WO2020024597A1 - Procédé et appareil de positionnement intérieur - Google Patents

Procédé et appareil de positionnement intérieur Download PDF

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Publication number
WO2020024597A1
WO2020024597A1 PCT/CN2019/078869 CN2019078869W WO2020024597A1 WO 2020024597 A1 WO2020024597 A1 WO 2020024597A1 CN 2019078869 W CN2019078869 W CN 2019078869W WO 2020024597 A1 WO2020024597 A1 WO 2020024597A1
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Prior art keywords
grid
communication data
floor
information
data
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PCT/CN2019/078869
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English (en)
Chinese (zh)
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胡江华
金宁迪
向峰城
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中兴通讯股份有限公司
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Publication of WO2020024597A1 publication Critical patent/WO2020024597A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports

Definitions

  • the embodiments of the present application relate to, but are not limited to, the field of location services, such as an indoor positioning method and device.
  • the wireless network of operators is developed and covers a wide range. How to use the data generated by related networks to provide guidance for network development, to help operators to extract greater value from big data, to maximize the value of the network, and it is important to become an operator. work.
  • positioning technologies are classified into outdoor positioning and indoor positioning.
  • outdoor positioning technology is becoming more and more perfect due to the promotion of Global Positioning System (GPS) technology and the positioning technology based on cellular networks.
  • GPS Global Positioning System
  • indoor positioning technology has been slow to develop due to satellite signals that are difficult to penetrate through walls, complex indoor wireless environments, and severe multipath fading of wireless signals. This has led to traditional GPS technologies and positioning technologies based on cellular networks not being applicable.
  • Embodiments of the present application provide an indoor positioning method and device, which can implement indoor positioning of a terminal based on communication data.
  • An embodiment of the present application provides an indoor positioning method, including: acquiring communication data reported by a terminal; and performing indoor positioning on a terminal according to a first correspondence relationship and the communication data, where the first correspondence relationship is of a building. Correspondence between the grid and the main neighborhood, and the fingerprint information.
  • An embodiment of the present application proposes an indoor positioning device including: an acquisition module configured to acquire communication data reported by a terminal; a positioning module configured to perform indoor positioning of a terminal according to a first correspondence relationship and the communication data, wherein
  • the first correspondence relationship is a correspondence relationship between a pre-established combination of a grid and a main neighborhood of a building, and fingerprint information.
  • An embodiment of the present application provides an indoor positioning device, including a processor and a computer-readable storage medium.
  • the computer-readable storage medium stores instructions. When the instructions are executed by the processor, any one of the foregoing is implemented.
  • An indoor positioning method including a processor and a computer-readable storage medium.
  • An embodiment of the present application proposes a computer-readable storage medium on which a computer program is stored.
  • the computer program is executed by a processor, any of the foregoing indoor positioning methods is implemented.
  • FIG. 1 is a flowchart of an indoor positioning method according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of dividing a building into a grid according to an embodiment of the present application
  • FIG. 3 is a schematic structural composition diagram of an indoor positioning device according to another embodiment of the present application.
  • an embodiment of the present application provides an indoor positioning method, which includes steps 100, 101, and 102.
  • step 100 communication data reported by the terminal is acquired.
  • the communication data reported by the terminal includes measurement report (MR) data that does not carry Assisted Global Positioning System (AGPS) information.
  • MR measurement report
  • AGPS Assisted Global Positioning System
  • MR data without AGPS information includes: Reference Signal Received Power (RSRP) or Received Signal Code Power (RSCP) of the serving cell; RSRP or RSCP of the neighboring cell; and time of the serving cell Time (Advanced) (TA) value.
  • RSRP Reference Signal Received Power
  • RSCP Received Signal Code Power
  • TA time of the serving cell Time (Advanced)
  • step 101 indoor positioning of the terminal is performed according to (i) a first correspondence between a combination of a grid of a building and a main neighborhood and (ii) fingerprint information, and communication data.
  • the embodiment of the present application performs indoor positioning of the terminal based on the communication data and the first correspondence relationship, and realizes indoor positioning of the terminal based on the communication data.
  • the fingerprint information includes: the RSRP average value of the primary cell or the RSCP average value of the primary cell; the RSRP average value of the neighboring cell or the RSCP average value of the neighboring cell; and the TA average value of the primary cell.
  • the average RSRP value of the neighboring cells refers to the average RSRP value of the same neighboring cell. In the case where there are at least two neighboring cells, the average RSRP value of each neighboring cell is calculated.
  • the average RSCP value of the neighboring cells refers to the average RSCP value of the same neighboring cell.
  • the RSCP average of each neighboring cell is calculated separately.
