CN104618869A - Indoor positioning method and device - Google Patents
Indoor positioning method and device Download PDFInfo
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- CN104618869A CN104618869A CN201510084583.5A CN201510084583A CN104618869A CN 104618869 A CN104618869 A CN 104618869A CN 201510084583 A CN201510084583 A CN 201510084583A CN 104618869 A CN104618869 A CN 104618869A
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Abstract
The invention discloses an indoor positioning method and device. The indoor positioning method includes: collecting position information of multiple indoor collection points and corresponding Wi-Fi information; correlating the Wi-Fi information to one indoor partition and setting up the mapping relations of the Wi-Fi information and the indoor partitions; building an indoor positioning model according to the mapping relations of the Wi-Fi information and the indoor partitions; determining the indoor partition matched with the Wi-Fi information sent by a mobile terminal to be positioned; determining the indoor partition matched with the Wi-Fi information as the indoor position where the mobile terminal to be positioned is located. The indoor positioning method improves the indoor positioning accuracy.
Description
Technical field
The application relates to mobile communication technology field, is specifically related to mobile positioning technique field, particularly relates to a kind of indoor orientation method and equipment.
Background technology
As everyone knows, GPS (global positioning system) use by all trades and professions, but it also has an obvious defect, be exactly that indoor positioning is not good, can not meet the covering of indoor positioning and required precision (its precision usually hundred meters or tens meter levels other).Along with the development of the universal of smart mobile phone and mobile Internet, map and navigation type software will have indoor positioning demand gradually.
Based on the indoor orientation method of cell-phone customer terminal, mobile phone must install App (Application, application program) or SDK (Software Development Kit, SDK) just can complete location.At present, Wi-Fi Hotspot location becomes the important way of indoor positioning gradually.But existing Wi-Fi Hotspot location technology mainly applies triangle polyester fibre, the time difference namely utilizing the difference in signal strength XOR of three Wi-Fi Hotspots to receive the signal of three Wi-Fi Hotspots positions.This localization method is very responsive to the environment of indoor, and positioning precision is lower.
Summary of the invention
The object of the application is to propose a kind of indoor orientation method and equipment.Solve the technical problem that above background technology part is mentioned.
First aspect, this application provides a kind of indoor orientation method, and described method comprises: gather the positional information of multiple collection point, described indoor and corresponding Wi-Fi information; Described Wi-Fi information is associated with an indoor subregion of described indoor, sets up the mapping relations of described Wi-Fi information and described indoor subregion; According to the mapping relations of described Wi-Fi information and described indoor subregion, set up Indoor Locating Model; Based on described Indoor Locating Model, determine the described indoor subregion of the Wi-Fi information matches sent with mobile terminal to be positioned; And the described indoor subregion of described coupling is defined as the indoor location residing for described mobile terminal to be positioned.
Second aspect, this application provides a kind of indoor positioning device, and described equipment comprises: acquisition module, for gathering the positional information of multiple collection point, described indoor and corresponding Wi-Fi information; Relating module, for described Wi-Fi information being associated with an indoor subregion of described indoor, sets up the mapping relations of described Wi-Fi information and described indoor subregion; MBM, for the mapping relations according to described Wi-Fi information and described indoor subregion, sets up Indoor Locating Model; Determination module, for based on described Indoor Locating Model, determines the described indoor subregion of the Wi-Fi information matches sent with mobile terminal to be positioned; And locating module, for the described indoor subregion of described coupling being defined as the indoor location residing for described mobile terminal to be positioned.
The indoor orientation method that the application provides and equipment, by gathering the positional information of indoor multiple collection point and corresponding Wi-Fi information, Wi-Fi information is associated with an indoor indoor subregion, set up the mapping relations of Wi-Fi information and indoor subregion, then according to the mapping relations of Wi-Fi information and indoor subregion, set up Indoor Locating Model, afterwards based on Indoor Locating Model, determine the indoor subregion of the Wi-Fi information matches sent with mobile terminal to be positioned, finally the indoor subregion of coupling is defined as the indoor location residing for mobile terminal to be positioned, improve the accuracy rate of indoor positioning.
