Method and device for indoor positioning

[0146] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0147] It should be understood that in the embodiments of the present invention, a terminal may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent, User equipment or user equipment (User Equipment, UE). The terminal can be a cellular phone, a cordless phone, a SIP (Session Initiation Protocol) phone, a WLL (Wireless Local Loop, wireless local loop) station, a PDA (Personal Digital Assistant, personal digital processing), a handheld with wireless communication function Equipment, in-vehicle equipment, computing equipment, or other processing equipment connected to a wireless modem.

[0148] It should also be understood that, in the embodiment of the present invention, the base station can be used to communicate with mobile devices. The base station can be a BTS (Global System of Mobile Communication) or CDMA (Code Division Multiple Access). Base Transceiver Station, base station), or NB (NodeB, base station) in WCDMA (Wideband Code Division Multiple Access), or eNB or eNodeB in LTE (Long Term Evolution) (Evolutional Node B, evolved base station), or relay station or access point, or base station equipment in the future 5G network.

[0149] The embodiment of the present invention first introduces a specific embodiment for realizing terminal positioning by matching the current cell signal strength information of the terminal with the cell signal strength information in the indoor 3D positioning information matching information.

[0150] figure 1 A method 100 for indoor positioning according to an embodiment of the present invention is shown, and the method 100 may be executed by an indoor positioning apparatus. Such as figure 1 As shown, the method 100 includes:

[0151] S110: Acquire current cell signal strength information of an indoor terminal;

[0152] S120, according to the indoor three-dimensional 3D positioning matching information, determine the horizontal position information and height information of the indoor grid corresponding to the signal strength information of the current cell, where the indoor 3D positioning matching information includes the cell signal strength information of the indoor grid and The corresponding relationship between the horizontal position information and the height information of the indoor grid;

[0153] S130: Determine the horizontal position of the terminal in the room and the height of the terminal according to the horizontal position information and height information of the indoor grid corresponding to the signal strength information of the current cell, where the horizontal position information includes Position information in the first direction and the second direction, where the first direction and the second direction are two directions perpendicular to each other in a horizontal plane.

[0154] In S110, the current cell signal strength information of the terminal can be acquired through a measurement report (Measurement Report, MR) reported by the terminal, or through other channels, which is not limited in the embodiment of the present invention. Specifically, the currently receivable cell in the MR of the terminal to be positioned and the signal strength corresponding to the cell can be extracted as the current cell signal strength information corresponding to the terminal, and used to match the positioning information stored in the indoor positioning device The cell signal strength information in the match. Of course, in addition to the current cell signal strength information of the terminal, other information of the terminal can also be referred to. For example, when the terminal to be located has a barometric pressure measurement function, the positioning device can also refer to the barometric information to assist in determining where the terminal to be located is located. The embodiment of the present invention does not limit this height.

[0155] In S120, the current cell signal strength information of the terminal is matched with the cell signal strength information in the indoor 3D positioning matching information, and the corresponding indoor grid and its horizontal position information and height information are determined. It can be approximated that the terminal is located in the room. The center of the grid. Specifically, the indoor 3D positioning matching information may include the corresponding relationship between the cell signal strength information and the horizontal position information and height information of the indoor grid, and may also include some other information for matching, such as the air pressure at the indoor grid. The information and the like are matched with the air pressure information in the MR of the terminal to improve the accuracy of positioning matching, which is not limited in the embodiment of the present invention.

[0156] It should be noted that the method for determining the cell signal strength information in the indoor 3D positioning matching information will be described in detail in the following method 200 to method 600. The cell signal strength information and the terminal’s current cell signal strength information in the indoor 3D positioning matching information can be a cell and its corresponding signal strength, or multiple cells and the signal strengths corresponding to the multiple cells. The embodiment of the invention does not limit this.

[0157] When matching cell signal strength information, indoor 3D positioning matching information may not find a grid that exactly matches the terminal’s current cell signal strength information, but find multiple grids that are similar to the terminal’s current cell signal strength information . In this case, such as figure 2 As shown, multiple grids where the terminal may be located can be numbered 1, 2, 3, 4..., and the correlation between the cell in the terminal’s current cell signal strength information and the cell corresponding to each grid can be calculated. The grid with the best correlation (for example, grid 2) is determined as the location of the user. It should be understood that the indoor 3D positioning matching information may be a part of the positioning matching database, and the database may also include some 2D/3D indoor and outdoor test data, which is not limited in the embodiment of the present invention.

[0158] In S130, according to the horizontal position information and height information of the indoor grid corresponding to the current cell signal strength information of the terminal, the horizontal position of the terminal and the height of the terminal can be determined. Among them, the indoor grid is divided according to 3D modeling. In order to simplify the division and cover the area in the same horizontal plane as much as possible, the shape of the grid can be selected as a square. For example, the indoor grid may be a square, and its side length may generally be 5 meters or 10 meters, but the embodiment of the present invention is not limited to this. The horizontal position of the indoor grid refers to the position in the horizontal direction. The horizontal position information may include position information in a first direction and a second direction. The first direction and the second direction are two perpendicular to each other in the horizontal plane. The direction, for example, can usually be longitude and latitude, and the embodiment of the present invention does not exclude the possibility of using more directions to represent the horizontal position.

[0159] Therefore, the indoor positioning method provided in the embodiment of the present invention determines the corresponding indoor grid by matching the current cell signal strength information of the terminal to be positioned indoors with the cell signal strength information in the indoor three-dimensional 3D positioning matching information. The grid and its horizontal position information and height information are used to determine the horizontal position of the terminal indoors and the height of the terminal, which can realize high-precision indoor 3D positioning.

[0160] Optionally, as an embodiment, before S120, the method 100 may further include:

[0161] According to the terminal's current cell signal strength information, 2D positioning matching information and 3D GIS (ThreeDimensions Geographic Information System, three-dimensional geographic information system), determine that the terminal is located indoors, where the 2D positioning matching information includes the correspondence between horizontal position information and cell signal strength information relationship.

