CN114624755A - Indoor terminal positioning method, system and device and electronic equipment - Google Patents
Indoor terminal positioning method, system and device and electronic equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
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Abstract
The application provides an indoor terminal positioning method, system and device and electronic equipment. The method comprises the following steps: in response to receiving satellite navigation signals forwarded via one of the plurality of sets of indoor antennas, determining an estimated location of one of the plurality of indoor points of interest corresponding to the one of the plurality of indoor antennas based on the satellite navigation signals; taking one of the layout positions of the indoor interest points, which is matched with the estimated position, as an area position, and taking one of the indoor antennas, which corresponds to the layout position, as a neighboring antenna group; predicting a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the first positions by utilizing a particle filter algorithm taking the position of the terminal as a particle according to the position of the area, the indoor prior map and inertial navigation information acquired by the terminal in real time; and calculating a weighted sum of the plurality of first positions according to the plurality of first weights as the second position of the terminal.
Description
Technical Field
The present application relates to positioning technologies, and in particular, to an indoor terminal positioning method, system, device, and electronic device.
Background
With the rapid development of the positioning technology, a Global Navigation Satellite System (GNSS) is widely applied to the field of terminal positioning, but in some places with complex building structures, such as underground garages, large shopping malls, museums and the like, Satellite signals can be shielded by walls or the ground, so that the indoor comprehensive coverage of the Satellite signals cannot be realized, and the positioning result of the terminal is affected.
On the other hand, although there is a technology for performing auxiliary positioning on a terminal by using Wi-Fi in the prior art, the positioning result of the terminal can be further accurate. However, the Wi-Fi positioning accuracy is low, the directionality is not available, and the coverage radius of the access point is small. When only one access point is considered, the method has receiving errors, cannot be applied to the environment requiring accurate real-time positioning, and Wi-Fi positioning is easily interfered by other signals, the positioning quality cannot be effectively guaranteed, and the energy consumption is high, so that the actual terminal positioning task is difficult to perform.
Disclosure of Invention
In view of the above, an object of the present application is to provide an indoor terminal positioning method, system, device and electronic apparatus.
In view of the above, in a first aspect, the present application provides an indoor terminal positioning method, where multiple sets of indoor antennas are distributed indoors, and the multiple sets of indoor antennas are respectively connected to multiple outdoor antennas that are located outdoors to receive satellite navigation signals via multiple indoor points of interest, the method including:
in response to receiving the satellite navigation signals forwarded via one of the sets of indoor antennas, determining an estimated location of one of the plurality of indoor points of interest corresponding to the one of the sets of indoor antennas based on the satellite navigation signals;
taking one of the layout positions of the indoor interest points, which is matched with the estimated position, as an area position, and taking one of the indoor antennas, which corresponds to the layout position, as a neighboring antenna group;
predicting a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the first positions by utilizing a particle filter algorithm taking the position of the terminal as a particle according to the area position, the indoor prior map and the inertial navigation information acquired by the terminal in real time;
and calculating the weighted sum of the first positions according to the first weights to serve as the second position of the terminal.
Optionally, the method further includes:
updating the plurality of first weights with the particle filtering algorithm to obtain a plurality of second weights in response to detecting that the terminal switches from connecting with a first indoor antenna in the neighboring antenna group to connecting with a second indoor antenna in the neighboring antenna group,
wherein computing a weighted sum of the plurality of first locations from the plurality of first weights comprises: and calculating a weighted sum of the plurality of first positions according to the plurality of second weights.
Optionally, the updating the plurality of first weights by using the particle filtering algorithm to obtain a plurality of second weights includes:
for each of the plurality of first positions and one of the plurality of first weights corresponding to the first position, obtaining a first probability of the handover occurring when the terminal is at the first position according to a gaussian distribution of handover detection errors in a sub-region where the handover occurs, and obtaining one of the plurality of second weights corresponding to the first weight by multiplying the first probability by the first weight.