Accompanying drawing explanation
By reading the detailed description done non-limiting example done with reference to the following drawings, the other features, objects and advantages of the application will become more obvious:
Fig. 1 shows the flow chart of an embodiment of the indoor orientation method that the application provides;
Fig. 2 shows the flow chart for exemplary realization Wi-Fi information and indoor subregion being carried out associating;
Fig. 3 shows the illustrative diagram of indoor subregion boundary rectangle and central point;
Fig. 4 shows the flow chart for the exemplary realization determining indoor location residing for mobile terminal to be positioned;
Fig. 5 shows the structural representation of an embodiment of the indoor positioning device that the application provides.
Embodiment
Below in conjunction with drawings and Examples, the application is described in further detail.Be understandable that, specific embodiment described herein is only for explaining related invention, but not the restriction to this invention.It also should be noted that, for convenience of description, in accompanying drawing, illustrate only the part relevant to Invention.
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the application in detail in conjunction with the embodiments.
Please refer to Fig. 1, it illustrates the flow chart of an embodiment of the indoor orientation method that the application provides.
As shown in Figure 1, in a step 101, the positional information of indoor multiple collection point and corresponding Wi-Fi information is gathered.
In the present embodiment, the positional information of indoor multiple collection point and corresponding Wi-Fi information is gathered by data acquisition equipment.Data acquisition equipment can search the Wi-Fi information of surrounding, and the data gathered is preserved in the storage device.Data acquisition equipment such as can comprise: hardware device or the App installed in the terminal.In each collection point, data acquisition equipment all records positional information and its Wi-Fi information that can search in this position of this collection point.Positional information can comprise accurate location coordinate information or position entities for information about.Position entities such as can comprise for information about: store information, Business Information, company information etc.Wi-Fi information such as can comprise: Wi-Fi network type, MAC Address, signal strength signal intensity etc.
In an optional implementation of the present embodiment, the positional information and the corresponding Wi-Fi information that gather indoor multiple collection point such as can be carried out as follows: the mark position of record data collecting device; The motion track of identification data collecting device; According to mark position and the motion track of data acquisition equipment, the current location information of calculated data collecting device; Based on the current location information of data acquisition equipment, obtain corresponding Wi-Fi information.
Data acquisition equipment is recording mark position first, and this mark position such as can comprise the initial position starting image data, or the self-defining mark position of data acquisition person.Mark position manually can be inputted by data acquisition person, and mark position can be one, also can be multiple.Such as, when gathering the data message in a market, mark position can comprise: mall entrance place, lift port or a certain shop place etc.If there are multi-story or market in market, every one deck has larger area, then only can set a mark position, or set a mark position at every one deck, or set multiple mark position at every one deck.Data acquisition equipment can identify its motion track, and motion track can comprise: displacement, moving direction.Such as, if when data acquisition equipment is mobile along with walking about of data acquisition person, displacement can be determined by walk about step number and the average step length of record data picker.Moving direction can be obtained by the compass be arranged in data acquisition equipment.According to mark position and the motion track of data acquisition equipment, the current location information of data acquisition equipment can be calculated.Based on the current location information of data acquisition equipment, the Wi-Fi information that can search when obtaining this position.
Additionally, data acquisition equipment can periodically correct its current location information.Such as, after a period of time has passed, or after the data gathering some collection points, data acquisition person can manual correction current location information, eliminate data acquisition equipment and automatically identify the positional information error caused in its motion track process, improve the accuracy of positional information.
Then, in a step 102, Wi-Fi information is associated with an indoor indoor subregion, sets up the mapping relations of Wi-Fi information and indoor subregion.