  • the size of the TA value is related to the location information when the terminal reports communication data and the distance between the antennas. The larger the distance, the larger the TA value. That is to say, when the height of the floor where the grid is located is the same as the height of the antenna, the TA value is the smallest, and using this as the center, the TA values of the higher and lower floors increase sequentially.
  • performing indoor positioning of the terminal according to (i) a first correspondence between a grid of a building and a combination of main neighborhoods and (ii) fingerprint information, and communication data includes:
  • the grid of the building that matches the communication data is determined according to the first correspondence relationship; wherein each floor of the building is divided into at least one grid; according to the communication data, the main grid corresponding to the matched grid in the first correspondence relationship corresponds to the main Adjacent cell combination and fingerprint information perform indoor positioning of the terminal.
  • determining the grid matching the communication data according to the first correspondence relationship includes: determining that the communication data matches the specific grid if the communication data and the specific grid meet a preset condition.
  • the preset conditions include: a serving cell for communication data is the same as a specific primary cell; and the specific primary cell is a combination of primary and neighboring cells corresponding to the specific grid in the first correspondence.
  • the absolute value of the difference between the TA value of the serving cell of the communication data and the specific TA average value is less than or equal to a preset threshold; wherein the specific TA average value corresponds to the specific grid in the first correspondence relationship
  • the indoor positioning of the terminal according to the communication data, and the combination of the main neighborhood and the fingerprint information corresponding to the matching grid in the first correspondence relationship includes: calculating the cost value between the communication data and the grid matching the communication data; The cost value performs indoor positioning of the terminal.
  • a feature weighting method can be used to calculate the cost value between the communication data and the grid matching the communication data.
  • the weighted calculation of the RSCP average is used to obtain the cost value between the communication data and the grid matching the communication data.
  • the specific weighting method is not limited in the embodiments of the present application.
  • the indoor positioning of the terminal according to the cost value includes: selecting, from the matching grids on each floor of the building, the N matching grids with the smallest cost value on each floor; where N is An integer greater than or equal to 1; calculating the sum of the substitute values of the N matching grids with the smallest substitute value in each floor; using the floor with the smallest substitute value sum as the floor where the terminal is located; The N matching grids determine the location information of the terminal.
  • determining the location information of the terminal according to the N matching grids on the floor where the terminal is located includes: according to the formula Calculate the location information of the terminal.
  • L c is the position information of the terminal
  • k N
  • d (i) is the cost value of the i-th grid of the N matching grids on the floor where the terminal is located
  • L (i) is the i-th grid of the N matching grids on the floor where the terminal is located Location information.
  • a weighted algorithm is used to calculate the final location information of the terminal according to the location information of the N matched grids in the floor where the terminal is located.
  • the method when the communication data does not match all the grids of the building, the method further includes:
  • M is the loss of the wall, that is, the RSRP or RSCP outside the wall and the RSRP or RSCP difference; outdoor positioning of the terminal based on communication data after loss compensation.
  • the method further includes step 102.
  • step 102 a first correspondence relationship is established or updated.
  • establishing the first correspondence relationship includes: obtaining outline information and floor information of the building, dividing each floor of the building into at least one grid according to the floor information, and according to the outline information Calculate the position information of the grid; establish the first between (1) the grid and (2) the building information to which the grid belongs, the floor to which the grid belongs, and the position information of the grid.
  • Two correspondences acquiring historical communication data indoors, and determining a grid to which the historical communication data belongs according to the second correspondence and the historical communication data; according to the historical communication data appearing in the grid, Count the main neighboring cell combination that has appeared in the grid and the fingerprint information corresponding to the main neighboring cell combination.
  • the first correspondence is established for the first time
  • new communication data is subsequently received, and the first correspondence is updated according to the new communication data.
  • the grid to which the new communication data belongs is determined according to the second correspondence relationship and the new communication data, and the statistics are included in the grid according to the historical communication data and the new communication data appearing in the grid. Occurrence of the main neighborhood combination and fingerprint information corresponding to the main neighborhood combination.
  • the contour information and the floor information of the building can be extracted from the high-precision electronic map.
  • it can be extracted from the high-precision electronic map by using technical means well-known to those skilled in the art, which is not repeated here.
  • the outline information includes the outer dimensions of the building and the position information of N points of the building outline (the position information may be latitude and longitude), where N is an integer greater than or equal to 2.
  • the position information of other arbitrary points of the contour can be calculated based on the position information of N points. Therefore, the value of N should be able to satisfy the condition that the position information of other arbitrary points of the contour can be calculated.
  • the floor information may include at least one of the following: the building height, the height of each floor, and the number of floors included in the building.
  • the floor information is not limited to the floor information listed above as long as it can satisfy the need to know which part of the building belongs to which floor when the building is divided into a grid.
  • the height of the grid can be made the same as the height of the floor; of course, it is also possible that the height of the grid is different from the height of the floor.