Optionally, the method further includes:
updating the plurality of second weights by utilizing the particle filter algorithm according to the base station signal strength acquired by the terminal in real time to obtain a plurality of third weights,
wherein computing a weighted sum of the plurality of first locations from the plurality of second weights comprises: and calculating a weighted sum of the plurality of first positions according to the plurality of third weights.
Optionally, the updating the plurality of second weights by using the particle filtering algorithm to obtain a plurality of third weights includes:
and for each of the plurality of first positions and one of the plurality of second weights corresponding to the first position, obtaining a second probability of the signal strength of the preset base station measured when the terminal is at the first position according to the Gaussian distribution of the signal strength measurement error, and obtaining one of the plurality of third weights corresponding to the second weight by multiplying the second probability by the second weight.
Optionally, the method further includes:
the prior map comprises the indoor wall position information, the indoor gradient information and the distribution maps of the multiple groups of indoor antennas;
predicting the plurality of first positions and the plurality of first weights by using the particle filter algorithm according to the area position, the prior map and the inertial navigation information, wherein the predicting comprises:
determining a particle reachable area in the room according to the wall position information, the gradient information and the distribution map of the multiple groups of indoor antennas;
and predicting the plurality of first positions and the plurality of first weights by using the particle filter algorithm according to the region position, the particle reachable region and the inertial navigation information.
In a second aspect, the present application provides an indoor positioning apparatus, wherein a plurality of sets of indoor antennas are distributed indoors, and the plurality of sets of indoor antennas are respectively connected to a plurality of outdoor antennas provided outdoors to receive satellite navigation signals via a plurality of indoor points of interest, the apparatus comprising:
an estimation module configured to determine, based on the satellite navigation signals, an estimated location of one of the plurality of indoor points of interest corresponding to a set of indoor antennas of the plurality of sets of indoor antennas in response to receiving the satellite navigation signals forwarded via the set of indoor antennas;
a matching module configured to take one of the layout positions of each of the plurality of indoor interest points, which is matched with the estimated position, as an area position, and take one of the plurality of groups of indoor antennas, which corresponds to the layout position, as a neighboring antenna group;
the prediction module is configured to predict a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the plurality of first positions by using a particle filter algorithm taking the position of the terminal as a particle according to the area position, the indoor prior map and inertial navigation information acquired by the terminal in real time;
a positioning module configured to calculate a weighted sum of the plurality of first positions as a second position of the terminal according to the plurality of first weights.
In a third aspect, the present application also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the indoor terminal positioning method according to any one of the above items.
In a fourth aspect, the present application further provides an indoor terminal positioning system, including:
a plurality of outdoor antennas disposed outdoors to receive satellite navigation signals;
a plurality of sets of indoor antennas distributed in the room and connected to the plurality of outdoor antennas via a plurality of indoor points of interest, respectively;
a terminal within the room, the terminal configured to:
in response to receiving the satellite navigation signals forwarded via one of the sets of indoor antennas, determining an estimated location of one of the plurality of indoor points of interest corresponding to the one of the sets of indoor antennas based on the satellite navigation signals;
taking one layout position matched with the estimated position in the layout positions of the indoor interest points as an area position;
predicting a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the first positions by utilizing a particle filter algorithm taking the position of the terminal as a particle according to the area position, the indoor prior map and the inertial navigation information acquired by the terminal in real time;
and calculating a weighted sum of the plurality of first positions according to the plurality of first weights to serve as a second position of the terminal.
Optionally, the terminal is further configured to:
in response to detecting that the terminal is switched from being connected with a first indoor antenna in the adjacent antenna group to being connected with a second indoor antenna in the adjacent antenna group, updating the plurality of first weights by using the particle filtering algorithm to obtain a plurality of second weights;
updating the plurality of second weights by utilizing the particle filter algorithm according to the base station signal strength acquired by the terminal in real time to obtain a plurality of third weights,
calculating a weighted sum of the first locations according to the first weights comprises: and calculating a weighted sum of the plurality of first positions according to the plurality of third weights.
