WO2022021040A1 - Positioning method and apparatus, mobile terminal, and storage medium - Google Patents

Abstract

A positioning method and apparatus, a mobile terminal, and a storage medium. The method comprises: determining the current environment according to an obtained real-time GNSS signal (S11); if the current environment is an indoor environment, determining the current building according to obtained real-time WiFi data and a preset WiFi signal map library (S12); determining the current floor according to the current status of a preset air pressure trigger, wherein the current status of the air pressure trigger comprises a floor stability status and a floor switching status (S13); determining a first current horizontal coordinate according to the real-time WiFi data and a WiFi signal map corresponding to the current floor in the preset WiFi signal map library (S14); and determining a second current horizontal coordinate on the basis of the first current horizontal coordinate and an obtained pedestrian track, and using the current building, the current floor, and the second current horizontal coordinate as a positioning result (S15). By means of the present method, the error rate and complexity of positioning are reduced, and the practicability of the positioning method is improved.

Description

A positioning method, device, mobile terminal, and storage medium technical field

The present invention relates to the technical field of positioning, and in particular, to a positioning method, a device, a mobile terminal and a storage medium.

Background technique

With the development of the mobile Internet, location-based services have brought more business opportunities, and also promoted the expansion of location acquisition needs from traditional outdoor environments to more complex but more common indoor environments. In addition to meeting the needs of horizontal position positioning, indoor positioning technology also needs to face more complex multi-dimensional and multi-scene problems of indoor and outdoor environment, building, floor recognition and switching.

The existing floor recognition technology mainly uses the mobile phone air pressure sensor to obtain the real-time absolute air pressure value of the floor, and then compares the local standard sea level air pressure record to estimate the height and floor; or uses sensors such as magnetic field and accelerometer to capture the pedestrian walking in the stairwell. Signal characteristics to estimate the change of floor where pedestrians are located. In terms of indoor and outdoor environment recognition, it mainly uses a variety of sensors, such as proximity sensors, light sensors and magnetic field sensors, to distinguish the indoor or outdoor environment where pedestrians are located and activate the corresponding positioning module.

In the process of realizing the present invention, the inventor found that the prior art may have the following problems: First, because the absolute air pressure of the indoor environment is affected by various conditions such as indoor temperature and humidity, air-conditioning refrigeration or heating, and is different from the outdoor atmospheric pressure, so Using the sea level standard atmospheric pressure and the collected absolute pressure value to calculate the altitude and the corresponding floor has a high error rate; secondly, except for the scene of walking in the stairwell, it is difficult for the inertial measurement sensor to identify the pedestrian using its own signal characteristics. The process of passing escalators and elevators between multiple floors has great limitations in the actual use process; thirdly, in the problem of indoor and outdoor environment recognition, the technical solution of multi-sensor signal cooperative recognition has high complexity. It will increase the computing consumption and power consumption of the mobile terminal, and at the same time put forward more requirements on the hardware configuration of the mobile terminal, resulting in low practicability of the method.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a positioning method, device, mobile terminal, and storage medium, which can meet indoor and outdoor positioning requirements, and can automatically identify buildings, floors and complete horizontal positioning in indoor environments, especially to reduce positioning. complexity and floor recognition error rate, thereby improving the practicability of the localization method. Its specific plan is as follows:

In a first aspect, the present invention discloses a positioning method, which is applied to an Android-based mobile terminal, including:

Determine the current environment according to the acquired real-time GNSS signals;

If the current environment is an indoor environment, the current building is determined according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library;

The current floor is determined according to the current state of the preset air pressure trigger, wherein the current state of the preset air pressure trigger includes a floor stable state and a floor switching state;

Determine the first current horizontal coordinate according to the real-time Wi-Fi data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library;

A second current horizontal coordinate is determined based on the first current horizontal coordinate and the obtained pedestrian trajectory, and the current building, the current floor and the second current horizontal coordinate are used as a positioning result.

Optionally, determining the current environment according to the acquired real-time GNSS signal, including:

determining the acquired target parameters of the real-time GNSS signal;

The target parameter is input into a pre-obtained signal classifier, and the current environment is determined according to the output of the signal classifier.

Optionally, determining the current building according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library, including:

Determine the Wi-Fi fingerprints of each building in the preset Wi-Fi signal map library according to the preset Wi-Fi signal map library;

respectively determining the first similarity between the real-time Wi-Fi data and the Wi-Fi fingerprints of each of the buildings;

The current building is determined according to the first similarity.

Optionally, determining the first current horizontal coordinates according to the real-time Wi-Fi data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library includes:

The first current horizontal coordinate is determined according to the WKNN algorithm, the real-time Wi-Fi data, and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library.

Optionally, determining the second current horizontal coordinate based on the first current horizontal coordinate and the obtained pedestrian trajectory, including:

The second current horizontal coordinate is determined based on the Kalman filter algorithm, the first current horizontal coordinate and the acquired pedestrian trajectory.

Optionally, after determining the current environment according to the acquired real-time GNSS signal, the method further includes:

If the current environment is an outdoor environment, acquiring the third current horizontal coordinate collected by the preset positioning device;

The positioning result is determined based on the third current horizontal coordinate and the acquired behavior track.

Optionally, the determining the current floor according to the current state of the preset air pressure trigger includes:

If the preset air pressure trigger is currently in a stable floor state, the floor determined when the real-time Wi-Fi data was acquired last time is used as the current floor;

If the preset air pressure trigger is currently in a floor switching state, the current Wi-Fi signal atlas corresponding to the current building is determined according to the real-time Wi-Fi data and the preset Wi-Fi signal map library. floor.

Optionally, determining the current floor according to the real-time Wi-Fi data and the Wi-Fi signal atlas corresponding to the current building in the preset Wi-Fi signal atlas, including:

Determine the Wi-Fi signal atlas corresponding to the current building from the preset Wi-Fi signal atlas;

Respectively determine the second similarity between the real-time Wi-Fi data and each Wi-Fi fingerprint in the Wi-Fi signal atlas, wherein a Wi-Fi signal map in the Wi-Fi signal atlas includes multiple Wi-Fi fingerprint, a Wi-Fi signal map corresponds to a floor;

determining a preselected Wi-Fi fingerprint according to the second similarity;

determining the floor information corresponding to each Wi-Fi fingerprint in the preselected Wi-Fi fingerprint;

The floor with the largest number of occurrences in the floor information is determined as the current floor.

Optionally, before determining the current floor according to the current state of the preset air pressure trigger, the method further includes:

The current state of the preset air pressure trigger is determined according to the saved state of the preset air pressure trigger and the acquired real-time instantaneous air pressure.

Optionally, determining the current state of the preset air pressure trigger according to the saved state in the preset air pressure trigger and the acquired real-time instantaneous air pressure, including:

If the saved state in the preset air pressure trigger is the floor stable state, the real-time instantaneous air pressure and the first instantaneous air pressure obtained by the preset air pressure trigger are used as a sliding air pressure sequence, wherein the first air pressure The instantaneous air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained;

determining the average value of the sliding air pressure sequence as the first steady-state reference value;

judging whether the difference between the real-time instantaneous air pressure and the first steady-state reference value is greater than or equal to a first threshold;

If the difference between the real-time instantaneous air pressure and the first steady-state reference value is greater than or equal to a first threshold, it is determined that the current state of the preset air pressure trigger is a floor switching state.