  • the position information of the grid can be calculated according to the position information of the outline of the building, and the position information of the grid can refer to the position range occupied by the grid or the position information of any point (such as the center point) of the grid. For example, as shown in FIG.
  • each floor is divided into 4 ⁇ 2 grids, and the location information of the point A of the building is (x 1 , y 1 ), and the location information of the point B Is (x 1 , y 2 ), the position information of point C is (x 2 , y 2 ), and the position information of point D is (x 2 , y 1 ); then, the position information of each grid can be calculated, That is, the position information of the center point of grid 1 is The position information of the center point of grid 2 is The position information of the center point of grid 3 is The position information of the center point of grid 4 is The position information of the center point of grid 5 is The position information of the center point of grid 6 is The position information of the center point of grid 7 is The position information of the center point of grid 8 is
  • the building information, floor, and location information to which the grid belongs can be added to the corresponding grid in the high-precision electronic map as attributes of the grid.
  • other methods may also be adopted, such as a table method and a configuration file method.
  • the establishment method is not used to limit the protection scope of the embodiments of the present application, and details are not described herein again.
  • the historical communication data or new communication data includes at least one of the following: MR data carrying AGPS information; MR data not carrying AGPS information and Internet Application Service (Over The Top, OTT) data associated therewith.
  • the MR data not carrying the AGPS information and the OTT data can be associated; or when the collected MR data does not carry the AGPS information, the AGPS information is not carried MR data and OTT data.
  • the associated fields of the MR data and the OTT data that do not carry the AGPS information include a base station cell identity (eNB, Cell Identification, ECI) and a user equipment identity (User Equipment Identity, UEID).
  • the ECI field of the MR data that does not carry AGPS information and the ECI field of the OTT data within the preset time such as 3 seconds (s)
  • the UEID field of the MR data that does not carry AGPS information and the OTT data When the UEID field is the same, MR data that does not carry AGPS information and OTT data are associated; in other cases, MR data that does not carry AGPS information and OTT data are not associated.
  • the MR data carrying AGPS information includes: AGPS information, RSRP or RSCP, TA value, ECI field, and UEID field.
  • the MR data that does not carry AGPS information includes: RSRP or RSCP, TA value, ECI field, and UEID field.
  • the OTT data includes: AGPS information, an ECI field, and a UEID field.
  • the AGPS information in OTT data is generally not standard location information.
  • the AGPS information in OTT data comes from Baidu maps.
  • the location information in OTT data is obtained according to the algorithm of Baidu maps, which needs to be converted into standard locations information.
  • AGPS information includes location information, such as longitude and latitude information.
  • Obtaining the historical communication data in the room includes: obtaining historical communication data, and filtering the historical communication data in the room from the historical communication data. That is, after obtaining historical communication data, it is determined whether each historical communication data is indoor historical communication data or outdoor historical communication data.
  • the judgment method is as follows: when the historical communication data is MR data carrying AGPS information, determine whether the AGPS information in the MR data is within the range of the position information of the outline of the building; based on the AGPS information, the position information of the outline of the building The determination result within the range determines that the historical communication data is indoor historical communication data; based on the determination result of the AGPS information outside the range of the position information of the outline of the building, it is determined that the historical communication data is outdoor historical communication data.
  • the method further includes: filtering the AGPS information in the OTT data according to the TA value in the MR data that does not carry AGPS information. Then, the indoor association data is filtered from the accurate association data of the AGPS information, and the grid to which the indoor association data belongs is determined according to the second correspondence relationship and the indoor association data.
  • the first distance from the correlation data to the base station is calculated according to the TA value
  • the second distance from the correlation data to the base station is calculated according to the AGPS information.
  • the absolute value of the difference between the first distance and the second distance is filtered from the association data to be less than or equal to Set the threshold-valued correlation data to exclude correlation data whose absolute value of the difference between the first distance and the second distance is greater than a preset threshold.
  • determining the grid to which the historical communication data (or indoor related data) belongs according to the second correspondence relationship and the historical communication data (or indoor related data) includes:
  • the floor to which the historical communication data (or indoor related data) belongs can be determined based on the MR data in the historical communication data (or indoor related data) or the TA value in the OTT data.
  • the implementation process is as follows: it falls on a certain two-dimensional Of all historical communication data (or indoor related data) in a planar grid (that is, a grid with the same location information), if the two-dimensional planar grid has only one main service cell, all historical communication data (or indoor According to the distribution of the TA value and the number of floors, the historical communication data (or indoor related data) is divided into each floor of the building according to a predetermined proportion according to the TA value from large to small and floors from high to low.
  • the historical communication number of the high floor will be divided into high floors according to the TA value from large to small, and the floor from high to low.