[0162] Specifically, the 2D positioning technology can be used to perform 2D positioning of the terminal first, that is, according to the information contained in the MR reported by the terminal, the 2D positioning matching information is used to determine the approximate position of the terminal on the horizontal plane, and the 3D GIS is used to determine the terminal based on the position. Whether it is indoors in a building. When it is determined that the terminal is indoors, the terminal is accurately positioned according to the indoor 3D positioning matching information corresponding to the building and the current cell signal strength information with the terminal. Through this method, 2D/3D positioning of multiple terminals outdoors or indoors can be realized, and the positioning effect is as follows: image 3 Shown. For example, when the terminal is an outdoor terminal, the latitude and longitude of the terminal can be determined; when the terminal is an indoor terminal, the latitude, longitude and height of the terminal can be determined.

[0163] Therefore, the positioning method provided by the embodiment of the present invention first determines that the terminal is located indoors through 2D positioning technology, and then matches the current cell signal strength information of the terminal with the cell signal strength information in the indoor 3D positioning matching information to determine where the terminal is located In order to determine the horizontal position and height of the terminal, it can realize high-precision indoor 3D positioning.

[0164] Combine the above Figure 1 to Figure 3 The indoor positioning method according to the embodiment of the present invention is described in detail. The following will combine Figure 4 to Figure 15 , Describe in detail the method for determining indoor 3D positioning matching information required in the above positioning method, and the method for determining cell signal strength information in indoor 3D positioning matching information.

[0165] To determine indoor 3D positioning matching information, the indoor 3D positioning matching information includes cell signal strength information, and the corresponding relationship with the horizontal position information and height information of the indoor grid, and the indoor grid and its horizontal position information and height can be determined separately Information, and then determine the cell signal strength information corresponding to each grid.

[0166] Among them, the determination of the indoor grid and its horizontal position information and height information can be obtained by grid division of the building. The building can be divided into grids according to the following steps:

[0167] First, extract building information. Based on 3D GIS, extract vector outline information, height information, etc. of buildings. Among them, 3D GIS is also called 3D electronic map, which is widely used in user wireless network planning and simulation. The map contains buildings. , River and other features.

[0168] Second, building 3D modeling, using building information extracted from 3D GIS to perform 3D modeling of buildings, that is, using the contour information and height information obtained in the previous step to mark the building on the map.

[0169] Third, the floor division of the building interior, and the floor division of the 3D model of the building.

[0170] Fourth, the indoor grid division of the building, each floor of the building is divided into a grid according to the resolution or multiples of the resolution of the 3D GIS.

[0171] The core of the embodiment of the present invention is to determine the cell signal strength information of the indoor grid through the cell signal strength information of the corresponding outdoor grid. Therefore, in addition to the grid division of the building interior, the outdoor space on the first floor and the corresponding floors of the building can also be grid division. The building spacing of ordinary real estate is roughly 50-60 meters, and there is basically no obstruction by other buildings within this distance. Therefore, when dividing the outdoor grid, you can select the outdoor area within the range of 50-60 meters from the outer wall of the building, that is, the outdoor grid on the first floor and the indoor grid on the first floor. The farthest distance of the corresponding edge grid is 50-60 meters. Among them, after the indoor grid is divided, the grid can be divided into edge grids and non-edge grids. Edge grid refers to the indoor grid that is directly connected to the wall; non-edge grid refers to the indoor grid that is not directly connected to the wall.

[0172] Because the indoor signal changes greatly relative to the outdoor signal within the same distance range, the indoor grid can generally be selected to be relatively small. In order to make the division simple and cover the area in the same horizontal plane as much as possible, the shape of the grid can be selected as a square. For example, an indoor grid can be a square, and its side length can generally be 5 meters, 10 meters, etc., and an outdoor grid can also be a square, and its side length can generally be 20 meters, 30 meters, 50 meters, etc. Through the above steps, when the grid is divided into indoor and outdoor areas, the horizontal position information and height information corresponding to the grid are also determined. Here, the horizontal position of the grid can be considered as the horizontal position of the center point of the grid, for example, the longitude and latitude of the center point of the grid.

[0173] It should be understood that the grid division in the above description is based on the indoor floors of the building and the outdoor corresponding floors as a whole, but this description does not limit the embodiment of the present invention, that is, it can also only be corresponding to the actual needs. The floors or corresponding areas are divided into grids.

[0174] Figure 4 Shows a method 200 for determining cell signal strength information of an indoor grid according to an embodiment of the present invention. The method 200 can be executed by an apparatus for determining cell signal strength information of an indoor grid or an indoor positioning apparatus. The corresponding modules are executed. Such as Figure 4 As shown, the method 200 includes:

[0175] S210: Determine an outdoor n-th layer grid corresponding to the indoor n-th layer grid according to the horizontal position information of the indoor n-th layer grid, where n is an integer greater than or equal to 1.

[0176] Select a grid to be determined among the grids of the nth floor indoors. According to the horizontal position information of the nth layer of the indoor grid, or its horizontal position information and height information combined with the engineering parameters of the antennas of the surrounding base stations, one or more corresponding to the nth layer of the indoor grid can be determined Outdoor nth level grid. The information to be referred to when determining the outdoor grid of the nth layer varies according to the grid type. For example, when the indoor grid of the nth floor is an indoor edge grid of the nth floor, the horizontal position of the edge grid of the indoor nth floor can be used to determine the corresponding outdoor grid of the nth floor; When the indoor grid of the nth floor is an indoor non-edge grid of the nth floor, in addition to the horizontal position of the non-edge grid of the nth floor indoors, it is also necessary to refer to its height information and surrounding base station information. The engineering parameters of the antenna, etc. In addition, you can also refer to other information to determine the corresponding outdoor nth layer grid. For example, according to the engineering parameters of the antenna or other information, simulation calculations can be performed on the indoor n-th layer grid and the corresponding outdoor n-th layer grid, and refer to the calculated corresponding outdoor n-th layer grid. The cell in the cell signal strength information of the grid determines the cell in the cell signal strength information of the grid of the nth layer indoors. The specific method is described in the following embodiments.