Optionally, determining the current state of the preset air pressure trigger according to the saved state in the preset air pressure trigger and the acquired real-time instantaneous air pressure, including:

If the saved state in the preset air pressure trigger is the floor switching state, the real-time instantaneous air pressure and the second instantaneous air pressure obtained by the preset air pressure trigger are used as a sliding air pressure sequence, wherein the second instantaneous air pressure The air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained;

determining the average value of the sliding air pressure sequence as a dynamic air pressure value;

Determine whether the difference between the dynamic air pressure value and the second steady-state reference value is greater than or equal to a second threshold, wherein the second steady-state reference value is in the floor switching state of the preset air pressure trigger The average value of the instantaneous air pressure obtained for the last time before and the third instantaneous air pressure, the third instantaneous air pressure is the preset air pressure obtained before the last instantaneous air pressure obtained before the preset air pressure trigger is in the floor switching state Number of instantaneous air pressure;

If the difference between the dynamic air pressure value and the second steady-state reference value is greater than or equal to a second threshold, it is determined that the current state of the preset air pressure trigger is still a floor switching state.

Optionally, before determining that the current state of the preset air pressure trigger is still the floor switching state, the method further includes:

Determine whether the difference between the real-time instantaneous air pressure and the average value of the fourth instantaneous air pressure is less than a third threshold, wherein the fourth instantaneous air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained air pressure;

If the difference between the real-time instantaneous air pressure and the average value of the fourth instantaneous air pressure is smaller than the third threshold, it is determined that the air pressure tends to be stable, the floor switching state ends, and the preset air pressure trigger is adjusted from the floor switching state to the floor stable state.

In a second aspect, the present invention discloses a positioning device, which is applied to an Android-based mobile terminal. The device includes: an indoor and outdoor environment identification module, a Wi-Fi fingerprint positioning module, and a positioning result fusion module. The Wi-Fi fingerprint The positioning module includes a building identification sub-module, a floor identification sub-module, and a horizontal position positioning sub-module;

Wherein, the indoor and outdoor environment identification module is used to determine the current environment according to the acquired real-time GNSS signal;

The building identification sub-module is used to determine the current building according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library when the current environment is an indoor environment;

The floor identification sub-module is configured to determine the current floor according to the current state of the preset air pressure trigger, wherein the current state of the preset air pressure trigger includes a floor stable state and a floor switching state;

The horizontal position positioning sub-module is used to determine the first current horizontal coordinate according to the real-time Wi-Fi data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library ;

The positioning result fusion module is used to determine the second current horizontal coordinate based on the first current horizontal coordinate and the obtained pedestrian trajectory, and combine the current building, the current floor and the second current horizontal coordinate. The current horizontal coordinate is used as the positioning result.

In a third aspect, the present invention discloses an Android-based mobile terminal, comprising:

processor and memory;

Wherein, the memory is used to store computer programs;

The processor is configured to execute the computer program to implement the steps of the aforementioned positioning method.

In a fourth aspect, the present invention further discloses a computer-readable storage medium for storing a computer program, which implements the steps of the foregoing positioning method when the computer program is executed by a processor.

It can be seen that the present invention first determines the current environment according to the acquired real-time GNSS signals. If the current environment is an indoor environment, the current location is determined according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library. building, and determine the current floor according to the current state of the preset air pressure trigger, wherein the current state of the preset air pressure trigger includes the floor stability state and the floor switching state, and then according to the real-time Wi-Fi The first current horizontal coordinate can be determined based on the data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library, and then the first current horizontal coordinate can be determined based on the first current horizontal coordinate and the obtained pedestrian trajectory. The second current horizontal coordinate, and the currently located building, the currently located floor and the second current horizontal coordinate are used as the positioning result. Compared with the processing method in the prior art that uses multi-sensor signals to determine whether the current environment is indoor or outdoor, the signal classification method based on the GNSS signal of the present application has the advantages of simple calculation and low hardware complexity, thereby improving the positioning method. At the same time, using Wi-Fi fingerprint recognition to achieve building and floor positioning, no additional sensor signals are required, and the calculation process is simple; in addition, the current state of the preset air pressure trigger is determined according to whether the current state of the air pressure trigger is the floor stable state or the floor switching state. The current floor does not require an absolute air pressure value or an additional mobile terminal, which improves the accuracy of floor recognition, reduces the error rate, and lowers the cost of use. It is compatible with passenger lifts or escalators, and walking in stairwells, etc. A variety of action scenarios make floor recognition applicable in different environments. In addition, the present application first determines whether the current environment is an indoor environment or an outdoor environment, and if the current environment is an indoor environment, then determines the current building, then determines the current floor according to the current building, and then determines the horizontal coordinates according to the current floor. , forming a multi-dimensional progressive indoor positioning method, constructing a complete positioning framework, with stronger practicability.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.*

1 is a flowchart of a positioning method disclosed in an embodiment of the present invention;

2 is a partial flowchart of a specific positioning method disclosed in an embodiment of the present invention;

3 is a flowchart of a building identification disclosed in an embodiment of the present invention;

4 is a partial flowchart of a specific positioning method disclosed in an embodiment of the present invention;

5 is a flow chart of a floor identification disclosed in an embodiment of the present invention;

6 is a partial flowchart of a specific positioning method disclosed in an embodiment of the present invention;

FIG. 7 is a flow chart for determining the state of an air pressure trigger disclosed in an embodiment of the present invention;

8 is a flowchart of a specific positioning method disclosed in an embodiment of the present invention;

9 is a schematic structural diagram of a positioning device disclosed in an embodiment of the present invention;

10 is a working flowchart of a positioning device disclosed in an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of an Android-based mobile terminal disclosed in an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to FIG. 1 , an embodiment of the present invention discloses a positioning method, which is applied to an Android-based mobile terminal, including:

Step S11: Determine the current environment according to the acquired real-time GNSS signal.

In practical applications, it is necessary to first determine the current environment according to the acquired real-time GNSS signals (Global Navigation Satellite System, Global Navigation Satellite System). Wherein, the real-time GNSS signals include but are not limited to Beidou signals and GPS (Global Positioning System, global positioning system) signals.

Determining the current environment according to the acquired real-time GNSS signals includes: determining the acquired target parameters of the real-time GNSS signals; inputting the target parameters into a pre-obtained signal classifier, and classifying them according to the signals The output of the device determines the current environment. Wherein, the target parameter may be a signal-to-noise ratio parameter. Specifically, the acquired signal-to-noise ratio parameter of the real-time GNSS signal may be determined first; then the signal-to-noise ratio parameter is input into a pre-obtained signal classifier, and the current environment is determined according to the output of the signal classifier.

In practical applications, before using the signal classifier to classify the acquired real-time GNSS signals to determine the current environment, it is also necessary to use multiple sets of GNSS signals collected in the indoor environment and the outdoor environment as training samples. , and extract the signal-to-noise ratio parameter of the GNSS signal in the training sample, input the signal-to-noise ratio parameter of the GNSS signal in the training sample into the training model based on the decision tree algorithm, and obtain the signal classifier after completing the training.

Step S12: If the current environment is an indoor environment, the current building is determined according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library.