  • Or indoor related data is divided into each floor of the high floor, according to the above method, according to the TA value from large to small, the floor from high to low in the order of a predetermined proportion of the historical communication data (or indoor) Related data) to each floor of the lower floor.
  • the grid to which the historical communication data (or indoor related data) belongs can be determined.
  • the historical communication is determined when the position information of the historical communication data (or indoor related data) is within the position information range of the grid on the same floor as the historical communication data (or indoor related data). Data (or indoor related data) belongs to this raster.
  • the operator communication with MR data with AGPS information reported by long-term evolution (Long Term Evolved, LTE) end users is used to establish indoor 3D (3D) fingerprint database and 3D indoor fingerprint positioning.
  • establishing an indoor 3D fingerprint database includes steps 301 to 304.
  • step 301 the outline information and the floor information of the building are extracted from the high-precision electronic map, each floor of the building is divided into at least one grid according to the floor information, and the position information of the grid is calculated according to the outline information of the building. Add the building information, the floor and location information to the grid to form a three-dimensional grid of the building.
  • the first correspondence is established for the first time
  • new communication data is subsequently received, and the first correspondence is updated according to the new communication data.
  • the grid to which the new communication data belongs is determined according to the second correspondence relationship and the new communication data, and the statistics are included in the grid according to the historical communication data and the new communication data appearing in the grid. Occurrence of the main neighborhood combination and fingerprint information corresponding to the main neighborhood combination.
  • step 302 the historical MR data carrying AGPS information is screened from the historical MR data carrying AGPS information.
  • the historical MR data carrying AGPS information includes: AGPS information, RSRP, and TA value.
  • AGPS information includes location information, such as longitude and latitude information.
  • the screening method is the same as the foregoing embodiment, and is not repeated here.
  • step 303 the high-resolution map is used to classify the historical MR data carrying the AGPS information in the screened room.
  • the building grid generated in step 301 is used as a unit.
  • MR data in the grid in the case where only one main service cell has appeared in the two-dimensional planar grid, the MR data is divided into predetermined proportions according to the TA value from large to small and floor to high in order.
  • Each floor of the building in the case where at least two main service areas have appeared in the two-dimensional planar grid, according to the distance between the building and the main service area, the far distance is divided into high floors and the short distance is divided into To the lower floor, so that there is only one main cell (or main serving cell) in the final grid, and then according to the above method, the TA value is from large to small, and the floor from high to low is divided into high floors according to a predetermined ratio.
  • the MR data is divided into each floor of the high floor.
  • the MR data allocated to the low floor is divided into each floor of the lower floor according to a predetermined ratio according to the TA value from large to small, and the floor is from high to low. .
  • step 304 the grid of each floor of the building is taken as a unit, and the combinations of the main and neighboring cells that have appeared in the grid range, as well as the reference signal received power of the corresponding main cell (Service Cell Reference Signal Power, SRSRP), neighbors The reference signal received power (Neighbor, Reference, Signal, and Receiving Power, NRSRP) and TA mean of the area.
  • SRSRP Service Cell Reference Signal Power
  • each ServingCell + NeighbourCells combination generates the following fingerprint information:
  • Mean RSRP of the primary cell (Mean, ServingCell, RSRP): The average RSRP of the primary cell in a ServingCell + NeighbourCell combination in the 3D grid of this building.
  • Mean neighbor RSRPs (Mean, NeighbourCell, and RSRPs): The mean RSRP values for each neighbor in a ServingCell + NeighbourCell combination in the 3D grid of this building.
  • Mean TA of the main cell (Mean ServingCell TA): The mean TA of the main cell in a specific ServingCell + NeighbourCell combination in the 3D grid of this building.
  • positioning the MR data that does not carry AGPS information distributed indoors includes steps 305 to 308.
  • step 305 MR data to be located (that is, MR data reported by the terminal without carrying AGPS information) is acquired.
  • step 306 rough screening is performed on the fingerprint points of the indoor 3D fingerprint database that meet the following conditions:
  • the serving cell of the MR data to be located is the same as the main cell corresponding to the grid in the 3D fingerprint database;
  • the TA value of the serving cell of the MR data to be located is within a predetermined range of the mean TA value of the main cell corresponding to the grid in the 3D fingerprint database.
  • step 307 the area grids matched to the high-precision map are coarsely filtered, and the cost value between the points to be located and the grids that match the points to be located is calculated.
  • N preset 3 are selected for each building floor. Sum the smallest generation value.
  • L c 3
  • L c 3
  • d (i) is the cost value of the i-th grid in the grid with the highest matching degree (ie, the lowest cost value) in the floor where the terminal is located
  • L (i ) Is the position information of the center point of the i-th grid in the N highest matching grids on the floor where the terminal is located.
