the determined floor position to the terminal, so that the terminal displays the received floor position in the display interface of the positioning application.
  • the server determines the location of the floor where the terminal is located
  • the determined floor location can be fed back to the terminal, so that the terminal displays the received floor location information in the display interface of the positioning application.
  • the server first receives the wireless signal data uploaded by the terminal, and then matches the wireless signal data with the pre-stored signal database to determine the floor location where the terminal is located, and finally determines the determined floor location. Feedback to the terminal for the terminal to display the received floor location in the display interface of the positioning application.
  • the terminal In the indoor environment, the terminal first collects wireless signal data in the indoor environment through the built-in positioning application, and then the server determines the floor location information of the terminal according to the pre-stored signal database and the wireless signal data, thereby realizing the indoor environment. Accurate positioning.
  • the second embodiment of the floor position locating method differs from the first embodiment of the floor position locating method in that, in this embodiment, referring to FIG. 5, the step S20 may further include:
  • Step S25 determining a signal identifier corresponding to the received wireless signal data
  • Step S26 comparing the determined signal identifier with the pre-stored signal database to determine a pre-stored signal identifier in the pre-stored signal database that matches the signal identifier;
  • Step S27 determining a floor location corresponding to the signal identifier of the wireless signal data based on a mapping relationship between the pre-stored signal identifier and the floor location in the pre-stored signal database;
  • step S28 the determined floor position is taken as the floor position where the terminal is located.
  • the server after receiving the wireless signal data uploaded by the terminal, matches the received wireless signal data with the pre-stored signal database, that is, compares the wireless signal data with the signal data in the pre-stored signal database. Determine the location of the floor where the terminal is located. Specifically, the server first determines the signal identifier corresponding to the received wireless signal data, and after determining the signal identifier corresponding to the wireless signal data, the server compares the determined signal identifier with the pre-stored signal database to determine and correlate in the pre-stored signal database.
  • the signal identifies the matched pre-stored signal identifier, and then based on the mapping relationship between the pre-stored signal identifier and the floor location in the pre-stored signal database, the floor position corresponding to the signal identifier of the wireless signal data can be determined, and the determined floor position is finally determined. As the floor location where the terminal is located.
  • the determined floor location may be directly used as the floor location where the terminal is located. If the determined floor location includes multiple, the multiple floor locations need to be further analyzed. To determine the specific floor location where the terminal is located, specifically, the implementation manner of the step S28 includes:
  • Method 1 When a plurality of determined floor positions are included, referring to FIG. 6, the step S28 includes:
  • Step S281 if the wireless signal data reported by the terminal includes multiple, calculate a probability that the signal identifier of each wireless signal number appears in each floor;
  • Step S282 summarizing the probability of occurrence of each signal identifier in each floor
  • step S283 the floor with the highest probability of aggregation is taken as the floor position where the terminal is located.
  • the probability that the signal identifier of each wireless signal data appears in each floor is calculated first.
  • the probability is set to 1.
  • the probability that each signal identifier appears in each floor may also be determined according to the specific number of floors. For example, the current building includes 3 Floor, then, the probability that each signal identifier appears in each floor can be 1/3. It should be understood that the calculation manner of the probability that each signal identifier appears in each floor is not limited to the above two types, and other methods may be set according to actual needs, and details are not described herein again.
  • the probability of each signal identifier appearing in each floor is summarized, for example, source A and source B appear on the first floor, and signals appear on the second floor.
  • the summary result of the medium probability is 1/3.
  • Step S28 when a plurality of determined floor positions are included, referring to FIG. 7, the step S28 includes:
  • Step S284 if the wireless signal data reported by the terminal includes multiple, determining the signal strength corresponding to each wireless signal data appearing in each floor;
  • Step S285 averaging the signal strengths of the respective wireless signal data appearing in each floor;
  • step S286 the floor with the highest signal strength average is used as the floor position where the terminal is located.
  • the server can extract the signal strength from the wireless signal data, after determining the signal strength corresponding to each wireless signal data appearing in each floor.
  • the average signal strength of each wireless signal data appearing in each floor is averaged, and finally the floor with the highest signal strength average is used as the floor position where the terminal is located.
  • the step S28 includes:
  • Step S287 if the wireless signal data reported by the terminal includes multiple, calculate the number of wireless signal data covered in each floor;
  • step S288 the floor covering the largest number of wireless signal data is used as the floor position where the terminal is located.
  • the determined floor location includes a plurality of locations
  • the wireless signal data reported by the terminal includes more than one
  • the number of coverage wireless signal data in each floor is calculated first, and each floor is calculated.
  • the number of wireless signal data covered in the sum is summarized, and finally the floor covering the largest number of wireless signal data is used as the floor position where the terminal is located.
  • the specific floor location where the terminal is located is determined in three ways, so that the determination manner of the terminal floor is more flexible.
  • an embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium stores a floor location locating program, and when the floor location locating program is executed by the processor, the following operations are implemented:
  • the determined floor location is fed back to the terminal for the terminal to display the received floor location in the display interface of the positioning application.
  • the operation of matching the wireless signal data with the pre-stored signal database to determine the location of the floor where the terminal is located is also implemented:
  • the determined floor location is taken as the floor location where the terminal is located.
  • the operation of matching the wireless signal data with the pre-stored signal database to determine the location of the floor where the terminal is located is also implemented:
  • the determined floor location is taken as the floor location where the terminal is located.
  • the determined floor position includes a plurality of
  • the floor position locating program when executed by the processor, an operation of determining the determined floor position as the floor position where the terminal is located is also implemented:
  • the probability that the signal identifier of each wireless signal number appears in each floor is calculated
  • the floor with the highest probability of aggregation is taken as the floor location where the terminal is located.
  • the determined floor position includes a plurality of
  • the floor position locating program when executed by the processor, an operation of determining the determined floor position as the floor position where the terminal is located is also implemented:
  • the wireless signal data reported by the terminal includes multiple, determining a signal strength corresponding to each wireless signal data appearing in each floor;
  • the floor with the highest signal strength average is taken as the floor position where the terminal is located.
  • the determined floor position includes a plurality of
  • the floor position locating program when executed by the processor, an operation of determining the determined floor position as the floor position where the terminal is located is also implemented:
  • wireless signal data reported by the terminal includes multiple, calculate the number of wireless signal data covered in each floor;
  • the floor covering the largest number of wireless signal data is taken as the floor position where the terminal is located.
  • the wireless signal data uploaded by the terminal is first received, and then the wireless signal data is matched with the pre-stored signal database to determine the floor where the terminal is located.
  • the location ultimately returns the determined floor location to the terminal for the terminal to display the received floor location in the display interface of the positioning application.
  • the terminal In the indoor environment, the terminal first collects wireless signal data in the indoor environment through the built-in positioning application, and then the server determines the floor location information of the terminal according to the pre-stored signal database and the wireless signal data, thereby realizing the indoor environment. Accurate positioning.
  • the invention further provides a floor position location system.
  • the floor location location system includes a terminal and a server, such as the server described above;
  • the terminal is configured to collect wireless signal data in an indoor environment by using a built-in positioning application
  • the terminal first collects wireless signal data in an indoor environment through a built-in positioning application, and the wireless signal data includes a Wi-Fi signal, a Bluetooth signal, or a base station signal.
  • the collected wireless signal data carries a signal identifier and a signal strength, wherein the signal identifier of the wireless signal data is an identifier of a signal source in an indoor environment, and the signal strength of the wireless signal data is a signal source sensed by the terminal.
  • the signal strength and the strength of the signal strength are determined according to the distance between the terminal and the signal source. The closer the distance is, the stronger the signal strength is, and the farther the distance is, the weaker the signal strength is.
  • the terminal collects the wireless signal data
  • the collected wireless signal data is uploaded to the server, and the server feeds back the location of the floor where the terminal is located based on the received wireless signal data and the pre-stored signal database, and the server stores the data according to the wireless signal and the pre-stored data.
  • the signal database which feeds back the location of the floor where the terminal is located, has been detailed in the above implementation, and will not be described herein.
  • the terminal receives the floor location fed back by the server, the received floor location can be displayed in the display interface of the positioning application.
  • the terminal collects wireless signal data in the indoor environment through the built-in positioning application, and then uploads the collected wireless signal data to the server, so that the server is based on the received wireless signal data and the pre-stored signal.
  • the database feeds back the floor location where the terminal is located, finally receives the floor location feedback by the server, and displays the received floor location in the display interface of the positioning application.
  • the terminal first collects wireless signal data in the indoor environment through the built-in positioning application, and then the server determines the floor location information of the terminal according to the pre-stored signal database and the wireless signal data, thereby realizing the indoor environment. Accurate positioning.
  • the technical solution of the present invention which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk,
  • the optical disc includes a plurality of instructions for causing a terminal device (which may be a fixed terminal, such as an IoT smart device, including a smart home such as a smart air conditioner, a smart light, a smart power source, a smart router, or the like; or a mobile terminal, including a smart device.
  • a terminal device which may be a fixed terminal, such as an IoT smart device, including a smart home such as a smart air conditioner, a smart light, a smart power source, a smart router, or the like; or a mobile terminal, including a smart device.
  • a number of networked devices such as cell phones, wearable networked AR/VR devices, smart speakers, self-driving cars, and the like, perform the methods described in various embodiments of the present invention.