As can be seen from the above, according to the indoor terminal positioning method, system, device and electronic device provided by the application, the terminal determines an estimated position relative to the indoor interest point by receiving the satellite navigation signal forwarded by the outdoor antenna, matches the estimated position with the arrangement position of the actual indoor interest point to obtain the area position in the range of the terminal, and determines the indoor antenna group adjacent to the terminal in the room, so that the indoor interest point is introduced in the terminal positioning process, and the terminal can be more flexibly positioned according to the indoor environment layout. According to inertial navigation information and a prior map acquired by a terminal in real time, the motion state of the terminal can be combined in an reachable area of the prior map, the positions of the terminals which are possibly distributed and the weights corresponding to the positions can be predicted through a particle filter algorithm taking the positions of the terminals as particles, and the problems that satellite signals can be shielded by walls or the ground and the satellite signals cannot be comprehensively covered indoors are solved. And updating the weight corresponding to the terminal position for multiple times according to the indoor antenna switching condition connected with the terminal and the base station signal strength acquired by the terminal in real time, further improving the positioning accuracy and realizing the high-precision, high-efficiency and low-energy-consumption indoor terminal positioning.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only the embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of a connection scenario of an indoor antenna, a point of interest, and an outdoor antenna according to an embodiment of the present application.
Fig. 2 is an exemplary flowchart of an indoor terminal positioning method provided in an embodiment of the present application.
Fig. 3 is a structural diagram of an indoor terminal positioning device according to an embodiment of the present application.
Fig. 4 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings in combination with specific embodiments.
It should be noted that technical terms or scientific terms used in the embodiments of the present application should have a general meaning as understood by those having ordinary skill in the art to which the present application belongs, unless otherwise defined. The use of "first," "second," and similar terms in the embodiments of the present application is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
As described in the background section, in some places with complex building structures, such as underground garages, large malls, museums, etc., the satellite signals are shielded by walls or the ground, and the satellite signals cannot be fully covered indoors, so that the positioning result of the terminal is affected. In addition, when the Wi-Fi is used for assisting in positioning the terminal, the Wi-Fi positioning accuracy is low, the directionality is not available, and the coverage radius of the access point is small. When only one access point is considered, the method has receiving errors, cannot be applied to the environment requiring accurate real-time positioning, and Wi-Fi positioning is easily interfered by other signals, the positioning quality cannot be effectively guaranteed, and the energy consumption is high, so that the actual terminal positioning task is difficult to perform.
In view of the above, an embodiment of the present application provides an indoor terminal positioning method, in which a terminal determines an estimated position relative to an indoor interest point by receiving a satellite navigation signal forwarded by an outdoor antenna, matches the estimated position with an actual indoor interest point arrangement position to obtain an indoor area position of the terminal, determines an indoor antenna group adjacent to the terminal in an indoor environment, and introduces the indoor interest point in a terminal positioning process, so that the terminal can be more flexibly positioned according to an indoor environment layout. According to inertial navigation information and a prior map acquired by a terminal in real time, the motion state of the terminal can be combined in an reachable area of the prior map, the positions of the terminals which are possibly distributed and the weights corresponding to the positions can be predicted through a particle filter algorithm taking the positions of the terminals as particles, and the problems that satellite signals can be shielded by walls or the ground and the satellite signals cannot be comprehensively covered indoors are solved. And updating the weight corresponding to the terminal position for multiple times according to the indoor antenna switching condition connected with the terminal and the base station signal strength acquired by the terminal in real time, further improving the positioning accuracy and realizing the high-precision, high-efficiency and low-energy-consumption indoor terminal positioning.
The indoor terminal positioning method provided in the embodiment of the present application is specifically described below by using a specific embodiment.
Referring to fig. 1, a schematic view of a connection scenario of an indoor antenna, a point of interest, and an outdoor antenna provided in an embodiment of the present application is shown.
The indoor distribution has the multiunit indoor antenna, and every group indoor antenna includes a plurality of indoor antennas, and multiunit indoor antenna is connected to setting up in order to receive satellite navigation signal's a plurality of outdoor antennas at this outdoor through a plurality of indoor interest points respectively. For a known indoor environment, the deployment location of indoor points of interest may be obtained.
Referring to fig. 2, an exemplary flowchart of an indoor terminal positioning method provided in an embodiment of the present application is shown.