After the current environment is determined, if the current environment is an indoor environment, the current building is determined according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library. Specifically, the Wi-Fi information map library includes pre-collected Wi-Fi information maps of different buildings, wherein one building corresponds to one or more Wi-Fi information maps, and one floor corresponds to one Wi-Fi information map. Fi signal map, a Wi-Fi signal map is a data set that records multiple Wi-Fi fingerprints on the same floor in an orderly manner, which can provide Wi-Fi signal characteristics on known horizontal coordinates for Wi-Fi fingerprint positioning calculation. In the same building, each floor independently corresponds to a Wi-Fi signal map.

Step S13: Determine the current floor according to the current state of the preset air pressure trigger, wherein the current state of the preset air pressure trigger includes a floor stable state and a floor switching state.

After the current building is determined, the current floor needs to be determined according to the current state of the preset air pressure trigger, wherein the current state of the preset air pressure trigger includes a floor stable state and a floor switching state. If the current state of the preset air pressure trigger is the floor stable state, it means that it is currently in the floor unchanged state; if the current state of the preset air pressure trigger is the floor switching state, it means that it is currently in the floor change state .

Specifically, the determining the current floor according to the current state of the preset air pressure trigger includes: if the preset air pressure trigger is currently in a stable floor state, determining when the real-time Wi-Fi data is acquired last time If the preset air pressure trigger is currently in the floor switching state, the map library corresponds to the current building according to the real-time Wi-Fi data and the preset Wi-Fi signal. The Wi-Fi signal atlas to determine the current floor. That is, when the current state of the preset air pressure trigger is a stable floor state, the floor determined when the real-time Wi-Fi data was acquired last time can be directly used as the current floor. If the device is currently in a floor switching state, the current floor is determined according to the real-time Wi-Fi data and the Wi-Fi signal atlas corresponding to the current building in the preset Wi-Fi signal atlas.

Correspondingly, before determining the current floor according to the current state of the preset air pressure trigger, the method further includes: determining the preset air pressure according to the saved state in the preset air pressure trigger and the acquired real-time instantaneous air pressure. The current state of the air pressure trigger.

In practical application, when the state of the preset air pressure trigger is the floor stable state, the floor recognition algorithm can be turned off first, and when the preset air pressure trigger detects that the state is the floor switching state, it is turned on Floor recognition algorithm, which uses air pressure change as an auxiliary trigger mechanism of floor recognition algorithm, and then performs floor recognition when pedestrians are indeed in the state of floor switching, which effectively controls the calculation frequency, reduces calculation overhead and energy consumption, and effectively reduces recognition error rate. .

Step S14: Determine the first current horizontal coordinate according to the real-time Wi-Fi data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library.

After the current floor is determined, the first current horizontal coordinates need to be determined according to the real-time Wi-Fi data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library. That is, after the current floor is determined, the specific position on the current floor is still uncertain, and the first current horizontal coordinate needs to be further determined.

Specifically, the first current horizontal coordinate may be determined according to the WKNN algorithm, the real-time Wi-Fi data, and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library. That is, the similarity between the real-time Wi-Fi data and each Wi-Fi fingerprint in the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library can be calculated first, and then The weight of the horizontal coordinates corresponding to each Wi-Fi fingerprint on the current floor is determined based on the calculated similarity, and the first current horizontal coordinate is determined based on the determined weight and each horizontal coordinate on the current floor. For example, the Wi-Fi signal map corresponding to the current floor includes three Wi-Fi fingerprints, namely A, B, and C. Each Wi-Fi fingerprint corresponds to a horizontal coordinate of the current floor, and real-time Wi-Fi data is calculated. The similarity with A is 0.4, the similarity between real-time Wi-Fi data and B is 0.5, and the similarity between real-time Wi-Fi data and C is 0.6, then the weight of the horizontal coordinate corresponding to A is 0.2667, and the horizontal coordinate corresponding to B The weight of C is 0.3333, and the weight of the horizontal coordinate corresponding to C is 0.4.

Step S15: Determine a second current horizontal coordinate based on the first current horizontal coordinate and the obtained pedestrian trajectory, and use the current building, the current floor and the second current horizontal coordinate as a positioning result.

In the specific implementation process, after the first current horizontal coordinate is determined, it is also necessary to determine the second current horizontal coordinate based on the first current horizontal coordinate and the obtained pedestrian trajectory, and the current building, the current The floor and the second current horizontal coordinate are used as the positioning result.

In practical applications, the determining the second current horizontal coordinate based on the first current horizontal coordinate and the acquired pedestrian trajectory includes: determining based on the Kalman filter algorithm, the first current horizontal coordinate and the acquired pedestrian trajectory the second current horizontal coordinate. The pedestrian trajectory is taken as the intrinsic inertia prediction value, the first current horizontal coordinate is the external measurement value, and the two are fused based on the Kalman filter algorithm, and the horizontal position coordinate of the pedestrian is optimally estimated to obtain the second horizontal coordinate.

Accordingly, the pedestrian trajectory needs to be acquired first. After entering the indoor environment, enter the initialization positioning state, that is, determine the building, floor and the first horizontal coordinate in turn, use the first horizontal coordinate as the initial position of the pedestrian trajectory estimation, and perform continuous positioning to obtain the pedestrian. trajectory.

Determining the second current horizontal coordinate based on the first current horizontal coordinate determined according to the Wi-Fi data and the obtained pedestrian trajectory can make the position of the second current horizontal coordinate more accurate, so as to solve the problem of relying solely on Wi-Fi positioning or The error caused by pedestrian trajectory positioning alone is relatively large.

It can be seen that the present invention first determines the current environment according to the acquired real-time GNSS signals. If the current environment is an indoor environment, the current location is determined according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library. building, and determine the current floor according to the current state of the preset air pressure trigger, wherein the current state of the preset air pressure trigger includes the floor stability state and the floor switching state, and then according to the real-time Wi-Fi The first current horizontal coordinate can be determined based on the data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library, and then the first current horizontal coordinate can be determined based on the first current horizontal coordinate and the obtained pedestrian trajectory. The second current horizontal coordinate, and the currently located building, the currently located floor and the second current horizontal coordinate are used as the positioning result. Compared with the prior art using multiple sensors to determine whether the current environment is indoor or outdoor, the signal classification method based on the GNSS signal of the present application has the advantages of simple calculation and low hardware complexity, thereby Improve the practicability of the positioning method; use Wi-Fi fingerprint recognition to realize building and floor positioning without additional sensor signals, and the calculation process is simple; in addition, according to the preset pressure trigger, the current state is the floor stable state or the floor switching state Specifically determining the current floor, no absolute air pressure value or additional mobile terminal is required, which improves the accuracy of floor recognition, reduces the error rate, and lowers the cost of use. It is compatible with passenger lifts or escalators, and walking on stairs. Room and other action scenarios, so that floor recognition can be applied in different environments. In addition, this application first determines whether the current environment is an indoor environment or an outdoor environment, and if the current environment is an indoor environment, then determines the current building, then determines the current floor according to the current building, and then determines the horizontal coordinates according to the current floor. , forming a multi-dimensional progressive indoor positioning method, constructing a complete positioning framework, with stronger practicability.