  • step 308 if the to-be-located points do not match all the grids during the rough screening process, perform outdoor positioning to compensate for transmission loss, and add 10 dB to the RSRP of the serving cell and neighboring cells to perform outdoor positioning.
  • establishing an indoor 3D fingerprint database includes steps 401 to 404.
  • step 401 the outline information and the floor information of the building are extracted from the high-precision electronic map, each floor of the building is divided into at least one grid according to the floor information, and the position information of the grid is calculated according to the outline information of the building. Add the building information, the floor and location information to the grid to form a three-dimensional grid of the building.
  • the first correspondence is established for the first time
  • new communication data is subsequently received, and the first correspondence is updated according to the new communication data.
  • the grid to which the new communication data belongs is determined according to the second correspondence relationship and the new communication data, and the statistics are included in the grid according to the historical communication data and the new communication data appearing in the grid. Occurrence of the main neighborhood combination and fingerprint information corresponding to the main neighborhood combination.
  • the OTT data with latitude and longitude are associated with the MR data without latitude and longitude, and TA is used to filter the accurate latitude and longitude related data, and the indoor related data is filtered from the accurate latitude and longitude related data.
  • the first distance between the associated data and the base station is calculated according to the TA value
  • the second distance between the associated data and the base station is calculated according to the AGPS information.
  • the absolute value of the difference between the first distance and the second distance is filtered from the associated data to be less than or
  • the associated data equal to the preset threshold value excludes the associated data whose absolute value of the difference between the first distance and the second distance is greater than the preset threshold value.
  • the method for filtering indoor related data is the same as the foregoing embodiment, and is not repeated here.
  • a high-resolution map is used to perform high-level classification.
  • the building grid generated in step 401 is used as a unit for the grids that fall into the two-dimensional planar grid (that is, grids with the same location information).
  • Grid when there is only one main service cell in the two-dimensional planar grid, according to the TA value from large to small, and the floor from high to low, the related data is divided into buildings in a predetermined proportion.
  • Each floor in the case where at least two main service areas have appeared in the two-dimensional plane grid, according to the distance between the building and the main service area, the far distance is divided into high floors and the short distance is divided into low floors.
  • the MR data will be divided into high floors according to a predetermined proportion.
  • the MR data assigned to the lower floor is assigned to each floor of the lower floor according to the above method according to the TA value from large to small, and the floor from high to low in a predetermined proportion.
  • step 404 the grid of each floor of the building is taken as a unit, and the combinations of the main neighborhoods that have appeared in the grid range and the corresponding SRSRP, NRSRP, and TA mean values are counted.
  • a plurality of cell combinations ServingCell + NeighbourCells appear in the building.
  • the main cell is fixed and the neighboring cells appear in any order. As many enumerated values as the main neighboring cell combination appear in each building.
  • Each ServingCell + NeighbourCells combination generates the following fingerprint information:
  • Mean ServingCell RSRP The mean RSRP of the primary cell in a specific ServingCell + NeighbourCell combination within the 3D grid of this building.
  • Mean NeighbourCell RSRPs the average RSRP of each neighboring cell of a specific ServingCell + NeighbourCell group in the 3D grid of this building.
  • Mean ServingCell TA Mean TA value of the main cell in a specific ServingCell + NeighbourCell combination in the 3D grid of this building.
  • locating MR data that does not carry AGPS information distributed indoors includes steps 405 to 408.
  • step 405 MR data to be located (that is, MR data reported by the terminal that does not carry AGPS information) is acquired.
  • step 406 rough screening is performed on the fingerprint points of the indoor 3D fingerprint database that meet the following conditions:
  • the serving cell of the MR data to be located is the same as the main cell corresponding to the grid in the 3D fingerprint database;
  • the TA value of the serving cell of the MR data to be located is within a predetermined range of the mean TA value of the main cell corresponding to the grid in the 3D fingerprint database.
  • step 407 the area grids matched to the high-precision map are coarsely filtered, and the cost value between the points to be located and the grids matched to the points to be located is calculated, and topN is selected for each building floor (default 3) Sum up the smallest value.
  • L c 3
  • L c 3
  • d (i) is the cost value of the i-th grid in the grid with the highest matching degree (ie, the lowest cost value) in the floor where the terminal is located
  • L (i ) Is the position information of the center point of the i-th grid in the N highest matching grids on the floor where the terminal is located.
  • step 408 when the to-be-located points do not match all the grids during the rough screening process, outdoor positioning to compensate for transmission loss is performed, and the RSRP of the serving cell and the neighboring cell is increased by 10 dB to perform outdoor positioning.
  • the operator communication with MR data with AGPS information reported by the universal mobile communication system (Universal Mobile Telecommunication System, UMTS) end users is used to establish an indoor 3D fingerprint database and indoor fingerprint positioning.