[0177] S220: Acquire cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid. The corresponding outdoor cell signal strength information of the n-th layer grid can be obtained in multiple ways. For example, it may come from test data, such as drive test (DT) data and/or terminal data, or cell signal strength information obtained through calculation, which is not limited in the embodiment of the present invention.

[0178] S230: Determine the cell signal strength information of the n-th indoor grid based on the cell signal strength information of the n-th outdoor grid corresponding to the n-th indoor grid. Because the horizontal distance from the building is less than a certain range (such as 50-60 meters), the attenuation law of the signal strength of the nth layer of the outdoor grid is closer to the attenuation law of the signal strength of the nth layer of the indoor grid , It often reflects similar signal characteristics and conforms to the statistical characteristics in mathematics. Therefore, the cell signal strength information of the outdoor n-th grid can be used to determine the cell signal strength information of the n-th grid of the building.

[0179] Therefore, the method for determining cell signal strength information of an indoor grid provided by an embodiment of the present invention determines the outdoor grid corresponding to the nth indoor grid according to the horizontal position information of the indoor nth grid. The cell signal strength information of the nth layer of the indoor grid can be determined by obtaining the cell signal strength information of the corresponding outdoor nth layer of the grid, which can obtain high accuracy The signal strength information of the indoor cell in order to further realize high-precision indoor 3D positioning.

[0180] Optionally, as an embodiment, when the indoor grid of the nth floor to be determined is the edge grid of the indoor nth floor,

[0181] According to the horizontal position information of the n-th indoor grid, determining the outdoor n-th grid corresponding to the indoor n-th grid may include:

[0182] According to the horizontal position information of the edge grid of the nth layer in the room, it is determined that the distance from the edge grid of the nth layer in the room is smaller than the first threshold value of the nth layer of the outdoor grid. The distance is based on the grid The horizontal position information is calculated;

[0183] According to the cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid, determining the cell signal strength information of the indoor n-th layer grid includes:

[0184] Determine the edge of the indoor nth layer according to the cell signal strength information of the outdoor nth layer grid whose distance from the indoor nth layer edge grid is less than the first threshold and the loss relationship of the signal strength inside and outside the wall The cell signal strength information of the grid.

[0185] Specifically, for any indoor nth layer edge grid, at least one outdoor nth layer grid within the first threshold range from the edge grid can be calculated according to its horizontal position information. The range of the first threshold may be a value corresponding to the size of the outdoor grid, for example, 20 meters or 30 meters. Preferably, the grid of the nth outdoor layer that is closest to the edge grid of the nth indoor layer can be selected.

[0186] The cell signal strength information of the edge grid of the nth layer in the room can be considered based on the cell signal strength information of the nth layer of the outdoor grid corresponding to the edge grid of the nth layer in the room. The signal strength is determined by the loss relationship. The loss relationship of the signal strength inside and outside the wall can be an empirical formula, such as an empirical formula related to the wall thickness, height, and signal frequency band; it can also be an empirical value, such as Wall Penetrate Loss (Wall Penetrate Loss, Wall -PLoss) value, the selection of the Wall-PLoss value can also be related to the frequency band and other factors, and the value range can be 3-10dB. Preferably, the Wall-PLoss value can be 5dB.

[0187] As a specific example, the cell in the cell signal strength information of the nth layer of the outdoor grid can be determined as the cell in the cell signal strength information of the edge grid of the nth layer indoor; The signal strength of the nth layer grid minus the Wall-PLoss value is used as the signal strength of the cell of the nth layer edge grid indoors.

[0188] Preferably, the signal strength information of the simulated cell of the edge grid of the nth layer in the room can be determined by simulation calculation such as a ray tracing method according to the engineering parameter information of the antenna. Wherein, the signal strength information of the simulated cell includes information such as one or more cells that the grid can receive and the signal strength corresponding to each cell. Based on the signal strength information of the simulated cell, the cell signal strength information of the corresponding outdoor n-th layer grid can be used to determine the cell signal strength information of the n-th layer edge grid in the room. Among them, the antenna engineering parameter information includes antenna-related engineering parameters in wireless network planning, such as antenna azimuth angle, antenna downtilt angle, antenna height, antenna latitude and longitude information, transmission power and other information.

[0189] Compare the cell in the simulated cell signal strength information of the edge grid of the nth layer indoors and the cell in the cell signal strength information of the corresponding outdoor nth layer grid, and regard the same cell as the nth layer indoors Cells of the edge grid; for cells that only exist in the signal strength information of the simulated cell of the edge grid of the nth layer indoors or only in the cell signal strength information of the corresponding outdoor nth layer of the grid Cell, it is necessary to combine the engineering parameter information of the antenna to determine whether the signal of the cell should exist at the edge grid of the nth layer in the room. If it should exist, the cell is also used as the edge grid of the nth layer in the room. Of the community. In addition, the propagation conditions of the base stations of other cells that are close to the base station of the cell can also be combined to assist in determining whether the cell should exist at the first edge grid. There are many methods for determining the cell. The embodiment of the present invention This is not limited.

[0190] Cells that exist in both the signal strength information of the simulated cell of the edge grid of the nth layer indoors and the signal strength information of the cell of the corresponding outdoor nth layer of the grid, the signal strength of the edge grid of the nth layer indoors It can still be determined by subtracting the Wall-PLoss value from the signal strength of the corresponding outdoor n-th grid. For the indoor simulated cell signal strength information of the nth layer of the edge grid, and the corresponding outdoor cell that does not exist in the cell signal strength information of the nth layer of the grid, its signal strength can be selected as the indoor nth layer The signal strength corresponding to the cell in the simulated cell signal strength information of the edge grid.