Step S201, in response to receiving the satellite navigation signal forwarded via one of the plurality of indoor antennas, determining an estimated location of one of the plurality of indoor points of interest corresponding to the one of the plurality of indoor antennas based on the satellite navigation signal.
In a specific implementation, as shown in fig. 1, an outdoor antenna capable of receiving satellite navigation signals is installed in an open environment such as a roof of a building where indoor terminal positioning is required, and the received satellite navigation signals are transmitted through a plurality of indoor antennas arranged indoors, so that indoor satellite navigation signal coverage is realized.
Further, the indoor terminal receives the satellite navigation signal forwarded by one indoor antenna of the multiple groups of indoor antennas, and since each group of indoor antennas is connected with a corresponding indoor interest point, an estimated position of one indoor interest point corresponding to the group of indoor antennas of the multiple indoor interest points can be determined based on the satellite navigation signal.
It should be noted that the satellite navigation signals include, but are not limited to, pseudoranges, ephemeris, satellite transmission time and other information about satellites received by the near-earth space station, and the sources of the satellite navigation signals include, but are not limited to, the global navigation satellite system, the united states global positioning system, the chinese beidou navigation satellite system, the russian global navigation satellite system and the european union galileo satellite navigation system.
Step S202, one of the layout positions of the indoor interest points, which is matched with the estimated position, is used as an area position, and one of the indoor antennas, which corresponds to the layout position, of the multiple groups of indoor antennas is used as a neighboring antenna group.
In specific implementation, for a known indoor environment, the layout position of an indoor interest point may be obtained, and the obtained estimated position is matched with the actually obtained layout position, so as to obtain the location of the area where the terminal is located, and further, a group of indoor antennas corresponding to the layout position may be used as a neighboring antenna group.
Step S203, predicting a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the first positions by using a particle filter algorithm taking the position of the terminal as a particle according to the area position, the indoor prior map and the inertial navigation information acquired by the terminal in real time.
In a specific implementation, the inertial navigation information includes, but is not limited to, secondary calculation information such as a three-axis angular velocity based on a gyroscope, a three-axis acceleration based on an acceleration sensor, a three-axis magnetic field strength based on a magnetic sensor, and a moving distance and a moving direction of the terminal, which are acquired by the terminal equipped with the inertial sensor according to the open source data interface.
In a specific implementation, the prior map includes wall position information and gradient information in the room and a distribution map of multiple groups of indoor antennas.
In the embodiment of the present application, a plurality of first positions of a terminal and a plurality of first weights respectively corresponding to the plurality of first positions are predicted by using a particle filter algorithm that takes a position of the terminal as a particle, and an ith particle is taken as an example:
x(i)＝{r(i)，ω(i)}
∑ω(i)＝1
wherein i represents the ith particle, ω(i)Is the first weight, r, of the ith particle(i)Denotes the first position, x, of the ith particle(i)Representing the state of the particle at the current time.
In the embodiment of the present application, the particle state of the ith particle at the previous time is xk-1 (i)The particle state of the ith particle at the current time is xk (i)The inertial navigation information is denoted as P (x)k|xk-1)。
Obtaining a first position distribution probability of the ith particle according to the particle state of the ith particle at the previous moment, the particle state of the ith particle at the current moment and inertial navigation information:
P(xk (i))＝∫P(xk|xk-1)P(xk-1 (i))dxk-1 (i)
step S204, calculating a weighted sum of the plurality of first positions according to the plurality of first weights, as a second position of the terminal.
Specifically, taking the ith particle as an example:
wherein,
it is shown that the first position is,
represents a first weight, r(k)Indicating a second position.
As an alternative embodiment, in response to detecting that the terminal is switched from being connected with a first indoor antenna in a neighboring antenna group to being connected with a second indoor antenna in the neighboring antenna group, updating a plurality of first weights by using a particle filtering algorithm to obtain a plurality of second weights;
wherein computing a weighted sum of the plurality of first locations from the plurality of first weights comprises: a weighted sum of the plurality of first locations is calculated based on the plurality of second weights.