In the present embodiment, Wi-Fi information corresponding for each positional information gathered in step 101 is associated with an indoor indoor subregion.Room area can be divided into several indoor subregion, such as, in market, each shop can a corresponding indoor subregion; In office building, each company can a corresponding indoor subregion etc.First the positional information of collection point is associated with an indoor subregion, such as, if the position of collection point is completely contained in certain indoor subregion, then both are associated.The corresponding indoor subregion of each positional information, forms the mapping relations of positional information and indoor subregion.In step 101 data acquisition, the corresponding Wi-Fi information of each positional information, therefore, can be set up the mapping relations of Wi-Fi information and indoor subregion by the mapping relations of positional information and indoor subregion.
Then, in step 103, according to the mapping relations of Wi-Fi information and indoor subregion, Indoor Locating Model is set up.
In the present embodiment, according to the mapping relations of Wi-Fi information and indoor subregion, namely the corresponding indoor subregion of each Wi-Fi information, sets up Indoor Locating Model.
In an optional implementation of the present embodiment, first can be identified by the mapping relations of disaggregated model to Wi-Fi information and indoor subregion, set up floor model, then utilize degree of depth network and disaggregated model, set up indoor subregion model of cognition in floor.Disaggregated model such as can comprise SVM (Support Vector Machine, SVMs) model.SVM model is a learning model having supervision, is commonly used to carry out pattern recognition, classification and regression analysis.Such as, if the indoor of image data are the market comprising multi-story in a step 101, then the data gathered comprise the positional information of multiple collection points of every floor and corresponding Wi-Fi information.When setting up Indoor Locating Model, can first set up floor model, be input as all Wi-Fi information that this market gathers.This floor model can embody the common trait of each floor Wi-Fi information.Then for every first floor, utilize degree of depth network extraction principal character, using the principal character of extraction as the input of disaggregated model algorithm, set up indoor subregion model of cognition in floor by disaggregated model.
Afterwards, at step 104, based on Indoor Locating Model, the indoor subregion of the Wi-Fi information matches gathered with mobile terminal to be positioned is determined.
In the present embodiment, when determining the position of mobile terminal to be positioned, need mobile terminal to search to be positioned Wi-Fi information around it, and the Wi-Fi information searched sends to indoor positioning device.Mobile terminal to be positioned does not need to install specific App, only needs to open Wi-Fi function of search, can search the Wi-Fi information in surrounding environment.The Wi-Fi information of mobile terminal collection to be positioned input Indoor Locating Model is positioned.First the degree of closeness in Confirming model and between the Wi-Fi information of input meets the Wi-Fi information of preset requirement, then passes through the mapping relations of Wi-Fi information and indoor subregion, determines the indoor subregion of the Wi-Fi information matches gathered with mobile terminal to be positioned.Above-mentioned degree of closeness meets preset requirement and can comprise: select with the Wi-Fi information registration of input the highest in a model, or exceed predetermined threshold value.
Finally, in step 105, the indoor subregion of coupling is defined as the indoor location residing for mobile terminal to be positioned.
In the present embodiment, the Wi-Fi information that mobile terminal to be positioned gathers can determine the indoor location residing for mobile terminal to be positioned after mating with indoor subregion.The Wi-Fi information of indoor subregion has stationarity, and the Wi-Fi information that the different time collects at same indoor subregion is similar to identical.If certain the Wi-Fi information matches in the Wi-Fi information that mobile terminal to be positioned collects and Indoor Locating Model, what can judge twice collection is the Wi-Fi information in same place.Therefore, the indoor subregion of coupling can be defined as the indoor location residing for mobile terminal to be positioned.