Referring to Figure 2, the current building is determined according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library, which may specifically include:

Step S21: If the current environment is an indoor environment, determine the Wi-Fi fingerprints of each building in the preset Wi-Fi signal map library according to the preset Wi-Fi signal map library.

After the current environment is determined, if the current environment is an indoor environment, the current building is determined according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library. Specifically, it is necessary to first determine the Wi-Fi fingerprints of each building in the preset Wi-Fi signal map library according to the preset Wi-Fi signal map library.

Because the Wi-Fi information map library includes pre-collected Wi-Fi information maps of different buildings, one building corresponds to one or more Wi-Fi information maps, and one floor corresponds to one Wi-Fi signal Map, a Wi-Fi signal map is a data set that records multiple Wi-Fi fingerprints on the same floor in an orderly manner, which can provide Wi-Fi signal characteristics on known horizontal coordinates for Wi-Fi fingerprint positioning calculation. In the same building, each floor independently corresponds to a Wi-Fi signal map. Therefore, it is necessary to first determine the Wi-Fi fingerprints of each building in the preset Wi-Fi signal map library.

Specifically, based on the Wi-Fi signal map of each building in the preset Wi-Fi signal map library, calculate the RSSI (Received Signal Strength Indication, received signal of all APs (ACCESS POINT, access points) in the building in the building Intensity indication) average, each building forms a building-by-building Wi-Fi fingerprint. Wherein, determining the Wi-Fi fingerprint of any building in the preset Wi-Fi signal map library includes: calculating the Wi-Fi fingerprint in each Wi-Fi signal map corresponding to the building in the preset Wi-Fi signal map library -The average value of Fi fingerprints to get the corresponding Wi-Fi fingerprints of the building.

Step S22: Determine the first similarity between the real-time Wi-Fi data and the Wi-Fi fingerprints of each of the buildings, respectively.

After the Wi-Fi fingerprints corresponding to each building in the preset Wi-Fi signal map library are determined, the first similarity between the real-time Wi-Fi data and the Wi-Fi fingerprints of each building needs to be calculated separately. Spend. The similarity algorithm in the process of determining the first similarity is not specifically limited here, and may be determined according to the actual situation.

Step S23: Determine the current building according to the first similarity.

After the first similarity is determined, the current building is determined according to the first similarity. Specifically, the building corresponding to the largest first similarity is determined as the current building.

Since continuous positioning is required indoors, in the indoor continuous positioning state, if the current building is consistent with the previous result, this state will be maintained; if not, the indoor initial positioning state will be entered.

Referring to Figure 3, it is a flowchart of building identification. Retrieve the Wi-Fi signal map of each building in the preset Wi-Fi signal map library, and then compress the Wi-Fi signal map of each building to obtain the Wi-Fi fingerprint in units of buildings, that is, calculate the location of all APs in the building. Average RSSI in buildings, each building forms a Wi-Fi fingerprint per building. Then calculate the similarity between the real-time Wi-Fi data and the Wi-Fi fingerprints of each building, determine the building corresponding to the maximum similarity as the current building, and determine whether the current building is the last time the Wi-Fi data was obtained. If the building is determined, output the current building and keep the continuous positioning state; if not, output the current building and change to the initial positioning state.

Referring to FIG. 4 , when the preset air pressure trigger is currently in a floor switching state, according to the real-time Wi-Fi data and the Wi-Fi signal corresponding to the current building in the map library of the preset Wi-Fi signal The Fi signal atlas determines the current floor, including:

Step S31: Determine a Wi-Fi signal atlas corresponding to the current building from the preset Wi-Fi signal atlas.

After the current building is determined, the current floor needs to be determined according to the current state of the preset air pressure trigger. If the preset air pressure trigger is currently in a floor switching state, the current Wi-Fi signal atlas corresponding to the current building is determined according to the real-time Wi-Fi data and the preset Wi-Fi signal map library. floor.

Specifically, it is necessary to first determine the Wi-Fi signal atlas corresponding to the current building from the preset Wi-Fi signal atlas. The current building may include one or more floors, and each floor corresponds to a Wi-Fi signal map, so it is necessary to determine the Wi-Fi signal atlas corresponding to the current building. The Wi-Fi signal atlas can be Include one or more Wi-Fi signal maps.

Step S32: Determine the second similarity between the real-time Wi-Fi data and each Wi-Fi fingerprint in the Wi-Fi signal atlas, wherein, in a Wi-Fi signal map of the Wi-Fi signal atlas Including multiple Wi-Fi fingerprints, one Wi-Fi signal map corresponds to one floor.

After the Wi-Fi signal atlas is determined, the second similarity between the real-time Wi-Fi data and each Wi-Fi fingerprint in the Wi-Fi signal atlas can be determined, wherein the Wi-Fi A Wi-Fi signal map of the signal atlas includes multiple Wi-Fi fingerprints, and one Wi-Fi signal map corresponds to one floor.

For example, if the current building includes 3 floors, and the Wi-Fi signal map corresponding to each floor includes 3 Wi-Fi fingerprints, it is necessary to calculate the difference between the real-time Wi-Fi data and the 9 Wi-Fi fingerprints respectively. the second similarity.

Step S33: Determine a preselected Wi-Fi fingerprint according to the second similarity.

After the second similarity is determined, a preset Wi-Fi fingerprint may be determined according to the second similarity. Specifically, the second degrees of similarity may be sorted in descending order, and then the Wi-Fi fingerprints corresponding to the first k second degrees of similarity are determined as the pre-selected Wi-Fi fingerprints, where k is For a positive integer greater than or equal to 1, the specific value of k can be determined according to the actual situation, which is not specifically limited here.

Step S34: Determine the floor information corresponding to each Wi-Fi fingerprint in the preselected Wi-Fi fingerprints.

After the preselected Wi-Fi fingerprints are determined, the floor information corresponding to each Wi-Fi fingerprint in the preselected Wi-Fi fingerprints also needs to be determined. Specifically, it is to determine which floor of the current building the floor corresponding to each Wi-Fi fingerprint in the preselected Wi-Fi fingerprint is.

Step S35: Determine the floor with the largest number of occurrences in the floor information as the current floor.

After the floor information is obtained, the floor with the largest number of occurrences in the floor information can be determined as the current floor. For example, the pre-selected Wi-Fi fingerprints include 5 Wi-Fi fingerprints. Among them, the floor corresponding to 3 Wi-Fi fingerprints is the 6th floor, and the floor corresponding to 2 Wi-Fi fingerprints is the 5th floor. The floor is the 6th floor.

When just entering the indoor environment, the positioning is in the initial positioning state, and the floor, building and horizontal coordinates need to be obtained. At this time, it is not necessary to judge the state of the preset air pressure trigger, and directly according to the obtained real-time Wi-Fi data and the Wi-Fi signal atlas corresponding to the building in the preset Wi-Fi signal atlas to determine the floor.