[0191] Optionally, as another embodiment, when the indoor grid of the nth floor to be determined is a non-edge grid of the indoor nth floor,

[0192] According to the horizontal position information of the n-th indoor grid, determining the outdoor n-th grid corresponding to the indoor n-th grid may include:

[0193] Determine the indoor n-th floor edge grid corresponding to the n-th floor non-edge grid in the room in any direction in the horizontal position information;

[0194] Determine the first outdoor grid and the second outdoor grid, the first outdoor grid and the second outdoor grid are both outdoor grids of the nth floor, where the first outdoor grid and the second outdoor grid The relative positional relationship of the grid is consistent with the relative positional relationship between the edge grid of the nth layer in the room and the non-edge grid of the nth layer in the room corresponding to the non-edge grid of the nth layer in the room , And the environmental relevance of the first outdoor grid is consistent with the environmental relevance of the n-th indoor edge grid corresponding to the indoor n-th non-edge grid; wherein, the first outdoor The relative positional relationship between the grid and the second outdoor grid is calculated based on the horizontal position information of the first outdoor grid and the horizontal position information of the second outdoor grid; The relative positional relationship between the edge grid of the nth layer in the room and the non-edge grid of the nth layer in the room corresponding to the edge grid is based on the corresponding position of the non-edge grid of the nth layer in the room. The horizontal position information of the edge grid of the nth floor in the room and the horizontal position information of the non-edge grid of the nth floor in the room are calculated;

[0195] According to the cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid, determining the cell signal strength information of the indoor n-th layer grid may include:

[0196] According to the cell signal strength information of the first outdoor grid, the cell signal strength information of the second outdoor grid, and the edge grid of the nth layer in the room corresponding to the non-edge grid of the nth layer in the room The cell signal strength information of the grid determines the cell signal strength information of the non-edge grid of the nth layer in the room.

[0197] Specifically, for the non-edge grid of the nth floor in any room, the edge grid of the nth floor in the room that is the same or similar in position in the first direction or the second direction or other directions in the horizontal position may have Multiple. Reference Figure 5 , Take the edge grid of the first floor indoor as an example, the figure shows four. Select an indoor n-th floor edge grid corresponding to the n-th floor non-edge grid in the room for description. A vector can be determined from the center of the edge grid of the nth layer in the room corresponding to the non-edge grid of the nth layer in the room to the center of the non-edge grid of the nth layer in the room. The size of the vector Is the distance from the center of the edge grid of the nth floor in the room corresponding to the non-edge grid of the nth floor in the room to the center of the non-edge grid of the nth floor in the room, and the direction is from and The center of the edge grid of the nth floor in the room corresponding to the non-edge grid of the nth floor points to the center of the non-edge grid of the nth floor in the room.

[0198] Select the first outdoor grid from the outdoor n-th layer grid that has the same environmental relevance as the indoor n-th non-edge grid corresponding to the indoor n-th non-edge grid. grid. Optionally, the environmental relevance can be determined according to information such as 3D GIS and/or engineering parameters of antennas of nearby base stations. The environmental correlation of the first outdoor grid includes the relative positional relationship between the first outdoor grid and the antenna of the base station; the environmental correlation of the edge grid of the indoor nth layer corresponding to the non-edge grid of the nth layer indoors The degree includes the relative positional relationship between the edge grid of the nth layer in the room and the antenna of the base station corresponding to the non-edge grid of the nth layer in the room.

[0199] Among them, the relative positional relationship between the first outdoor grid and the antenna of the base station is calculated based on the horizontal position information and height information of the first outdoor grid and the horizontal position information and height information of the antenna of the base station; The relative positional relationship between the edge grid of the nth floor in the room corresponding to the non-edge grid and the antenna of the base station is based on the level of the edge grid of the nth floor in the room corresponding to the non-edge grid of the nth floor in the room The position information, height information, and the horizontal position information and height information of the base station antenna are calculated. That is, consistent environmental correlation means that the distances and directions between the two grids and the antennas of multiple base stations that can receive signals are as consistent as possible. It may also include that the two grids have more of the same cells or the strengths of the cells are similar, or it may be a weighted evaluation method that considers the distance of the antenna of the cell or the base station or the signal strength of the cell, which is not limited in the embodiment of the present invention. The cell or cell strength mentioned here can be obtained by simulation calculation.

[0200] Furthermore, the first outdoor grid is used as a starting point, the same vector as the above vector is made, the end of the vector is determined, and the second outdoor raster that is the end of the vector located or is closest to the end of the vector is obtained. Preferably, the distance between the end point of the vector and the second outdoor grid should be less than the side length of the indoor n-th layer grid. If the second outdoor grid that meets this condition is not found, the first outdoor grid can be reselected The grid and the corresponding second outdoor grid. In this way, the positional relationship between the first outdoor grid and the second outdoor grid can be ensured as well as the indoor grid corresponding to the non-edge grid of the nth floor in the room. The positional relationship between the edge grid of the nth layer and the non-edge grid of the nth layer in the room is consistent. Of course, there can also be other methods to determine the outdoor nth layer grid to ensure that the position relationship of the indoor nth layer edge grid corresponding to the indoor nth layer non-edge grid is consistent. The present invention The embodiment does not limit this.

[0201] It can be approximately considered that for a fixed cell, the attenuation law between the signal strength of the cell received by the first outdoor grid and the signal strength of the cell received by the second outdoor grid, and the The signal strength of the cell received by the edge grid of the nth layer in the room corresponding to the non-edge grid of the nth layer in the room and the signal strength received by the non-edge grid of the nth layer in the room The attenuation law between the signal strength of the cell is the same. Therefore, the difference in signal strength corresponding to the same cell in the cell signal strength information of the first outdoor grid and the second outdoor grid is set as the first difference. Set the same cell in the cell signal strength information of the nth layer of the room and the cell signal strength information of the nth layer of the room that corresponds to the non-edge grid of the nth layer in the room The difference in signal strength is the second difference. According to the fact that the first difference and the second difference are equal, the signal strength corresponding to the cell in the cell signal strength information of the non-edge grid of the nth layer indoors can be determined. Of course, it is also possible to set that the first difference and the second difference are not equal, but a certain empirical value, so as to determine the corresponding cell in the cell signal strength information of the non-edge grid of the nth layer indoors. Signal strength.

[0202] Similarly, simulation calculations can be used to determine the signal strength information of the simulated cell of the nth layer of the indoor non-edge grid, and on the basis of the signal strength information of the simulated cell, determine the cell signal of the nth layer of the indoor non-edge grid Strength information. Here, the main reference is the cell that can be received by the grid in the signal strength information of the simulated cell.