As an alternative embodiment, the updating the plurality of first weights by using a particle filtering algorithm to obtain a plurality of second weights includes:
for each of the plurality of first positions and one of the plurality of first weights corresponding to the first position, obtaining a first probability of the terminal being switched when the terminal is at the first position according to a Gaussian distribution of a switching detection error in a sub-region where the switching occurs, and obtaining one of the plurality of second weights corresponding to the first weight by multiplying the first probability by the first weight.
In particular, at some point in the room, absolute measurements can be made, and the terminal can be detected to switch from one indoor antenna to another, assuming a switching region of { x }A,nAnd then, the first weight may be further updated through a switching point to obtain a plurality of second weights, taking the ith particle as an example:
wherein,
indicating that the terminal is located
In the switching region { xA,nA first probability of occurrence of a handover,
is a first weight of the weight set to be a first weight,
for the second weight, assume that the detection error of the switching region obeys a mean value of 0 and a variance of
Gaussian distribution of (a), (b), (c), (d)
Obtained from empirical statistics),
to the switching region { xA,nThe shortest distance of
Then
Further can obtain
Further, a third position may be obtained according to the second weight, specifically:
wherein,
it is shown that the first position is,
represents a second weight, r(k)' denotes the third position.
As an optional embodiment, the plurality of second weights are updated by using a particle filtering algorithm according to the signal strength of the base station obtained by the terminal in real time to obtain a plurality of third weights,
wherein computing a weighted sum of the plurality of first locations from the plurality of second weights comprises: a weighted sum of the plurality of first locations is calculated based on the plurality of third weights.
As an alternative embodiment, updating the plurality of second weights by using a particle filtering algorithm to obtain a plurality of third weights includes:
for each of the plurality of first positions and one of the plurality of second weights corresponding to the first position, obtaining a second probability of the signal strength of the preset base station measured when the terminal is at the first position according to the Gaussian distribution of the signal strength measurement error, and obtaining one of the plurality of third weights corresponding to the second weight by multiplying the second probability by the second weight.
Specifically, the target is located at a position as can be obtained by measurement in advance
When the base station signal strength is Ek. The third weight can be obtained according to the following formula, taking the ith particle as an example:
wherein,
indicating that the terminal is located
Then the signal intensity of the base station is measured to be EkThe probability of (c). Assuming that the signal strength measurement error obeys a mean of 0 and a variance of
Gaussian distribution of (a), (b), (c), (d)
Party letterNumber terminal receiver parameter acquisition), then
And then can obtain
Is the third weight.
Further, a fourth position may be derived from the third weight, specifically:
wherein,
it is shown that the first position is,
represents a third weight, r(k)"indicates the fourth position.
As can be seen from the above, according to the indoor terminal positioning method provided by the application, the terminal determines an estimated position relative to the indoor interest point by receiving the satellite navigation signal forwarded by the outdoor antenna, matches the estimated position with the arrangement position of the actual indoor interest point to obtain the area position within the range of the terminal, and determines the indoor antenna group adjacent to the terminal in the room. According to inertial navigation information and a prior map acquired by a terminal in real time, the motion state of the terminal can be combined in an reachable area of the prior map, the positions of the terminals which are possibly distributed and the weights corresponding to the positions can be predicted through a particle filter algorithm taking the positions of the terminals as particles, and the problems that satellite signals can be shielded by walls or the ground and the satellite signals cannot be comprehensively covered indoors are solved. And updating the weight corresponding to the terminal position for multiple times according to the indoor antenna switching condition connected with the terminal and the base station signal strength acquired by the terminal in real time, further improving the positioning accuracy and realizing the high-precision, high-efficiency and low-energy-consumption indoor terminal positioning.
It should be noted that the method of the embodiment of the present application may be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment, and the multiple devices interact with each other to complete the method.
It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Based on the same inventive concept, the present application provides an indoor terminal positioning device, which refers to fig. 3 and is a structural diagram of an indoor terminal positioning device provided in an embodiment of the present application.