The indoor orientation method that the present embodiment provides, by gathering the positional information of indoor multiple collection point and corresponding Wi-Fi information, Wi-Fi information is associated with an indoor indoor subregion, set up the mapping relations of Wi-Fi information and indoor subregion, then according to the mapping relations of Wi-Fi information and indoor subregion, set up Indoor Locating Model, afterwards based on Indoor Locating Model, determine the indoor subregion of the Wi-Fi information matches sent with mobile terminal to be positioned, finally the indoor subregion of coupling is defined as the indoor location residing for mobile terminal to be positioned, improve the accuracy rate of indoor positioning.
With further reference to Fig. 2, it illustrates the flow chart for exemplary realization Wi-Fi information and indoor subregion being carried out associating.
As shown in Figure 2, in step 201, boundary rectangle and the central point of indoor subregion is generated.
Indoor subregion such as can comprise: shop in market, a company etc. in office building.The shape of indoor subregion may be the rectangle of rule, also may be irregular polygon.In the present embodiment, in order to Wi-Fi information is associated with an indoor indoor subregion, set up Wi-Fi information and indoor subregion mapping relations accurately, boundary rectangle and the central point of each indoor subregion can be generated.The boundary rectangle of indoor subregion also can be called minimum enclosed rectangle, minimumly comprise rectangle or minimum boundary rectangle.Such as, boundary rectangle can be that indoor subregion is completely contained in interior minimum rectangle.The central point of indoor subregion can be such as the center of this indoor subregion plane domain.
Please refer to Fig. 3, it illustrates the illustrative diagram of indoor subregion boundary rectangle and central point.As shown in Figure 3, each shop is an indoor subregion.Shape is the shop of regular rectangular shape, and boundary rectangle and its overlapping margins, as shop 301; Central point is the cornerwise intersection point of boundary rectangle, as central point 302.Shape is the shop of irregular polygon, and boundary rectangle is the minimum rectangle comprising this shop, as shop 303; Central point is the center of this shop true form, as central point 304.
Then, in step 202., the boundary rectangle of the positional information of collection point with indoor subregion is associated.
In the present embodiment, in order to identify the positional information of collection point, by being associated by the boundary rectangle of the positional information of collection point with indoor subregion, the related information of collection point and indoor subregion can be obtained.Utilize the extraneous rectangle of indoor subregion to be first associated with collection point, then collection point is associated with corresponding indoor subregion, the accuracy of related information can be improved.If the position of collection point is completely contained in the boundary rectangle of certain indoor subregion, then indoor to collection point and this subregion is associated.
In an optional implementation of the present embodiment, if the positional information of collection point is only associated with the boundary rectangle of an indoor subregion, then collection point is associated with this indoor subregion.If the positional information of collection point is associated with the boundary rectangle of the indoor subregion of two or more, then calculate the distance of the central point of collection point and the indoor subregion of this two or more, obtain the indoor subregion corresponding apart from minimum central point with collection point, collection point is associated with this indoor subregion.Such as, in market, a little shop is located in the subregion in a large shop, if collection point is in the region that these two shops overlap, then, when being associated with the boundary rectangle in shop collection point, may be associated with the boundary rectangle in two shops simultaneously.Now, need the distance of the central point calculating collection point and these two shops, obtain the shop that the central point less with collection point distance is corresponding, collection point is associated with this shop.
Finally, in step 203, based on the related information of collection point and indoor subregion, the Wi-Fi information of collection point and the mapping relations of indoor subregion are set up.
In the present embodiment, based on the collection point of foundation in step 202 and the related information of indoor subregion, the Wi-Fi information of collection point and the mapping relations of indoor subregion can be set up.In data acquisition, the corresponding specific Wi-Fi information in each collection point, so, by the related information of each collection point and indoor subregion, the Wi-Fi information of collection point and the mapping relations of indoor subregion can be set up.
The method that the present embodiment provides, by setting up boundary rectangle and the central point of indoor subregion, first associating the boundary rectangle of collection point with indoor subregion, and then setting up the related information of collection point and indoor subregion.Again based on the corresponding specific Wi-Fi information in each collection point, set up the Wi-Fi information of collection point and the mapping relations of indoor subregion.The method increase the accuracy of collection point and indoor partition map relation.