[0203] It should be understood that it can be based on an indoor n-th layer edge grid corresponding to an indoor n-th layer non-edge grid and a corresponding pair of corresponding cell signals of the first outdoor grid and the second outdoor grid The strength information is used to determine the cell signal strength information of the non-edge grid of the nth layer indoors. Preferably, it can also be based on multiple indoor n-th layer edge grids and their corresponding outdoor grids that are the same or similar in position to the n-th layer non-edge grid in the first direction or the second direction. Corresponding cell signal strength information respectively determines the cell signal strength information of the n-th layer of the non-edge grid in the multiple sets of indoor cell signal strength information, and then averages the signal strength of the cells in the multiple sets of cell signal strength information to improve the cell signal strength information The accuracy of the cell signal strength information.

[0204] In this way, the signal strength information of the edge grid and non-edge grid cells of the nth floor indoors in the building can be obtained, that is, the location matching information of any grid in the room can be obtained. These location matching information can be gathered together. It is called the matching feature library. The method 200 is to determine the cell signal strength information of the indoor n-th layer grid based on the cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid. Among them, there are multiple methods for determining outdoor cell signal strength information of the grid of the nth layer when n is equal to 1 and n is greater than 1. They will be introduced in detail below.

[0205] Optionally, when n is equal to 1, obtaining cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid may include:

[0206] Obtain the test data of the outdoor first-level grid corresponding to the indoor first-level grid, and the test data includes the outdoor first-level grid corresponding to the indoor first-level grid Horizontal position information and cell signal strength information;

[0207] According to the change law of cell signal strength attenuation with distance, the error data in the test data is deleted. Among them, the cell signal strength attenuation change law with distance is based on the cell signal strength information of multiple outdoor first-layer grids and Obtained from the horizontal position information of the grids on the first floor of multiple outdoor locations;

[0208] It is determined that the cell signal strength information in the test data after the error data is deleted is the cell signal strength information of the outdoor first layer grid corresponding to the indoor first layer grid.

[0209] Specifically, acquiring the cell signal strength information of the outdoor grid of the first layer can be obtained by acquiring and processing the test data of the outdoor grid of the first floor. The test data may include DT data and/or terminal data, and its content includes the horizontal position information of the outdoor layer 1 grid and cell signal strength information. Specifically, DT data refers to the use of terminal-equipped vehicle equipment to collect wireless air interface related signals and information. The information includes at least the longitude and latitude position information of the test point and the multiple cells received by the terminal corresponding to the location and the signals corresponding to these cells Strength and other information. The terminal data may be the longitude and latitude position information collected by the terminal or the Assisted Global Positioning System (AGPS) collected by the application software in the terminal, as well as information such as cell identification and signal strength of the received signal obtained through MR. In addition, the test data may also include other information, for example, height information measured through functions such as a barometer of the terminal, etc., which is not limited in the embodiment of the present invention.

[0210] When determining the cell signal strength information of the outdoor layer 1 grid from the test data, only the collected DT data can be used, or only the terminal data can be used, or the DT data and the terminal data can be combined and supplemented with each other. In addition, the test data can also be filtered, smoothed, and discretely eliminated, which is not limited in the embodiment of the present invention. In addition, an outdoor first layer grid may contain one or more test data. When the grid contains multiple test data, the average value or smoothed value of the intensity information of multiple cells corresponding to the multiple test data can be approximated as the signal strength corresponding to the grid.

[0211] As a concrete example, such as Image 6 As shown, a plurality of outdoor test points can be selected in the range of 50-60 meters on the first floor of the outdoor building based on the edge grid of the first floor indoors of the building. Calculate the difference between the signal strength of the cell at the outdoor test point. Under normal conditions without obstructions, the attenuation of the cell signal strength has a certain changing law with distance. And when it encounters obstructions from buildings or other objects, the signal strength may have singularities that do not follow the changing law. In addition, some points with larger signal strength errors may also be found. Using this point, the singular points and outdoor test points with large errors can be deleted, and the cell signal strength information in the test data after the error data has been deleted is used as the cell signal strength information of the outdoor first layer grid, so that Indoor 3D positioning and matching information is more accurate. among them, Image 6 The numbers of medium singular points, large error points, and normal points are only illustrative and do not limit the embodiment of the present invention.

[0212] For example, according to the attenuation of the cell signal strength of multiple outdoor first-layer grids with distance, the signal strength of a certain outdoor first-layer grid is compared with the signal strength of the compared reference grid Should be attenuated by 5dB, but the signal strength of the outdoor first-layer grid is abnormally attenuated by 20dB, it can be considered that the outdoor first-layer grid may be blocked, which is a singularity, and delete it; or another The signal strength of the outdoor first layer grid should be attenuated by 5dB, but the signal strength of the outdoor first layer grid has abnormally increased by 5dB, it can be considered that the outdoor first floor grid test data The error is large and should be deleted.

[0213] Further, after deleting the error data in the test data according to the change rule of the attenuation of the cell signal strength with the distance, the method 200 may further include:

[0214] Based on the cell signal strength information of a plurality of outdoor first-tier grids corresponding to the indoor first-tier grid whose distance is less than the second threshold, the error data is deleted The cell signal strength information in the subsequent test data is smoothed;

[0215] It is determined that the cell signal strength information in the test data after the error data is deleted is the cell signal strength information of the outdoor layer 1 grid corresponding to the indoor layer 1 grid, including:

[0216] It is determined that the smoothed cell signal strength information in the test data after the error data is deleted is the cell signal strength information of the outdoor first layer grid corresponding to the indoor first layer grid.

[0217] Specifically, considering that the measured value of a single outdoor test point will have a large random error, the cell signal strength in the test data can be smoothed. The specific implementation may be as follows: select test data corresponding to an outdoor test point, determine multiple outdoor first-layer grids whose distance to the test point is the second threshold, and determine the distance from the test point to the second threshold. The cell signal strength information of a plurality of outdoor first-layer grids is smoothed for the cell signal strength information in the test data corresponding to the test point. For example, in the test data, the signal strengths corresponding to the same cell are averaged and used as the signal strength of the corresponding cell of the selected test point. The smoothed cell signal strength information in the test data after the error data has been deleted is used as the cell signal strength information of the outdoor first layer grid corresponding to the indoor first layer grid.