Wherein, this indoor distribution has the multiunit indoor antenna, the multiunit indoor antenna is connected to setting up in this outdoor a plurality of outdoor antennas in order to receive satellite navigation signal respectively through a plurality of indoor points of interest, the device includes:
an estimation module 301 configured to determine, in response to receiving the satellite navigation signal forwarded via one of the sets of indoor antennas, an estimated location of one of the plurality of indoor points of interest corresponding to the one of the sets of indoor antennas based on the satellite navigation signal;
a matching module 302 configured to take one of the layout positions of each of the plurality of indoor interest points, which is matched with the estimated position, as an area position, and take one of the plurality of groups of indoor antennas, which corresponds to the layout position, as a neighboring antenna group;
a prediction module 303, configured to predict, according to the area location, the indoor prior map, and inertial navigation information obtained by the terminal in real time, a plurality of first locations of the terminal and a plurality of first weights respectively corresponding to the plurality of first locations by using a particle filter algorithm using the location of the terminal as a particle;
a positioning module 304 configured to calculate a weighted sum of the plurality of first positions as a second position of the terminal according to the plurality of first weights.
Optionally, the apparatus is further configured to:
updating the plurality of first weights with the particle filtering algorithm to obtain a plurality of second weights in response to detecting that the terminal switches from connecting with a first indoor antenna in the neighboring antenna group to connecting with a second indoor antenna in the neighboring antenna group,
wherein computing a weighted sum of the plurality of first locations from the plurality of first weights comprises: and calculating a weighted sum of the plurality of first positions according to the plurality of second weights.
Optionally, the updating the plurality of first weights by using the particle filtering algorithm to obtain a plurality of second weights includes:
for each of the plurality of first positions and one of the plurality of first weights corresponding to the first position, obtaining a first probability of the handover occurring when the terminal is at the first position according to a gaussian distribution of handover detection errors in a sub-region where the handover occurs, and obtaining one of the plurality of second weights corresponding to the first weight by multiplying the first probability by the first weight.
Optionally, the apparatus is further configured to:
updating the plurality of second weights by utilizing the particle filter algorithm according to the base station signal strength acquired by the terminal in real time to obtain a plurality of third weights,
wherein computing a weighted sum of the plurality of first locations from the plurality of second weights comprises: and calculating a weighted sum of the plurality of first positions according to the plurality of third weights.
Optionally, the updating the multiple second weights by using the particle filtering algorithm to obtain multiple third weights includes:
and for each of the plurality of first positions and one of the plurality of second weights corresponding to the first position, obtaining a second probability of the signal strength of the preset base station measured when the terminal is at the first position according to the Gaussian distribution of the signal strength measurement error, and obtaining one of the plurality of third weights corresponding to the second weight by multiplying the second probability by the second weight.
Optionally, the prior map includes the indoor wall position information and gradient information, and the distribution map of the multiple groups of indoor antennas;
predicting the plurality of first positions and the plurality of first weights by using the particle filter algorithm according to the area position, the prior map and the inertial navigation information, wherein the predicting comprises:
determining a particle reachable area in the room according to the wall position information, the gradient information and the distribution map of the multiple groups of indoor antennas;
and predicting the plurality of first positions and the plurality of first weights by utilizing the particle filter algorithm according to the region position, the particle reachable region and the inertial navigation information.
For convenience of description, the above devices are described as being divided into various modules by functions, which are described separately. Of course, the functionality of the various modules may be implemented in the same one or more software and/or hardware implementations as the present application.
The apparatus of the foregoing embodiment is used to implement the corresponding indoor terminal positioning method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Based on the same inventive concept, the application provides an indoor terminal positioning system, which comprises:
a plurality of outdoor antennas disposed outdoors to receive satellite navigation signals;
a plurality of sets of indoor antennas distributed in the room and connected to the plurality of outdoor antennas via a plurality of indoor points of interest, respectively;
a terminal within the room, the terminal configured to:
in response to receiving the satellite navigation signals forwarded via one of the sets of indoor antennas, determining an estimated location of one of the plurality of indoor points of interest corresponding to the one of the sets of indoor antennas based on the satellite navigation signals;
taking one layout position matched with the estimated position in the layout positions of the indoor interest points as an area position;
predicting a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the first positions by utilizing a particle filter algorithm taking the position of the terminal as a particle according to the area position, the indoor prior map and the inertial navigation information acquired by the terminal in real time;
and calculating the weighted sum of the first positions according to the first weights to serve as the second position of the terminal.