Further, by setting up collection point and indoor subregion mapping relations accurately, when carrying out indoor positioning, certain indoor subregion is defined as the current indoor position of mobile terminal to be positioned.The method can be used for analyzing the number of users of certain indoor subregion.Such as, by locating the customer volume in each shop in certain market, user can be obtained to each shop, or the fancy grade of each brand, can be used for analyzing the traffic-operating period in shop.This method can be used for carrying out the analysis such as shop addressing, brand selection.
With further reference to Fig. 4, it illustrates the flow chart for the exemplary realization determining indoor location residing for mobile terminal to be positioned.
As shown in Figure 4, in step 401, its Wi-Fi information gathered that mobile terminal to be positioned sends is received;
In the present embodiment, when locating the current location of certain mobile terminal, first need mobile terminal to be positioned to open Wi-Fi function of search, gather Wi-Fi information around.Then the Wi-Fi information of collection is sent to positioning equipment, positioning equipment receives the Wi-Fi information that mobile terminal to be positioned sends, and by analyzing this Wi-Fi information, determines the current indoor position of mobile terminal to be positioned.
Then, in step 402, based on Wi-Fi information, by the floor information of floor model determination mobile terminal current location;
In the present embodiment, first positioning equipment determines the floor information of mobile terminal current location to be positioned after receiving the Wi-Fi information of mobile terminal transmission to be positioned.Based on floor model, the Wi-Fi information sent by mobile terminal to be positioned, as input, because the Wi-Fi information of each floor has its common trait, therefore, can draw the floor information of the current present position of mobile terminal to be positioned by analysis.
Finally, in step 403, based on floor information, by subregion model of cognition indoor in floor, the indoor subregion of the Wi-Fi information matches sent with mobile terminal is determined.
In the present embodiment, after determining the floor information of mobile terminal to be positioned, by subregion model of cognition indoor in floor, determine the indoor subregion of the Wi-Fi information matches sent with mobile terminal to be positioned.Utilize degree of depth network extraction principal character, using the principal character of extraction as the input of disaggregated model, draw the indoor subregion of the Wi-Fi information matches sent with mobile terminal.The indoor subregion of above-mentioned coupling is defined as the current residing indoor location of mobile terminal.
The method that the present embodiment provides, when the current residing indoor location of localisation of mobile terminals, first locates the floor information of its position, then based on floor information, in the positional information that floor inner position mobile terminal is concrete.This method avoid and position computing in all floors, reduce operand during location, saved operation time, improve location efficiency.
With further reference to Fig. 5, it illustrates the structural representation of an embodiment of the indoor positioning device that the application provides.
As shown in Figure 5, the indoor positioning device that the present embodiment provides comprises: acquisition module 501, relating module 502, MBM 503, determination module 504 and locating module 505.Wherein, acquisition module 501 is for gathering the positional information of indoor multiple collection point and corresponding Wi-Fi information; Relating module 502, for Wi-Fi information being associated with an indoor indoor subregion, sets up the mapping relations of Wi-Fi information and indoor subregion; MBM 503, for the mapping relations according to Wi-Fi information and indoor subregion, sets up Indoor Locating Model; Determination module 504, for based on Indoor Locating Model, determines the indoor subregion of the Wi-Fi information matches gathered with mobile terminal to be positioned; And locating module 505 is for being defined as the indoor location residing for mobile terminal to be positioned by the indoor subregion of coupling.
In the present embodiment, acquisition module 501 gathers the positional information of indoor multiple collection point and corresponding Wi-Fi information.Acquisition module 501 can search the Wi-Fi information of surrounding, and the data gathered is preserved in the storage device.In each collection point, acquisition module 501 all records positional information and its Wi-Fi information that can search in this position of this collection point.