  • UMTS Universal Mobile Telecommunication System
  • establishing an indoor 3D fingerprint database includes steps 501 to 504.
  • step 501 the outline information and floor information of the building are extracted from the high-precision electronic map, each floor of the building is divided into at least one grid according to the floor information, and the position information of the grid is calculated according to the outline information of the building. Add the building information, the floor and location information to the grid to form a three-dimensional grid of the building.
  • the first correspondence is established for the first time
  • new communication data is subsequently received, and the first correspondence is updated according to the new communication data.
  • the grid to which the new communication data belongs is determined according to the second correspondence relationship and the new communication data, and the statistics are included in the grid according to the historical communication data and the new communication data appearing in the grid. Occurrence of the main neighborhood combination and fingerprint information corresponding to the main neighborhood combination.
  • step 502 the historical MR data carrying AGPS information is screened from the historical MR data carrying AGPS information.
  • the historical MR data carrying AGPS information includes: AGPS information, RSRP, and TA value.
  • AGPS information includes location information, such as longitude and latitude information.
  • the screening method is the same as the foregoing embodiment, and is not repeated here.
  • the high-resolution map is used to classify the historical MR data carrying the AGPS information into the screen.
  • the building grid generated in step 501 is used as a unit.
  • MR data of the same grid in the case where only one main service cell has appeared in the two-dimensional planar grid, the MR data is divided into predetermined proportions according to the TA value from large to small and floor to high in order.
  • Each floor of the building in the case where at least two main service areas have appeared in the two-dimensional planar grid, according to the distance between the building and the main service area, the far distance is divided into high floors and the short distance is divided into To the lower floor, so that there is only one main cell (or main serving cell) in the final grid, and then according to the above method, the TA value is from large to small, and the floor from high to low is divided into high floors according to a predetermined ratio.
  • the MR data is divided into each floor of the high floor.
  • the MR data allocated to the low floor is divided into each floor of the lower floor according to a predetermined ratio according to the TA value from large to small, and the floor is from high to low. .
  • step 504 the grid of each floor of the building is used as a unit, and the combinations of the main and neighboring cells that have appeared in the grid range, and the received signal code power (Service, Received Signal, Code, Power, SRSCP) of the corresponding neighboring cell, Area received signal code power (Neighbor Cell Received Signal Code Power, NRSCP), TA mean.
  • received signal code power Service, Received Signal, Code, Power, SRSCP
  • Area received signal code power Neighbor Cell Received Signal Code Power, NRSCP
  • a plurality of cell combinations ServingCell + NeighbourCells appear in the building.
  • the main cell is fixed and the neighboring cells appear in any order. As many enumerated values as the main neighboring cell combination appear in each building.
  • the following fingerprints are generated:
  • Mean ServingCell RSCP The mean RSCP of the main cell in a specific ServingCell + NeighbourCell combination within the 3D grid of this building.
  • Mean NeighbourCell RSCPs the average RSCP of each neighborhood of a specific ServingCell + NeighbourCell group in the 3D grid of this building.
  • Mean ServingCell TA Mean TA value of the main cell in a specific ServingCell + NeighbourCell combination in the 3D grid of this building.
  • locating MR data that does not carry AGPS information distributed indoors includes steps 505 to 508.
  • step 505 the indoor MR data to be located (ie, the MR data reported by the terminal that does not carry AGPS information) is obtained.
  • step 506 rough screening is performed on the fingerprint points of the indoor 3D fingerprint database that meet the following conditions:
  • the serving cell of the MR data to be located is the same as the main cell corresponding to the grid in the 3D fingerprint database.
  • the TA value of the serving cell of the MR data to be located is within a predetermined range of the mean TA value of the main cell corresponding to the grid in the 3D fingerprint database.
  • step 507 replace the floor with the smallest sum of prices as the floor where the terminal is located.
  • WKNN weight k-Nearest Neighbor
  • L c 3
  • L c 3
  • d (i) is the cost value of the i-th grid in the grid with the highest matching degree (ie, the lowest cost value) in the floor where the terminal is located
  • L (i ) Is the position information of the center point of the i-th grid in the N highest matching grids on the floor where the terminal is located.
  • step 508 when the to-be-located points do not match all the grids during the rough screening process, outdoor positioning to compensate for transmission loss is performed, and the RSRP of the serving cell and the neighboring cell is increased by 10 dB to perform outdoor positioning.
  • establishing an indoor 3D fingerprint database includes steps 601 to 604.
  • step 601 the outline information and floor information of the building are extracted from the high-precision electronic map, each floor of the building is divided into at least one grid according to the floor information, and the position information of the grid is calculated according to the outline information of the building Add the building information, the floor and location information to the grid to form a three-dimensional grid of the building.
  • the first correspondence is established for the first time
  • new communication data is subsequently received, and the first correspondence is updated according to the new communication data.