Optionally, the terminal is further configured to:
in response to detecting that the terminal is switched from being connected with a first indoor antenna in the adjacent antenna group to being connected with a second indoor antenna in the adjacent antenna group, updating the plurality of first weights by using the particle filtering algorithm to obtain a plurality of second weights;
updating the plurality of second weights by utilizing the particle filter algorithm according to the base station signal strength acquired by the terminal in real time to obtain a plurality of third weights,
calculating a weighted sum of the plurality of first locations from the plurality of first weights comprises: and calculating a weighted sum of the plurality of first positions according to the plurality of third weights.
Based on the same inventive concept, corresponding to the method of any embodiment described above, the present application further provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the indoor terminal positioning method described in any embodiment above is implemented. Fig. 4 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the device may include: a processor 410, a memory 420, an input/output interface 430, a communication interface 440, and a bus 450. Wherein processor 410, memory 420, input/output interface 430, and communication interface 440 are communicatively coupled to each other within the device via bus 450.
The processor 410 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present specification.
The Memory 420 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 420 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 420 and called to be executed by the processor 410.
The input/output interface 430 is used for connecting an input/output module to realize information input and output. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 440 is used for connecting a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
It should be noted that although the above-mentioned device only shows the processor 410, the memory 420, the input/output interface 430, the communication interface 440 and the bus 450, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
The electronic device of the foregoing embodiment is used to implement the corresponding indoor terminal positioning method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the context of the present application, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures for simplicity of illustration and discussion, and so as not to obscure the embodiments of the application. Furthermore, devices may be shown in block diagram form in order to avoid obscuring embodiments of the application, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the application are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that the embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the embodiments discussed.
The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of the embodiments of the present application are intended to be included within the scope of the present application.
Claims (10)
1. An indoor terminal positioning method, wherein a plurality of groups of indoor antennas are distributed indoors, and are respectively connected to a plurality of outdoor antennas arranged outdoors to receive satellite navigation signals via a plurality of indoor interest points, the method comprising:
in response to receiving the satellite navigation signals forwarded via one of the sets of indoor antennas, determining an estimated location of one of the plurality of indoor points of interest corresponding to the one of the sets of indoor antennas based on the satellite navigation signals;
taking one of the layout positions of the indoor interest points, which is matched with the estimated position, as an area position, and taking one of the indoor antennas, which corresponds to the layout position, as a neighboring antenna group;
predicting a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the first positions by using a particle filter algorithm taking the position of the terminal as a particle according to the area position, the indoor prior map and inertial navigation information acquired by the terminal in real time;
and calculating the weighted sum of the first positions according to the first weights to serve as the second position of the terminal.
2. The method of claim 1, further comprising:
updating the plurality of first weights with the particle filtering algorithm to obtain a plurality of second weights in response to detecting that the terminal switches from connecting with a first indoor antenna in the neighboring antenna group to connecting with a second indoor antenna in the neighboring antenna group,
wherein computing a weighted sum of the plurality of first locations from the plurality of first weights comprises: and calculating a weighted sum of the plurality of first positions according to the plurality of second weights.
3. The method of claim 2, wherein updating the plurality of first weights using the particle filtering algorithm to obtain a plurality of second weights comprises:
for each of the first positions and one of the first weights corresponding to the first position, obtaining a first probability of the handover occurring when the terminal is at the first position according to a gaussian distribution of handover detection errors in a subregion where the handover occurs, and obtaining one of the second weights corresponding to the first weight by multiplying the first probability by the first weight.
4. The method of claim 2, further comprising:
updating the plurality of second weights by utilizing the particle filter algorithm according to the base station signal strength acquired by the terminal in real time to obtain a plurality of third weights,
wherein computing a weighted sum of the plurality of first locations from the plurality of second weights comprises: and calculating a weighted sum of the plurality of first positions according to the plurality of third weights.