In the present embodiment, Wi-Fi information corresponding to each positional information that acquisition module 501 gathers by relating module 502 associates with an indoor indoor subregion, sets up the mapping relations of Wi-Fi information and indoor subregion.
In the present embodiment, Wi-Fi information associated with an indoor indoor subregion according to relating module 502, the Wi-Fi information of foundation and the mapping relations of indoor subregion, MBM 503 sets up Indoor Locating Model.
In the present embodiment, based on the Indoor Locating Model that MBM 503 is set up, determination module 504 determines the indoor subregion of the Wi-Fi information matches gathered with mobile terminal to be positioned.
In the present embodiment, the indoor subregion of coupling is defined as the indoor location residing for mobile terminal to be positioned by locating module 505.
In an optional implementation of the present embodiment, acquisition module 501 can comprise: record sub module (not shown), for the mark position of record data collecting device; Recognin module (not shown), for the motion track of identification data collecting device; Calculating sub module (not shown), for according to the mark position of data acquisition equipment and motion track, the current location information of calculated data collecting device; Obtain submodule (not shown), for the current location information based on data acquisition equipment, obtain corresponding Wi-Fi information.
In an optional implementation of the present embodiment, acquisition module 501 can also comprise: syndrome module (not shown), for the current location information of periodically correction of data collecting device.
In an optional implementation of the present embodiment, relating module 502 can comprise: generate submodule (not shown), for generating boundary rectangle and the central point of indoor subregion; Association submodule (not shown), for being associated by the boundary rectangle of the positional information of collection point with indoor subregion, obtains the related information of collection point and indoor subregion; Mapping submodule (not shown), for the related information based on collection point and indoor subregion, sets up the Wi-Fi information of collection point and the mapping relations of indoor subregion.
In an optional implementation of the present embodiment, association submodule (not shown) is also configured for: if the positional information of collection point is associated with the boundary rectangle of an indoor subregion, then collection point is associated with this indoor subregion; If the positional information of collection point is associated with the boundary rectangle of the indoor subregion of two or more, then calculate the distance of the central point of collection point and the indoor subregion of two or more, obtain the indoor subregion corresponding apart from minimum central point with collection point, collection point is associated with this indoor subregion.
In an optional implementation of the present embodiment, MBM 503 is also configured for: identified mapping relations by disaggregated model, sets up floor model; Utilize degree of depth network and disaggregated model, set up indoor subregion model of cognition in floor.
In an optional implementation of the present embodiment, determination module 504 can comprise: receive submodule (not shown), for receiving the Wi-Fi information of the collection that mobile terminal to be positioned sends; First determines submodule (not shown), for based on Wi-Fi information, by the floor information of floor model determination mobile terminal current location; Second determines submodule (not shown), for based on floor information, by subregion model of cognition indoor in floor, determines the indoor subregion of the Wi-Fi information matches sent with mobile terminal.
The indoor positioning device that the present embodiment provides, by gathering the positional information of indoor multiple collection point and corresponding Wi-Fi information, Wi-Fi information is associated with an indoor indoor subregion, set up the mapping relations of Wi-Fi information and indoor subregion, then according to the mapping relations of Wi-Fi information and indoor subregion, set up Indoor Locating Model, afterwards based on Indoor Locating Model, determine the indoor subregion of the Wi-Fi information matches sent with mobile terminal to be positioned, finally the indoor subregion of coupling is defined as the indoor location residing for mobile terminal to be positioned, improve the accuracy rate of indoor positioning.
Should be appreciated that all unit of recording in indoor positioning device shown in Fig. 5 or module corresponding with each step in the method described with reference to figure 1-4.Thus, above for the module that operation and the feature of method description are equally applicable to the equipment shown in Fig. 5 and wherein comprise, do not repeat them here.