  • the grid to which the new communication data belongs is determined according to the second correspondence relationship and the new communication data, and the statistics are included in the grid according to the historical communication data and the new communication data appearing in the grid. Occurrence of the main neighborhood combination and fingerprint information corresponding to the main neighborhood combination.
  • step 602 the OTT data carrying latitude and longitude and the MR data not carrying latitude and longitude are correlated, and TA is used to filter the accurate correlated data of latitude and longitude, and the indoor correlated data is filtered from the accurate correlated data of latitude and longitude.
  • the first distance between the associated data and the base station is calculated according to the TA value
  • the second distance between the associated data and the base station is calculated according to the AGPS information.
  • the absolute value of the difference between the first distance and the second distance is filtered from the associated data to be less than or
  • the associated data equal to the preset threshold value excludes the associated data whose absolute value of the difference between the first distance and the second distance is greater than the preset threshold value.
  • the method for filtering indoor related data is the same as the foregoing embodiment, and is not repeated here.
  • a high-precision map is used to perform high-level classification.
  • the building grid generated in step 601 is used as a unit. Grid), when there is only one main service cell in the two-dimensional planar grid, according to the TA value from large to small, and the floor from high to low, the related data is divided into buildings in a predetermined proportion. Each floor; in the case where at least two main service areas have appeared in the two-dimensional plane grid, according to the distance between the building and the main service area, the far distance is divided into high floors and the short distance is divided into low floors.
  • the MR data will be divided into high floors according to a predetermined proportion.
  • the MR data assigned to the lower floor is assigned to each floor of the lower floor according to the above method according to the TA value from large to small, and the floor from high to low in a predetermined proportion.
  • step 604 the grid of each floor of the building is taken as a unit, and the combinations of the main neighborhoods that have appeared in the grid range and the corresponding SRSCP, NRSCP, and TA mean values are counted.
  • a plurality of cell combinations ServingCell + NeighbourCells appear in the building.
  • the main cell is fixed and the neighboring cells appear in any order. As many enumerated values as the main neighboring cell combination appear in each building.
  • Each ServingCell + NeighbourCells combination generates the following fingerprint information:
  • Mean ServingCell RSCP The mean RSCP of the main cell in a specific ServingCell + NeighbourCell combination within the 3D grid of this building.
  • Mean NeighbourCell RSCPs the average RSCP of each neighborhood of a specific ServingCell + NeighbourCell group in the 3D grid of this building.
  • Mean ServingCell TA Mean TA value of the main cell in a specific ServingCell + NeighbourCell combination in the 3D grid of this building.
  • locating MR data that does not carry AGPS information distributed indoors includes steps 605 to 608.
  • step 605 MR data to be located (that is, MR data reported by the terminal without carrying AGPS information) is acquired.
  • step 606 rough screening is performed on the fingerprint points of the indoor 3D fingerprint database that meet the following conditions:
  • the serving cell of the MR data to be located is the same as the main cell corresponding to the grid in the 3D fingerprint database.
  • the TA value of the serving cell of the MR data to be located is within a predetermined range of the mean TA value of the main cell corresponding to the grid in the 3D fingerprint database.
  • step 607 the floor with the lowest price is replaced as the floor where the terminal is located.
  • the position information of the terminal is obtained using the WKNN algorithm, that is, according to the formula Calculate the location information of the terminal.
  • L c 3
  • L c 3
  • d (i) is the cost value of the i-th grid in the grid with the highest matching degree (ie, the lowest cost value) in the floor where the terminal is located
  • L (i ) Is the position information of the center point of the i-th grid in the N highest matching grids on the floor where the terminal is located.
  • step 608 if the to-be-located points do not match all the grids during the rough screening process, perform outdoor positioning to compensate for transmission loss, and add 10 dB to the RSRP of the serving cell and the neighboring cell to perform outdoor positioning.
  • another embodiment of the present application provides an indoor positioning device, which includes an obtaining module 701, a positioning module 702, and a establishing module 703.
  • the obtaining module 701 is configured to obtain communication data reported by the terminal.
  • the positioning module 702 is configured to perform indoor positioning of the terminal according to (i) a first correspondence between a combination of a grid of a building and a main neighborhood and (ii) fingerprint information, and communication data.
  • the positioning device further includes: a establishing module 703 configured to establish or update the first correspondence relationship.
  • the establishing module 703 is configured to: obtain the outline information and floor information of the building, divide each floor of the building into at least one grid according to the floor information, and according to the outline Information to calculate the position information of the grid; establish a second correspondence between (1) the grid and (2) building information, the floor to which it belongs, and location information; obtain historical communication data indoors, according to the A second correspondence relationship and the historical communication data determine a grid to which the historical communication data belongs; and based on the historical communication data appearing in the grid, counting the combinations of main neighborhoods that have appeared in the grid And fingerprint information corresponding to the main neighboring cell combination.