Abstract

La présente invention concerne un procédé de positionnement au sol appliqué à un serveur, le procédé de positionnement au sol consistant à : recevoir des données de signal sans fil téléversées par un terminal, les données de signal sans fil étant collectées par le terminal dans un environnement intérieur au moyen d'une application de positionnement intégrée ; apparier les données de signal sans fil avec une base de données de signal pré-mémorisée de façon à déterminer la position au sol où se trouve le terminal ; et renvoyer la position au sol déterminée au terminal de telle sorte que le terminal peut afficher l'emplacement au sol reçu dans une interface d'affichage de l'application de positionnement. La présente invention concerne également un serveur, un support d'enregistrement lisible par ordinateur et un système de positionnement au sol. Au moyen de la présente invention, la position au sol dans un environnement intérieur peut être positionnée avec précision.
PCT/CN2017/114367 2017-10-10 2017-12-04 Procédé et système de positionnement au sol, serveur et support d'enregistrement lisible par ordinateur WO2019071762A1 (fr)

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CN201710945986.3 2017-10-10
CN201710945986.3A CN107835490A (zh) 2017-10-10 2017-10-10 楼层位置定位方法、系统、服务器和计算机可读存储介质

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CN110430525B (zh) * 2019-06-28 2021-03-23 华为技术有限公司 一种定位方法、服务器与移动终端
CN110763235A (zh) * 2019-10-18 2020-02-07 深圳智慧园区信息技术有限公司 一种跨楼层室内定位导航系统及导航方法
CN111294746B (zh) * 2020-02-05 2021-07-27 北京爱笔科技有限公司 一种定位方法、装置及系统
CN111999721B (zh) * 2020-08-21 2024-01-30 深圳优地科技有限公司 楼层识别方法、装置、系统及计算机可读存储介质
CN112584491B (zh) * 2020-12-30 2022-06-28 重庆赤木科技有限公司 基于WiFi探针的目标定位系统

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