Be described in unit module involved in the embodiment of the present application to be realized by the mode of software, also can be realized by the mode of hardware.Described unit module also can be arranged within a processor, such as, can be described as: a kind of processor comprises acquisition module, relating module, MBM, determination module and locating module.Wherein, the title of these unit modules does not form the restriction to this unit module itself under certain conditions, and such as, acquisition module can also be described to " module for the positional information and corresponding Wi-Fi information that gather indoor multiple collection point ".
As another aspect, present invention also provides a kind of computer-readable recording medium, this computer-readable recording medium can be the computer-readable recording medium comprised in device described in above-described embodiment; Also can be individualism, be unkitted the computer-readable recording medium allocated in terminal.Described computer-readable recording medium stores more than one or one program, and described program is used for performance description in the indoor orientation method of the application by one or more than one processor.
More than describe and be only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art are to be understood that, invention scope involved in the application, be not limited to the technical scheme of the particular combination of above-mentioned technical characteristic, also should be encompassed in when not departing from described inventive concept, other technical scheme of being carried out combination in any by above-mentioned technical characteristic or its equivalent feature and being formed simultaneously.The technical characteristic that such as, disclosed in above-mentioned feature and the application (but being not limited to) has similar functions is replaced mutually and the technical scheme formed.
Claims (14)
1. an indoor orientation method, is characterized in that, described method comprises:
Gather the positional information of multiple collection point, described indoor and corresponding Wi-Fi information;
Described Wi-Fi information is associated with an indoor subregion of described indoor, sets up the mapping relations of described Wi-Fi information and described indoor subregion;
According to the mapping relations of described Wi-Fi information and described indoor subregion, set up Indoor Locating Model;
Based on described Indoor Locating Model, determine the described indoor subregion of the Wi-Fi information matches gathered with mobile terminal to be positioned; And
The described indoor subregion of described coupling is defined as the indoor location residing for described mobile terminal to be positioned.
2. method according to claim 1, is characterized in that, positional information and the corresponding Wi-Fi information of multiple collection point, the described indoor of described collection comprise:
The mark position of record data collecting device;
Identify the motion track of described data acquisition equipment;
According to mark position and the motion track of described data acquisition equipment, calculate the current location information of described data acquisition equipment;
Based on the current location information of described data acquisition equipment, obtain corresponding Wi-Fi information.
3. method according to claim 2, is characterized in that, positional information and the corresponding Wi-Fi information of multiple collection point, the described indoor of described collection also comprise:
Periodically correct the current location information of described data acquisition equipment.
4. method according to claim 1, is characterized in that, describedly described Wi-Fi information is associated with an indoor subregion of described indoor, and the mapping relations setting up described Wi-Fi information and described indoor subregion comprise:
Generate boundary rectangle and the central point of described indoor subregion;
The boundary rectangle of the positional information of described collection point with described indoor subregion is associated, obtains the related information of described collection point and described indoor subregion;
Based on the related information of described collection point and described indoor subregion, set up the Wi-Fi information of described collection point and the mapping relations of described indoor subregion.
5. method according to claim 4, is characterized in that, associated by the boundary rectangle of the positional information of described collection point with described indoor subregion, the related information obtaining described collection point and described indoor subregion comprises:
If the positional information of described collection point is associated with the boundary rectangle of an indoor subregion, then described collection point is associated with this indoor subregion;
If the positional information of described collection point is associated with the boundary rectangle of the indoor subregion of two or more, then calculate the distance of the central point of described collection point and the indoor subregion of described two or more, obtain the indoor subregion corresponding apart from minimum central point with described collection point, described collection point is associated with this indoor subregion.
6. according to the arbitrary described method of claim 1-5, it is characterized in that the described mapping relations according to described Wi-Fi information and described indoor subregion are set up Indoor Locating Model and comprised:
By disaggregated model, described mapping relations are identified, set up floor model;
Utilize degree of depth network and disaggregated model, set up indoor subregion model of cognition in floor.