[0218] Preferably, the second threshold may be 10 meters, and according to actual data inspection, the DT data corresponding to the test points within the range of 10 meters has a higher correlation. The second threshold may also take other different values, such as 20 meters or 30 meters, which is not limited in the embodiment of the present invention.

[0219] Optionally, when n is greater than 1, acquiring cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid may include:

[0220] According to the engineering parameter information of the antenna of the base station, the simulation calculation of the simulated cell signal strength information of the outdoor nth layer grid corresponding to the indoor nth layer grid and the simulation of the outdoor first layer grid Cell signal strength information, where the horizontal position information of the outdoor grid on the first layer is consistent with the horizontal position information of the outdoor grid on the nth floor corresponding to the indoor grid on the nth floor;

[0221] According to the signal strength information of the simulated cell of the outdoor grid of the nth layer corresponding to the indoor grid of the nth layer, the signal strength information of the simulated cell of the outdoor grid of the first layer, and the outdoor grid of the first layer The cell signal strength information of the grid determines the cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid.

[0222] Specifically, such as Figure 7 As shown, according to the engineering parameter information of the antenna of the base station, simulation calculation methods such as ray tracing can be used to determine the signal strength information of the simulated cell of the outdoor first layer grid, and the simulated cell signal of the outdoor nth layer grid Intensity information, the horizontal position information of the outdoor nth layer grid is the same as or similar to the outdoor horizontal position information of the first layer grid, that is, the outdoor nth layer grid and the outdoor first layer grid in the first direction and The positions in the second direction are as close as possible, and the height of the grid of the nth floor outdoors corresponds to the nth floor of the building.

[0223] Set the signal strength information of a cell in the simulated cell signal strength information of the outdoor grid of the first layer and the signal strength information of the simulated cell of the outdoor grid of the nth floor corresponding to the indoor grid of the nth floor The difference in the signal strength of the cell is the third difference. Set the signal strength of a certain cell in the cell signal strength information of the outdoor grid on the first floor and the cell signal strength information of the outdoor grid on the nth floor corresponding to the indoor grid on the nth floor. The difference in the signal strength of the cell is the fourth difference. According to the third difference and the fourth difference being equal, the signal strength of the cell in the cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid can be determined. Of course, it is also possible to set that the third difference and the fourth difference are not equal, but a certain empirical value, so as to determine the cell of the outdoor n-th grid corresponding to the indoor n-th grid The signal strength of the cell in the signal strength information.

[0224] Similarly, you can refer to the cell information in the simulated cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid, and for the cell information corresponding to the indoor n-th layer grid The cell in the cell signal strength information of the grid of the nth layer outdoor is supplemented.

[0225] Optionally, in the outdoor cell signal strength information of the first layer grid and the outdoor cell signal strength information of the nth layer grid, the difference between the cells corresponding to the nth layer grid and the first layer grid It may be larger. In order to further improve the accuracy of the cell signal strength information of the grid on the nth floor of the building, the cell signal strength information of the grid on each floor outdoors can be determined layer by layer. For example, such as Figure 8 As shown, to determine the cell signal strength information of the outdoor layer 3 grid, the signal strength information of the simulated cell of the outdoor layer 2 and layer 3 grids and the cell of the outdoor layer 2 grid The signal strength information is determined.

[0226] Correspondingly, when n is greater than 1, obtaining cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid may include:

[0227] According to the engineering parameter information of the antenna of the base station, the signal strength information of the simulated cell of the outdoor grid of the n-1th layer and the signal strength information of the simulated cell of the outdoor grid of the nth layer are determined through simulation calculation. Both the n-1 layer grid and the outdoor nth layer grid correspond to the outdoor n-1 layer grid corresponding to the indoor n-1 layer grid in the first direction and the second The position information of the direction is the same. The height of the grid on the n-1th floor outdoors is equal to the height of the grid on the n-1th floor indoors. The height of the grid on the nth floor outdoors is the same as that of the indoor nth floor. The heights of the grids are equal;

[0228] Determine outdoor cell signal strength information of the n-1th layer grid;

[0229] Determine according to the signal strength information of the simulated cell of the outdoor n-1 layer grid, the signal strength information of the simulated cell of the outdoor n layer grid, and the cell signal strength information of the outdoor n-1 layer grid Outdoor cell signal strength information of the nth layer grid.

[0230] Specifically, the outdoor cell signal strength information of the grid on the n-1th floor may be known, for example, it has been obtained by measurement means, or it is already in the process of calculating the cell signal strength information of the grid on other floors. obtain. The outdoor cell signal strength information of the n-1th layer grid may also be unknown. In this case, the following steps can be repeated until the cell signal strength information of the outdoor n-1th layer grid is obtained. The initial value of i The value is set to 1.

[0231] According to the engineering parameter information of the antenna of the base station, the signal strength information of the simulated cell of the outdoor i-th layer grid and the signal strength information of the simulated cell of the outdoor i+1-th layer grid are determined through simulation calculation. The horizontal position information of the grid of the i layer and the horizontal position information of the grid of the outdoor i+1 layer are both the horizontal position of the grid of the nth outdoor corresponding to the grid of the nth indoor. The information is the same, the height of the grid of the outdoor i-th floor is equal to the height of the grid of the i-th indoor, and the height of the outdoor i+1-th grid is the same as that of the indoor i+1-th grid Equal height

[0232] Determine the cell signal strength information of the outdoor i-th layer grid;

[0233] According to the signal strength information of the simulated cell of the grid of the i-th outdoor, the signal strength information of the simulated cell of the grid of the i+1 outdoor and the cell signal strength information of the grid of the i-th outdoor, determine the outdoor Cell signal strength information of the grid of the i+1th layer;

[0234] Set i to i+1.