5. The method of claim 4, wherein updating the plurality of second weights using the particle filtering algorithm to obtain a plurality of third weights comprises:
and for each of the plurality of first positions and one of the plurality of second weights corresponding to the first position, obtaining a second probability of the signal strength of the preset base station measured when the terminal is at the first position according to the Gaussian distribution of the signal strength measurement error, and obtaining one of the plurality of third weights corresponding to the second weight by multiplying the second probability by the second weight.
6. The method of any one of claims 1 to 5,
the prior map comprises the indoor wall position information, the indoor gradient information and the distribution map of the plurality of groups of indoor antennas;
predicting the plurality of first positions and the plurality of first weights by using the particle filter algorithm according to the area position, the prior map and the inertial navigation information, wherein the predicting comprises:
determining a particle reachable area in the room according to the wall position information, the gradient information and the distribution map of the multiple groups of indoor antennas;
and predicting the plurality of first positions and the plurality of first weights by utilizing the particle filter algorithm according to the region position, the particle reachable region and the inertial navigation information.
7. An indoor terminal positioning apparatus in which a plurality of sets of indoor antennas are distributed indoors, the plurality of sets of indoor antennas being connected to a plurality of outdoor antennas provided outdoors to receive satellite navigation signals via a plurality of indoor points of interest, respectively, the apparatus comprising:
an estimation module configured to determine, based on the satellite navigation signals, an estimated location of one of the plurality of indoor points of interest corresponding to a set of indoor antennas of the plurality of sets of indoor antennas in response to receiving the satellite navigation signals forwarded via the set of indoor antennas;
a matching module configured to take one of the layout positions of each of the plurality of indoor interest points, which is matched with the estimated position, as an area position, and take one of the plurality of groups of indoor antennas, which corresponds to the layout position, as a neighboring antenna group;
the prediction module is configured to predict a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the plurality of first positions by using a particle filter algorithm taking the position of the terminal as a particle according to the area position, the indoor prior map and inertial navigation information acquired by the terminal in real time;
a positioning module configured to calculate a weighted sum of the plurality of first positions as a second position of the terminal according to the plurality of first weights.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, wherein the processor implements the method of any one of claims 1 to 6 when executing the computer program.
9. An indoor terminal positioning system, comprising:
a plurality of outdoor antennas disposed outdoors to receive satellite navigation signals;
a plurality of sets of indoor antennas distributed in the room and connected to the plurality of outdoor antennas via a plurality of indoor points of interest, respectively;
a terminal within the room, the terminal configured to:
in response to receiving the satellite navigation signals forwarded via one of the sets of indoor antennas, determining an estimated location of one of the plurality of indoor points of interest corresponding to the one of the sets of indoor antennas based on the satellite navigation signals;
taking one layout position matched with the estimated position in the layout positions of the indoor interest points as an area position;
predicting a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the first positions by utilizing a particle filter algorithm taking the position of the terminal as a particle according to the area position, the indoor prior map and the inertial navigation information acquired by the terminal in real time;
and calculating the weighted sum of the first positions according to the first weights to serve as the second position of the terminal.
10. The system of claim 9, wherein,
the terminal is further configured to:
in response to detecting that the terminal is switched from being connected with a first indoor antenna in the adjacent antenna group to being connected with a second indoor antenna in the adjacent antenna group, updating the plurality of first weights by using the particle filtering algorithm to obtain a plurality of second weights;
updating the plurality of second weights by utilizing the particle filter algorithm according to the base station signal strength acquired by the terminal in real time to obtain a plurality of third weights,
calculating a weighted sum of the first locations according to the first weights comprises: and calculating a weighted sum of the plurality of first positions according to the plurality of third weights.
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| CN202210256903.0A CN114624755A (en) | 2022-03-11 | 2022-03-11 | Indoor terminal positioning method, system and device and electronic equipment |
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| CN202210256903.0A CN114624755A (en) | 2022-03-11 | 2022-03-11 | Indoor terminal positioning method, system and device and electronic equipment |
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