7. method according to claim 6, is characterized in that, described based on described Indoor Locating Model, determines to comprise with the described indoor subregion of the Wi-Fi information matches of mobile terminal collection to be positioned:
Receive the Wi-Fi information of the described collection that described mobile terminal to be positioned sends;
Based on described Wi-Fi information, determined the floor information of described mobile terminal current location by described floor model;
Based on described floor information, by subregion model of cognition indoor in described floor, determine the described indoor subregion of the Wi-Fi information matches sent with described mobile terminal.
8. an indoor positioning device, is characterized in that, described equipment comprises:
Acquisition module, for gathering the positional information of multiple collection point, described indoor and corresponding Wi-Fi information;
Relating module, for described Wi-Fi information being associated with an indoor subregion of described indoor, sets up the mapping relations of described Wi-Fi information and described indoor subregion;
MBM, for the mapping relations according to described Wi-Fi information and described indoor subregion, sets up Indoor Locating Model;
Determination module, for based on described Indoor Locating Model, determines the described indoor subregion of the Wi-Fi information matches gathered with mobile terminal to be positioned; And
Locating module, for being defined as the indoor location residing for described mobile terminal to be positioned by the described indoor subregion of described coupling.
9. equipment according to claim 8, is characterized in that, described acquisition module comprises:
Record sub module, for the mark position of record data collecting device;
Recognin module, for identifying the motion track of described data acquisition equipment;
Calculating sub module, for according to the mark position of described data acquisition equipment and motion track, calculates the current location information of described data acquisition equipment;
Obtain submodule, for the current location information based on described data acquisition equipment, obtain corresponding Wi-Fi information.
10. equipment according to claim 9, is characterized in that, described acquisition module also comprises:
Syndrome module, for periodically correcting the current location information of described data acquisition equipment.
11. equipment according to claim 8, is characterized in that, described relating module comprises:
Generate submodule, for generating boundary rectangle and the central point of described indoor subregion;
Association submodule, for being associated by the boundary rectangle of the positional information of described collection point with described indoor subregion, obtains the related information of described collection point and described indoor subregion;
Mapping submodule, for the related information based on described collection point and described indoor subregion, sets up the Wi-Fi information of described collection point and the mapping relations of described indoor subregion.
12. equipment according to claim 11, is characterized in that, described association submodule is also configured for:
If the positional information of described collection point is associated with the boundary rectangle of an indoor subregion, then described collection point is associated with this indoor subregion;
If the positional information of described collection point is associated with the boundary rectangle of the indoor subregion of two or more, then calculate the distance of the central point of described collection point and the indoor subregion of described two or more, obtain the indoor subregion corresponding apart from minimum central point with described collection point, described collection point is associated with this indoor subregion.
13.-12 arbitrary described equipment according to Claim 8, it is characterized in that, described MBM is also configured for:
By disaggregated model, described mapping relations are identified, set up floor model;
Utilize degree of depth network and disaggregated model, set up indoor subregion model of cognition in floor.
14. equipment according to claim 13, is characterized in that, described determination module comprises:
Receive submodule, for receiving the Wi-Fi information of the described collection that described mobile terminal to be positioned sends;
First determines submodule, for based on described Wi-Fi information, is determined the floor information of described mobile terminal current location by described floor model;
Second determines submodule, for based on described floor information, by subregion model of cognition indoor in described floor, determines the described indoor subregion of the Wi-Fi information matches sent with described mobile terminal.
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| CN109509257A (en) * | 2018-08-30 | 2019-03-22 | 深圳市赛为智能股份有限公司 | Indoor floor rank components pattern forming method, terminal and storage medium |
| CN110688441A (en) * | 2019-09-30 | 2020-01-14 | 北京金山安全软件有限公司 | Positioning method, positioning device, electronic equipment and computer readable storage medium |
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| CN111829579A (en) * | 2020-06-02 | 2020-10-27 | 深圳全景空间工业有限公司 | Indoor space reconstruction method |
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