Referring to Figure 5, it is a flow chart of floor identification. First judge whether it is in the initial positioning state, if so, skip the state judgment of the air pressure trigger, and directly use the floor recognition algorithm to perform floor recognition, that is, load the Wi-Fi signal map of each floor of the current building according to the building recognition result , and calculate the similarity of each Wi-Fi fingerprint corresponding to each floor and the real-time Wi-Fi data, determine the floor with the most frequent occurrences among the top k Wi-Fi fingerprints with the largest similarity as the current floor, and update the current floor. Among them, k is a positive integer greater than or equal to 1. If it is in the continuous positioning state, it is judged whether the preset air pressure trigger triggers the opening of the floor identification algorithm. If the floor identification algorithm is not triggered to open, the last calculation result is kept as the current floor. If the triggering floor recognition algorithm is turned on, the floor recognition algorithm is used for floor recognition.

Referring to FIG. 6 , the current state of the preset air pressure trigger is determined according to the saved state in the preset air pressure trigger and the obtained real-time instantaneous air pressure, which may specifically include:

Step S41: If the saved state in the preset air pressure trigger is the floor stable state, the real-time instantaneous air pressure and the first instantaneous air pressure obtained by the preset air pressure trigger are used as the sliding air pressure sequence, wherein the The first instantaneous air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained.

In a specific implementation process, if the saved state in the preset air pressure trigger is the floor stable state, the real-time instantaneous air pressure and the first instantaneous air pressure obtained by the preset air pressure trigger are used as the sliding air pressure sequence , wherein the first instantaneous air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained. For example, if the saved state in the preset air pressure trigger is the floor stable state, the N-1 instantaneous air pressures obtained before the real-time instantaneous air pressure are obtained as the first instantaneous air pressure, and then the first instantaneous air pressure is used as the first instantaneous air pressure. The instantaneous air pressure and the real-time instantaneous air pressure are used as a sliding air pressure sequence to form a sliding air pressure sequence including N instantaneous air pressures. N is a positive integer greater than or equal to 1, and the value of N can be determined according to the actual situation, which is specifically limited here.

Step S42: Determine the average value of the sliding air pressure sequence as the first steady-state reference value.

After the sliding air pressure sequence is obtained, the average value of the sliding air pressure sequence is calculated, so that the average value of the sliding air pressure sequence is used as the first steady-state reference value.

Step S43: Determine whether the difference between the real-time instantaneous air pressure and the first steady-state reference value is greater than or equal to a first threshold.

After the first steady-state air pressure value is determined, it can be determined whether the difference between the real-time instantaneous air pressure and the first steady-state reference value is greater than or equal to a first threshold value. That is, it is determined whether the fluctuation of the currently obtained real-time instantaneous air pressure value relative to the first steady-state reference value exceeds a threshold value, so as to determine whether the current state of the preset air pressure trigger is a floor switching state or a floor stable state.

Step S44: If the difference between the real-time instantaneous air pressure and the first steady-state reference value is greater than or equal to a first threshold, determine that the current state of the preset air pressure trigger is a floor switching state.

It is judged whether the difference between the real-time instantaneous air pressure and the first steady-state reference value is greater than or equal to a first threshold. If the difference between the real-time instantaneous air pressure and the first steady-state reference value is greater than or equal to a first threshold, it is determined that the current state of the preset air pressure trigger is a floor switching state. If the difference between the real-time instantaneous air pressure and the first steady-state reference value is smaller than the first threshold, it is determined that the current state of the preset air pressure trigger is still a floor stable state.

Step S45: If the saved state in the preset air pressure trigger is the floor switching state, use the real-time instantaneous air pressure and the second instantaneous air pressure obtained by the preset air pressure trigger as a sliding air pressure sequence, wherein the The second instantaneous air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained.

In a specific implementation process, if the saved state in the preset air pressure trigger is the floor switching state, the real-time instantaneous air pressure and the second instantaneous air pressure obtained by the preset air pressure trigger are used as the sliding air pressure sequence, The second instantaneous air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained. That is, for example, if the saved state in the preset air pressure trigger is the floor switching state, the N-1 instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained as the second instantaneous air pressure, and then the The second instantaneous air pressure and the real-time instantaneous air pressure serve as a sequence of sliding air pressures.

Step S46: Determine the average value of the sliding air pressure sequence as the dynamic air pressure value.

After the sliding air pressure sequence is obtained, the average value of the sliding air pressure sequence can be determined as the dynamic air pressure value, so as to judge the current state.

Step S47: judging whether the difference between the dynamic air pressure value and the second steady-state reference value is greater than or equal to a second threshold, wherein the second steady-state reference value is when the preset air pressure trigger is in the The average value of the instantaneous air pressure obtained for the last time before the floor switching state and the third instantaneous air pressure, the third instantaneous air pressure is obtained before the last instantaneous air pressure obtained before the preset air pressure trigger is in the floor switching state The preset number of instantaneous air pressures.

After the dynamic air pressure value is obtained, it is also necessary to determine whether the difference between the dynamic air pressure value and the second steady-state reference value is greater than or equal to a second threshold, wherein the second steady-state reference value is the The average value of the instantaneous air pressure obtained last time before the preset air pressure trigger is in the floor switching state and the third instantaneous air pressure, and the third instantaneous air pressure is the last air pressure before the preset air pressure trigger is in the floor switching state. The preset number of instantaneous air pressures obtained before the instantaneous air pressure is obtained at one time, that is, when the preset air pressure trigger is at a stable floor, an instantaneous air pressure is obtained, and this instantaneous air pressure indicates that floor switching begins to occur. The instantaneous air pressure obtained for the last time before the instantaneous air pressure is obtained and the average value of N-1 instantaneous air pressures obtained before the instantaneous air pressure is obtained for the last time is determined as the second steady-state reference value, and the second steady-state air pressure is determined as the second steady-state reference value. The reference value is stored for subsequent calls.

Wherein, the first threshold and the second threshold may be the same or different.

Step S48: If the difference between the dynamic air pressure value and the second steady-state reference value is greater than or equal to a second threshold, it is determined that the current state of the preset air pressure trigger is still a floor switching state.

After judging whether the difference between the dynamic air pressure value and the second steady-state reference value is greater than or equal to a second threshold, if the difference between the dynamic air pressure value and the second steady-state reference value is greater than or equal to For the second threshold, it is determined that the current state of the preset air pressure trigger is a floor switching state. If the difference between the dynamic air pressure value and the second steady-state reference value is smaller than the second threshold, it is abnormal air pressure fluctuation, and it is determined that the current state of the preset air pressure trigger is still the floor stable state.

Before judging that the current state of the preset air pressure trigger is still the floor switching state, the method further includes: judging whether the difference between the real-time instantaneous air pressure and the average value of the fourth instantaneous air pressure is less than a third threshold, wherein the first The four instantaneous air pressures are the preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained; if the difference between the real-time instantaneous air pressure and the average value of the fourth instantaneous air pressure is less than the third threshold, it is determined that the air pressure tends to After stabilization, the floor switching state ends, and the preset air pressure trigger is adjusted from the floor switching state to the floor stable state. That is, when the difference between the real-time instantaneous air pressure and the second steady-state reference value is continuously greater than or equal to the second threshold, the floor switching state is maintained and the floor recognition algorithm is kept on, but in the first N-1 air pressure data When the difference between the average value and the current real-time instantaneous gas is less than the third threshold, it is considered that the ambient air pressure tends to be stable, and the floor change ends.

The first threshold, the second threshold and the third threshold may be determined according to actual application scenarios, which are not specifically limited herein.