[0235] As a specific example, to determine the cell signal strength information of the outdoor layer 3 grid, you can first base on the simulated cell signal strength information of the outdoor layer 1 and layer 2 grids and the outdoor layer 1. The cell signal strength information of the grid is used to determine the cell signal strength information of the outdoor layer 2 grid; then the signal strength information of the simulated cell of the outdoor layer 2 and layer 3 grids and the outdoor layer 2 The cell signal strength information of the grid determines the cell signal strength information of the outdoor layer 3 grid.

[0236] Preferably, the simulated cell signal strength information of the grid of any outdoor layer (such as the x-th layer) determined by simulation calculation can be smoothed. For example, to smooth the simulation points corresponding to a grid on the xth layer outdoors, you can take the y (for example, p=5) simulation points closest to it in the horizontal plane of the xth layer, and among the y simulation points The maximum distance from the simulated point to be smoothed is d. The range of d can be determined according to the size of the outdoor grid division, generally 15-35 meters, preferably, d can be 25 meters. The signal strength of the same cell corresponding to the y simulation points is averaged as the signal strength of the cell in the cell signal strength information corresponding to the simulation point to be smoothed.

[0237] It should be understood that, in each embodiment of the present invention, the signal strength information of the simulated cell obtained by simulation calculation can be used to determine the cell signal strength information of each floor both outdoors and indoors. That is, refer to the information of the cell in the signal strength information of the simulated cell to make the signal strength information of the cell more accurate and complete. The specific reference method has been described in the previous section. For brevity, it will not be repeated here.

[0238] Therefore, the method for determining cell signal strength information of an indoor grid provided by an embodiment of the present invention determines the outdoor grid corresponding to the nth indoor grid according to the horizontal position information of the indoor nth grid. The cell signal strength information of the nth layer of the indoor grid can be determined by obtaining the cell signal strength information of the corresponding outdoor nth layer of the grid, which can obtain high accuracy The signal strength information of the indoor cell in order to further realize high-precision indoor 3D positioning.

[0239] The method 200 for determining the cell signal strength information of the indoor grid is based on the cell signal strength information of the outdoor space, comprehensively considers the outdoor conditions, and reproduces the outdoor scene, so that the relative changes of the outdoor signals on different floors are more in line with actual conditions, and the building The accuracy of the cell signal strength information of the grid of each floor in the room can further obtain high-precision indoor 3D positioning matching information. This method is more suitable for higher floors. When the floor is higher, the cell and the signal strength of the cell that the terminal can receive may be quite different from the lower floors. In the lower floors other than the first floor, such as the second to fifth floors, the changes in the signal strength information of the cells exhibit a certain pattern. A simpler method may be used to determine the cell signal strength information of the grids of these floors, which is specifically described in method 300.

[0240] Picture 9 It is a schematic flowchart of a method 300 for determining cell signal strength information of an indoor grid according to another embodiment of the present invention. The method 300 may be executed by an apparatus for determining cell signal strength information of an indoor grid, or may be executed by a corresponding module of an indoor positioning apparatus. Such as Picture 9 As shown, the method 300 includes:

[0241] S310: Determine an indoor m-th grid corresponding to the indoor p-th grid or an outdoor m-th grid corresponding to the indoor p-th grid according to the horizontal position information of the indoor p-th grid;

[0242] S320: Acquire cell signal strength information of an indoor m-th grid or an outdoor m-th grid corresponding to the indoor p-th grid;

[0243] S330, according to the cell signal strength information of the indoor m-th grid corresponding to the indoor p-th grid or the outdoor m-th grid cell signal strength information, determine the indoor p-th grid Cell signal strength information, where p is an integer greater than 1, m is a positive integer less than p, the height of the first layer is the height of the ground, and the height of the p-th layer is higher than the height of the ground.

[0244] Generally speaking, the lower p-th floor other than the first floor of a building, such as the second to fifth floors indoors, is blocked by the building’s indoor grid cell signal strength information. The mth layer, especially the first layer, has similar characteristics, especially in the edge grid, the rule is more obvious. Therefore, the cell signal strength information of the p-th floor grid indoors can be determined by the cell signal strength information of the m-th floor grid in the building.

[0245] Therefore, the method for determining cell signal strength information of an indoor grid provided by an embodiment of the present invention determines the outdoor grid corresponding to the indoor p-th layer according to the horizontal position information of the indoor p-th layer grid. The m-th level grid or the indoor m-th level grid can be determined by obtaining the cell signal strength information of the corresponding outdoor m-th level grid or indoor m-th level grid. The cell signal strength information of the grid of the p-th layer can obtain high-accuracy indoor cell signal strength information, so as to further realize high-precision indoor 3D positioning.

[0246] It should be understood that the cell signal strength information of the indoor grid of the first layer or the outdoor grid of the first layer, and the cell signal strength information of the indoor m-th grid or the outdoor m-th grid except for the first layer It can be the cell signal strength information in the corresponding indoor or outdoor test data, it can also be the cell signal strength information in the calculated simulation data, or it can be the cell signal strength information determined by the method of other embodiments of the present invention. This embodiment of the present invention does not limit this. In the following, the cell signal strength information of the indoor p-th layer grid is determined from the cell signal strength information of the indoor layer 1 grid or the outdoor layer 1 grid as an example to describe the method 300 in detail. The process of determining the cell signal strength information of the indoor p-th layer grid from the cell signal strength information of the indoor m-th layer grid or the outdoor m-th layer grid is similar, and will not be repeated here.

[0247] Optionally, as an embodiment, when the indoor grid of the p-th floor is an edge grid of the indoor p-th floor,

[0248] According to the horizontal position information of the indoor p-th layer grid, determining the indoor m-th layer grid or the outdoor m-th layer grid corresponding to the indoor p-th layer grid may include:

[0249] Determine the edge grid of the m-th indoor floor corresponding to the edge grid of the p-th indoor floor, where the level of the m-th indoor edge grid corresponding to the edge grid of the p-th indoor floor The position information is consistent with the horizontal position information of the indoor p-th grid;

[0250] Determine the cell signal strength information of the m-th indoor grid according to the cell signal strength information of the indoor m-th grid corresponding to the indoor p-th grid or the outdoor m-th grid , Can include:

[0251] Determine the cell signal of the indoor p-th layer edge grid according to the cell signal strength information of the indoor m-th layer edge grid corresponding to the indoor p-th layer edge grid and the loss relationship between the signal strength between floors Strength information, where m is equal to 1.