  • the historical communication data includes at least one of the following: MR data carrying AGPS information; and MR data not carrying AGPS information and OTT data associated with MR data not carrying AGPS information.
  • the establishing module 703 is configured to determine the grid to which the historical communication data belongs according to the second correspondence relationship and the historical communication data in the following manner: determine the floor to which the historical communication data belongs according to the historical communication data; The floor and location information to which the historical communication data belongs, and a second correspondence relationship determine the grid to which the historical communication data belongs.
  • the fingerprint information includes: a reference signal received power average value or a received signal code power average value of a primary cell; a reference signal received power average value or a received signal code power average value of a neighboring cell; and a time advance average value of the main cell. .
  • the positioning module 702 is configured to determine a grid of a building that matches the communication data according to a first correspondence relationship; wherein each floor of the building is divided into at least one grid; according to the communication data, And the combination of the main neighborhood and the fingerprint information corresponding to the matching grid in the first correspondence relationship to perform indoor positioning on the terminal.
  • the positioning module 702 is further configured to: when the communication data does not match all the grids of the building, perform transmission loss compensation on the communication data; and according to the communication data after the transmission loss compensation, Outdoor positioning of the terminal.
  • the positioning module 702 is configured to implement the determination of the grid matching the communication data according to the first correspondence relationship in the following manner: if the communication data and the specific grid meet a preset condition, determine the location of the grid The communication data reported by the terminal matches the specific grid.
  • the preset conditions include: a serving cell for communication data is the same as a specific primary cell; and the specific primary cell is a primary cell in a primary neighbor cell combination corresponding to the specific grid in the first correspondence. Cell; the absolute value of the difference between the time advance value of the serving cell of the communication data and the specific time advance average value is less than or equal to a preset threshold; wherein the specific time advance value is the specific grid in the first correspondence The average time advance of the primary cell in the corresponding fingerprint information.
  • the positioning module 702 is configured to implement indoor positioning according to the communication data, and the combination of the main neighborhood and the fingerprint information corresponding to the matching grid in the first correspondence relationship: calculating communication data and communication data The cost value between the matched grids; the terminal is positioned indoors according to the cost value.
  • the positioning module 702 is configured to implement indoor positioning of the terminal according to the cost value: selecting the N lowest cost values of each floor from the matching grid on each floor. Matching grid; where N is an integer greater than or equal to 1; calculating the sum of the cost value of the N matching grids with the smallest cost value in each floor; using the floor with the smallest cost value sum as the terminal location Determine the location information of the terminal according to N said matching grids in the floor where the terminal is located.
  • the positioning module 702 is configured to determine the location information of the terminal according to the N matching grids in the floor where the terminal is located: according to the formula Calculate location information of the terminal.
  • L c is the location information of the terminal
  • k N
  • d (i) is the cost value of the i-th grid of the N matching grids on the floor where the terminal is located
  • L (i) is the first value of the N matching grids on the floor where the terminal is located
  • the communication data includes measurement report data that does not carry auxiliary GPS information.
  • the implementation process of the foregoing indoor positioning device is the same as the implementation process of the foregoing indoor positioning method, and details are not described herein again.
  • an indoor positioning device including a processor and a computer-readable storage medium.
  • the computer-readable storage medium stores instructions, and when the instructions are executed by the processor, the foregoing is implemented. Any indoor positioning method.
  • Another embodiment of the present application proposes a computer-readable storage medium on which a computer program is stored.
  • the computer program is executed by a processor, any of the foregoing indoor positioning methods is implemented.
  • the term computer storage medium includes volatile and non-volatile implemented in any method or technology arranged to store information such as computer-readable instructions, data structures, program modules or other data.
  • Removable, removable and non-removable media include, but are not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc-Ready-Only Memory (CD-ROM), Digital Video Disc (DVD) or other optical disc storage, magnetic box, magnetic tape, disk storage, or other magnetic storage device , Or any other medium that can be set to store desired information and can be accessed by a computer.
  • a communication medium typically contains computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and may include any information delivery medium .

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Telephonic Communication Services (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un procédé et un appareil de positionnement intérieur. Le procédé de positionnement intérieur comprend : l'acquisition de données de communication rapportées par un terminal ; et la réalisation d'un positionnement intérieur sur le terminal selon une première corrélation et les données de communication, la première corrélation étant une corrélation entre une combinaison d'une grille d'un bâtiment et d'une cellule adjacente principale et des informations d'empreintes digitales.
PCT/CN2019/078869 2018-08-01 2019-03-20 Procédé et appareil de positionnement intérieur WO2020024597A1 (fr)

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