Referring to Figure 7, it is a working flow chart of the preset air pressure trigger. Wherein, the aforementioned first threshold and second threshold are the same as m hPa, and the third threshold is n hPa. When the preset air pressure trigger is in the stable state of the floor, calculate the reference steady state air pressure, and then judge whether the difference between the real-time instantaneous air pressure and the first steady state reference air pressure is greater than m hPa, and if so, judge the preset air pressure Set the current state of the air pressure trigger to the floor switching state, open the floor identification algorithm, calculate the dynamic air pressure value, and determine whether the difference between the dynamic air pressure value and the second steady-state reference value is greater than m hPa, if not, it is the air pressure In case of misjudgment caused by fluctuation, return to the stable state of the floor and close the floor recognition algorithm. If it is, the floor switching state is continued, and the floor identification algorithm is kept enabled. Update the dynamic air pressure value, and determine whether the difference between the current instantaneous air pressure and the dynamic air pressure value at the previous moment is less than nhPa, wherein the dynamic air pressure value at the previous moment is the average value of N-1 air pressure data before the current instantaneous air pressure, if If not, the floor switching state is continued, and the floor identification algorithm is kept enabled. If yes, return to the floor stable state and close the floor recognition algorithm.

Referring to FIG. 8 , an embodiment of the present invention discloses a specific positioning method, which is applied to an Android-based mobile terminal, including:

Step S51: Determine the current environment according to the acquired real-time GNSS signal.

Step S52: If the current environment is an indoor environment, the current building is determined according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library.

Step S53: Determine the current floor according to the current state of the preset air pressure trigger, wherein the current state of the preset air pressure trigger includes a floor stable state and a floor switching state.

Step S54: Determine the first current horizontal coordinate according to the real-time Wi-Fi data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library.

Step S55: Determine a second current horizontal coordinate based on the first current horizontal coordinate and the obtained pedestrian trajectory, and use the current building, the current floor and the second current horizontal coordinate as a positioning result.

For the specific implementation process of steps S51 to S55, reference can be made to the contents disclosed in the foregoing embodiments, and details are not repeated here.

Step S56: If the current environment is an outdoor environment, acquire the third current horizontal coordinate collected by the preset positioning device.

After the current environment is determined, if the current environment is an outdoor environment, the third current horizontal coordinate collected by the preset positioning device is acquired. Wherein, the preset positioning device includes but is not limited to GPS.

Step S57: Determine a positioning result based on the third current horizontal coordinate and the acquired behavior track.

After the third horizontal coordinate is acquired, a positioning result needs to be determined based on the third current horizontal coordinate and the acquired behavioral trajectory. Specifically, the positioning result may be determined based on the Kalman filtering algorithm, the third current horizontal coordinate, and the acquired behavior trajectory.

When it is just in the outdoor state, the initial positioning state is performed, the first horizontal coordinate is obtained by the preset positioning device alone, and the pedestrian trajectory estimation is initialized from this position, and then the continuous positioning state is entered. In the continuous positioning state, the horizontal coordinates and pedestrian trajectories collected by the preset positioning device are processed based on the Kalman filter to obtain the final positioning result in the outdoor environment.

Referring to FIG. 9 , an embodiment of the present invention also discloses a positioning device, which is applied to an Android-based mobile terminal. The device includes: an indoor and outdoor environment identification module 11 , a Wi-Fi fingerprint positioning module 12 , and a positioning result fusion Module 13, the Wi-Fi fingerprint positioning module includes a building identification sub-module 121, a floor identification sub-module 122, and a horizontal position positioning sub-module 123;

Wherein, the indoor and outdoor environment identification module 11 is used to determine the current environment according to the acquired real-time GNSS signal;

The building identification sub-module 121 is used to determine the current building according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library when the current environment is an indoor environment;

The floor identification sub-module 122 is configured to determine the current floor according to the current state of the preset air pressure trigger, wherein the current state of the preset air pressure trigger includes a floor stable state and a floor switching state;

The horizontal position positioning sub-module 123 is configured to determine the first current level according to the real-time Wi-Fi data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library coordinate;

The positioning result fusion module 13 is used to determine the second current horizontal coordinate based on the first current horizontal coordinate and the obtained pedestrian trajectory, and combine the current building, the current floor and the first current horizontal coordinate. 2. The current horizontal coordinate is used as the positioning result.

It can be seen that the present invention first determines the current environment according to the acquired real-time GNSS signals. If the current environment is an indoor environment, the current location is determined according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library. building, and determine the current floor according to the current state of the preset air pressure trigger, wherein the current state of the preset air pressure trigger includes the floor stability state and the floor switching state, and then according to the real-time Wi-Fi The first current horizontal coordinate can be determined based on the data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library, and then the first current horizontal coordinate can be determined based on the first current horizontal coordinate and the obtained pedestrian trajectory. The second current horizontal coordinate, and the currently located building, the currently located floor and the second current horizontal coordinate are used as the positioning result. Compared with the processing method of using multiple sensors to determine whether the current environment is indoor or outdoor in the prior art, the signal classification method based on the GNSS signal of the present application has the advantages of simple calculation and low hardware complexity, thereby improving the positioning method. Practicality; use Wi-Fi fingerprint recognition to realize building and floor positioning, without additional sensor signals, and the calculation process is simple; in addition, according to the current state of the preset air pressure trigger, the current state of the floor stability state or the floor switching state is specifically determined. Floor, without absolute air pressure or additional mobile terminal, improves the accuracy of floor recognition, reduces the error rate, and lowers the cost of use, and is compatible with various actions such as passenger lifts or escalators, walking in stairwells, etc. scene, so that floor recognition can be applied in different environments. In addition, this application first determines whether the current environment is an indoor environment or an outdoor environment, and if the current environment is an indoor environment, then determines the current building, then determines the current floor according to the current building, and then determines the horizontal coordinates according to the current floor. , forming a multi-dimensional progressive indoor positioning method, constructing a complete positioning framework, with stronger practicability.

Specifically, the indoor and outdoor environment identification module 11 is used for:

determining the acquired target parameters of the real-time GNSS signal;

The target parameter is input into a pre-obtained signal classifier, and the current environment is determined according to the output of the signal classifier.

Specifically, the building identification sub-module 121 is used for:

Determine the Wi-Fi fingerprints of each building in the preset Wi-Fi signal map library according to the preset Wi-Fi signal map library;

respectively determining the first similarity between the real-time Wi-Fi data and the Wi-Fi fingerprints of each of the buildings;

The current building is determined according to the first similarity.

Further, the horizontal position positioning sub-module 123 is used for:

The first current horizontal coordinate is determined according to the WKNN algorithm, the real-time Wi-Fi data, and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library.

Specifically, the positioning result fusion module 13 is used for:

The second current horizontal coordinate is determined based on the Kalman filter algorithm, the first current horizontal coordinate and the acquired pedestrian trajectory.

Further, the positioning device also includes:

The preset positioning device is used to collect the third current horizontal coordinate when the current environment is an outdoor environment;

Correspondingly, the positioning result fusion module 13 is configured to: determine a positioning result based on the third current horizontal coordinate and the acquired behavior track.

The floor identification sub-module 122 is configured to: when the preset air pressure trigger is currently in a stable floor state, take the floor determined when the real-time Wi-Fi data was acquired last time as the current floor;

When the preset air pressure trigger is currently in a floor switching state, it is determined according to the real-time Wi-Fi data and the Wi-Fi signal atlas corresponding to the current building in the preset Wi-Fi signal map library The current floor.

Further, the floor identification sub-module 122 is used for:

Determine the Wi-Fi signal atlas corresponding to the current building from the preset Wi-Fi signal atlas;

Respectively determine the second similarity between the real-time Wi-Fi data and each Wi-Fi fingerprint in the Wi-Fi signal atlas, wherein a Wi-Fi signal map in the Wi-Fi signal atlas includes multiple Wi-Fi fingerprint, a Wi-Fi signal map corresponds to a floor;

determining a preselected Wi-Fi fingerprint according to the second similarity;

determining the floor information corresponding to each Wi-Fi fingerprint in the preselected Wi-Fi fingerprint;

The floor with the largest number of occurrences in the floor information is determined as the current floor.

Specifically, the positioning device further includes:

The air pressure trigger state determination module is configured to: determine the current state of the preset air pressure trigger according to the saved state in the preset air pressure trigger and the acquired real-time instantaneous air pressure.

Specifically, the air pressure trigger state determination module is used for:

When the saved state in the preset air pressure trigger is the floor stable state, the real-time instantaneous air pressure and the first instantaneous air pressure obtained by the preset air pressure trigger are used as the sliding air pressure sequence, wherein the first air pressure An instantaneous air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained;

determining the average value of the sliding air pressure sequence as the first steady-state reference value;

judging whether the difference between the real-time instantaneous air pressure and the first steady-state reference value is greater than or equal to a first threshold;

If the difference between the real-time instantaneous air pressure and the first steady-state reference value is greater than or equal to a first threshold, it is determined that the current state of the preset air pressure trigger is a floor switching state.

Specifically, the air pressure trigger state determination module is used for:

When the saved state in the preset air pressure trigger is the floor switching state, the real-time instantaneous air pressure and the second instantaneous air pressure obtained by the preset air pressure trigger are used as the sliding air pressure sequence, wherein the second air pressure The instantaneous air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained;

determining the average value of the sliding air pressure sequence as a dynamic air pressure value;

Determine whether the difference between the dynamic air pressure value and the second steady-state reference value is greater than or equal to a second threshold, wherein the second steady-state reference value is in the floor switching state of the preset air pressure trigger The average value of the instantaneous air pressure obtained for the last time before and the third instantaneous air pressure, the third instantaneous air pressure is the preset air pressure obtained before the last instantaneous air pressure obtained before the preset air pressure trigger is in the floor switching state Number of instantaneous air pressure;

If the difference between the dynamic air pressure value and the second steady-state reference value is greater than or equal to a second threshold, it is determined that the current state of the preset air pressure trigger is still a floor switching state.

In addition, the air pressure trigger state determination module is also used for:

Determine whether the difference between the real-time instantaneous air pressure and the average value of the fourth instantaneous air pressure is less than a third threshold, wherein the fourth instantaneous air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained air pressure;

If the difference between the real-time instantaneous air pressure and the average value of the fourth instantaneous air pressure is smaller than the third threshold, it is determined that the air pressure tends to be stable, the floor switching state ends, and the preset air pressure trigger is adjusted from the floor switching state to the floor stable state.

In a specific implementation process, the positioning device further includes a pedestrian trajectory estimation module for determining the pedestrian trajectory.

Referring to Fig. 10, it is a flow chart of positioning. First, the current indoor or outdoor environment is determined by the indoor and outdoor environment recognition module. If it is an outdoor environment, turn on the GPS positioning module (that is, the preset positioning device), the pedestrian trajectory estimation module and the positioning result fusion module, and enter the initial positioning state. In the initial positioning state, the GPS positioning module alone obtains the first horizontal coordinate and initializes the pedestrian trajectory estimation module from this position, and then enters the continuous positioning state. In the continuous positioning state, the positioning result fusion module constructed based on the Kalman filter processes the positioning results obtained by the GPS positioning and pedestrian trajectory estimation modules to obtain the final positioning results in the outdoor environment. If it is an indoor environment, turn on the Wi-Fi fingerprint positioning module, the pedestrian trajectory estimation module and the positioning result fusion module, and then enter the initial positioning state first. In the initial positioning state, the building identification sub-module, the floor positioning sub-module, and the horizontal position positioning sub-module calculate the current building, floor and the first horizontal coordinate in turn; then the horizontal coordinate is used as the initial position of the pedestrian trajectory estimation module and Enter the continuous positioning state. In the continuous positioning state, the building identification sub-module keeps on and calculates, while the floor positioning sub-module turns on or off the floor identification calculation according to the triggering result of its air pressure trigger. The horizontal position positioning sub-module is kept open and calculated, and the calculation result and the pedestrian trajectory estimation result are processed by the positioning result fusion module to obtain the horizontal coordinates of the pedestrian. Finally, the current building, floor and horizontal coordinates are output as the comprehensive positioning result.

Referring to FIG. 11 , an embodiment of the present invention further discloses an Android-based mobile terminal, including:

processor 21 and memory 22;

Wherein, the memory 22 is used to store computer programs;

The processor 21 is configured to execute the computer program to implement the steps of the positioning method disclosed in the foregoing embodiments.

For the specific process of the above positioning method, reference may be made to the corresponding content disclosed in the foregoing embodiments, which will not be repeated here.

In addition, the embodiments of the present invention also disclose a computer-readable storage medium for storing a computer program, and when the computer program is executed by a processor, the steps of the positioning method disclosed in the foregoing embodiments are implemented.

For the specific process of the above positioning method, reference may be made to the corresponding content disclosed in the foregoing embodiments, which will not be repeated here.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments may be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

Professionals may further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two, in order to clearly illustrate the possibilities of hardware and software. Interchangeability, the above description has generally described the components and steps of each example in terms of functionality. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

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

Finally, it should also be noted that in this document, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply these entities or there is any such actual relationship or sequence between operations. Furthermore, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or mobile terminal that includes a list of elements includes not only those elements, but also a non-exclusive list of elements. other elements, or also include elements inherent to such a process, method, article or mobile terminal. Without further limitation, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or mobile terminal that includes the element.

A positioning method, device, mobile terminal, and storage medium provided by the present invention have been described in detail above. The principles and implementations of the present invention are described with specific examples in this paper. The descriptions of the above embodiments are only used to help Understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification does not It should be understood as a limitation of the present invention.

Claims (15)

1. A positioning method, characterized in that, applied to an Android-based mobile terminal, comprising:

   Determine the current environment according to the acquired real-time GNSS signals;

   If the current environment is an indoor environment, the current building is determined according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library;

   The current floor is determined according to the current state of the preset air pressure trigger, wherein the current state of the preset air pressure trigger includes a floor stable state and a floor switching state;

   Determine the first current horizontal coordinate according to the real-time Wi-Fi data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library;

   A second current horizontal coordinate is determined based on the first current horizontal coordinate and the obtained pedestrian trajectory, and the current building, the current floor and the second current horizontal coordinate are used as a positioning result.
2. The positioning method according to claim 1, wherein the determining the current environment according to the acquired real-time GNSS signal comprises:

   determining the acquired target parameters of the real-time GNSS signal;

   The target parameter is input into a pre-obtained signal classifier, and the current environment is determined according to the output of the signal classifier.
3. The positioning method according to claim 1, wherein determining the current building according to the acquired real-time Wi-Fi data and a preset Wi-Fi signal map library, comprising:

   Determine the Wi-Fi fingerprints of each building in the preset Wi-Fi signal map library according to the preset Wi-Fi signal map library;

   respectively determining the first similarity between the real-time Wi-Fi data and the Wi-Fi fingerprints of each of the buildings;

   The current building is determined according to the first similarity.
4. The positioning method according to claim 1, characterized in that, determining the first Wi-Fi signal map according to the real-time Wi-Fi data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library Current horizontal coordinates, including:

   The first current horizontal coordinate is determined according to the WKNN algorithm, the real-time Wi-Fi data, and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library.
5. The positioning method according to claim 1, wherein the determining the second current horizontal coordinate based on the first current horizontal coordinate and the obtained pedestrian trajectory, comprising:

   The second current horizontal coordinate is determined based on the Kalman filter algorithm, the first current horizontal coordinate and the acquired pedestrian trajectory.
6. The positioning method according to claim 1, wherein after determining the current environment according to the acquired real-time GNSS signal, the method further comprises:

   If the current environment is an outdoor environment, acquiring the third current horizontal coordinate collected by the preset positioning device;

   The positioning result is determined based on the third current horizontal coordinate and the acquired behavior track.
7. The positioning method according to claim 1, wherein the determining the current floor according to the current state of the preset air pressure trigger comprises:

   If the preset air pressure trigger is currently in a stable floor state, the floor determined when the real-time Wi-Fi data was acquired last time is used as the current floor;

   If the preset air pressure trigger is currently in a floor switching state, the current Wi-Fi signal atlas corresponding to the current building is determined according to the real-time Wi-Fi data and the preset Wi-Fi signal map library. floor.
8. The positioning method according to claim 7, wherein the determining is based on the real-time Wi-Fi data and the Wi-Fi signal atlas corresponding to the current building in the preset Wi-Fi signal atlas. The current floor, including:

   Determine the Wi-Fi signal atlas corresponding to the current building from the preset Wi-Fi signal atlas;

   Respectively determine the second similarity between the real-time Wi-Fi data and each Wi-Fi fingerprint in the Wi-Fi signal atlas, wherein a Wi-Fi signal map in the Wi-Fi signal atlas includes multiple Wi-Fi fingerprint, a Wi-Fi signal map corresponds to a floor;

   determining a preselected Wi-Fi fingerprint according to the second similarity;

   determining the floor information corresponding to each Wi-Fi fingerprint in the preselected Wi-Fi fingerprint;

   The floor with the largest number of occurrences in the floor information is determined as the current floor.
9. The positioning method according to any one of claims 1 to 8, wherein before determining the current floor according to the current state of the preset air pressure trigger, the method further comprises:

   The current state of the preset air pressure trigger is determined according to the saved state of the preset air pressure trigger and the acquired real-time instantaneous air pressure.
10. The positioning method according to claim 9, wherein the determining the current state of the preset air pressure trigger according to the saved state in the preset air pressure trigger and the acquired real-time instantaneous air pressure, comprising: :

    If the saved state in the preset air pressure trigger is the floor stable state, the real-time instantaneous air pressure and the first instantaneous air pressure obtained by the preset air pressure trigger are used as a sliding air pressure sequence, wherein the first air pressure The instantaneous air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained;

    determining the average value of the sliding air pressure sequence as the first steady-state reference value;

    judging whether the difference between the real-time instantaneous air pressure and the first steady-state reference value is greater than or equal to a first threshold;

    If the difference between the real-time instantaneous air pressure and the first steady-state reference value is greater than or equal to a first threshold, it is determined that the current state of the preset air pressure trigger is a floor switching state.
11. The positioning method according to claim 9, wherein the determining the current state of the preset air pressure trigger according to the saved state in the preset air pressure trigger and the acquired real-time instantaneous air pressure, comprising: :

    If the saved state in the preset air pressure trigger is the floor switching state, the real-time instantaneous air pressure and the second instantaneous air pressure obtained by the preset air pressure trigger are used as a sliding air pressure sequence, wherein the second instantaneous air pressure The air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained;

    determining the average value of the sliding air pressure sequence as the dynamic air pressure value;

    Determine whether the difference between the dynamic air pressure value and the second steady-state reference value is greater than or equal to a second threshold, wherein the second steady-state reference value is in the floor switching state of the preset air pressure trigger The average value of the instantaneous air pressure obtained for the last time and the third instantaneous air pressure, where the third instantaneous air pressure is a preset number of instantaneous air pressures obtained before the instantaneous air pressure is obtained for the last time;

    If the difference between the dynamic air pressure value and the second steady-state reference value is greater than or equal to a second threshold, it is determined that the current state of the preset air pressure trigger is still a floor switching state.
12. The positioning method according to claim 11, wherein before determining that the current state of the preset air pressure trigger is still the floor switching state, the method further comprises:

    Determine whether the difference between the real-time instantaneous air pressure and the average value of the fourth instantaneous air pressure is less than a third threshold, wherein the fourth instantaneous air pressure is a preset number of instantaneous air pressures obtained before the real-time instantaneous air pressure is obtained air pressure;

    If the difference between the real-time instantaneous air pressure and the average value of the fourth instantaneous air pressure is smaller than the third threshold, it is determined that the air pressure tends to be stable, the floor switching state ends, and the preset air pressure trigger is adjusted from the floor switching state to the floor stable state.
13. A positioning device, characterized in that it is applied to an Android-based mobile terminal, the device comprising: an indoor and outdoor environment identification module, a Wi-Fi fingerprint positioning module, and a positioning result fusion module, wherein the Wi-Fi fingerprint positioning module includes a building Identification sub-module, floor identification sub-module, horizontal position positioning sub-module;

    Wherein, the indoor and outdoor environment identification module is used to determine the current environment according to the acquired real-time GNSS signal;

    The building identification sub-module is used to determine the current building according to the acquired real-time Wi-Fi data and the preset Wi-Fi signal map library when the current environment is an indoor environment;

    The floor identification sub-module is configured to determine the current floor according to the current state of the preset air pressure trigger, wherein the current state of the preset air pressure trigger includes a floor stable state and a floor switching state;

    The horizontal position positioning sub-module is used to determine the first current horizontal coordinate according to the real-time Wi-Fi data and the Wi-Fi signal map corresponding to the current floor in the preset Wi-Fi signal map library ;

    The positioning result fusion module is used to determine the second current horizontal coordinate based on the first current horizontal coordinate and the obtained pedestrian trajectory, and combine the current building, the current floor and the second current horizontal coordinate. The current horizontal coordinate is used as the positioning result.
14. An Android-based mobile terminal, comprising: a memory and a processor;

    Wherein, the memory is used to store computer programs;

    The processor is configured to execute the computer program to implement the positioning method according to any one of claims 1 to 12.
15. A computer-readable storage medium for storing a computer program, characterized in that, when the computer program is executed by a processor, the steps of the positioning method according to any one of claims 1 to 12 are implemented.

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