[0252] Specifically, if the horizontal position of the terminal is fixed, that is, the position of the terminal in the first direction and the second direction is fixed, and the antenna height of the base station is higher, the higher the height position of the terminal, the higher the received signal strength. The stronger. Therefore, for the case where the antenna height of the base station is much higher than the height of the floor, the signal strength of the cell received by the edge grid of the p-th floor in the building can be approximately regarded as the same as the edge grid of the p-th floor indoors. Corresponding to the enhancement of the signal strength of the cell received by the edge grid of the first floor in the room, the enhancement value is related to the loss of the signal strength between floors. Among them, the horizontal position information of the edge grid of the first layer in the room corresponding to the edge grid of the p-th layer in the room matches the horizontal position information of the grid of the p-th layer in the room. The same horizontal position information here refers to the position of the edge grid of the p-th layer in the room in the first direction and the second direction and the edge grid of the first layer in the room corresponding to the edge grid of the p-th layer in the room. The positions in the first direction and the second direction are the same or similar.

[0253] For example, such as Picture 10 As shown, the signal strength can be increased by q dB for each floor where the terminal is located. That is, considering the floor penetration loss (Floor Penetrate Loss, Floor-PLoss), the edge grid of the indoor p-th floor is higher than the indoor-th floor. The signal strength of the edge grid of layer 1 is large (p-1)q dB. The selection of the value of m is related to the frequency band and other factors, and its range can be 3-10. Preferably, the value of q can be 3. Therefore, based on the cell signal strength information of the indoor grid of the first layer, the cell signal strength information of the indoor p-th grid can be obtained.

[0254] Preferably, simulation calculation can be performed on the indoor p-th layer grid to obtain the signal strength information of the simulated cell of the indoor p-th layer grid. Compare the cell in the cell signal strength information of the indoor layer 1 edge grid corresponding to the indoor p-th layer edge grid and the cell in the simulated cell signal strength information of the indoor p-th layer grid, Use the same cell as the cell of the edge grid of the p-th layer indoors; for the cell that exists only in the cell signal strength information of the first layer of the grid indoors, or only the edge grid of the p-th layer indoors For the cell that exists in the signal strength information of the simulated cell of the grid, it is necessary to combine the engineering parameter information of the antenna to determine whether the signal of the cell should exist at the edge grid of the p-th layer in the room. If it should exist, consider this cell as The cell of the edge grid of the p-th layer in the room.

[0255] For the cells that exist in both the indoor simulated cell signal strength information of the edge grid of the p-th layer and the cell signal strength information of the indoor layer 1 edge grid corresponding to the edge grid of the p-th indoor layer, The cell signal strength information of the edge grid of the p-th floor indoor can be calculated by the above-mentioned method considering floor penetration loss. The signal strength information of the simulated cell of the edge grid of the indoor p-th layer is present, but the cell signal strength information of the edge grid of the indoor layer 1 corresponding to the p-th layer of the indoor edge grid does not exist The signal strength of the cell can be selected as the signal strength corresponding to the cell in the simulated cell signal strength information of the edge grid of the p-th layer indoors.

[0256] Optionally, as another embodiment, when the indoor p-th layer grid is an indoor p-th layer non-edge grid,

[0257] According to the horizontal position information of the indoor p-th layer grid, determining the indoor m-th layer grid or the outdoor m-th layer grid corresponding to the indoor p-th layer grid may include:

[0258] Determine the indoor p-th layer edge grid corresponding to the indoor p-th layer non-edge grid in any direction in the horizontal position information;

[0259] Determine the first outdoor grid and the second outdoor grid. The first outdoor grid and the second outdoor grid are both outdoor grids of the mth floor. The first outdoor grid and the second outdoor grid are relative to each other. The positional relationship is consistent with the relative positional relationship between the p-th indoor edge grid and the indoor p-th non-edge grid corresponding to the indoor p-th non-edge grid, and the first outdoor grid The environmental correlation degree of is consistent with the environmental correlation degree of the indoor p-th layer edge grid corresponding to the indoor p-th layer non-edge grid; wherein, the relative position of the first outdoor grid and the second outdoor grid The relationship is calculated based on the horizontal position information of the first outdoor grid and the horizontal position information of the second outdoor grid; the edge grid of the indoor p-th layer corresponding to the non-edge grid of the indoor p-th layer and The relative positional relationship of the indoor p-th non-edge grid is based on the horizontal position information of the indoor p-th layer edge grid corresponding to the indoor p-th non-edge grid and the indoor p-th layer The horizontal position information of the non-edge grid is calculated;

[0260] Determine the cell signal strength information of the indoor mp-th layer grid according to the cell signal strength information of the indoor m-th layer grid corresponding to the indoor p-th layer grid or the outdoor m-th layer grid , Can include:

[0261] According to the cell signal strength information of the first outdoor grid, the cell signal strength information of the second outdoor grid, and the cell signal strength of the edge grid of the indoor p-th layer corresponding to the non-edge grid of the indoor p-th layer Information, determine the cell signal strength information of the non-edge grid of the p-th layer indoors, where m is equal to 1.

[0262] Among them, the environmental correlation of the first outdoor grid includes the relative positional relationship between the first outdoor grid and the antenna of the base station; the indoor p-th layer edge grid corresponding to the indoor p-th layer non-edge grid The environmental correlation includes the relative positional relationship between the indoor p-th layer edge grid and the base station antenna corresponding to the indoor p-th layer non-edge grid.

[0263] The relative positional relationship between the first outdoor grid and the antenna of the base station is calculated based on the horizontal position information and height information of the first outdoor grid and the horizontal position information and height information of the antenna of the base station; the non-edge indoor p-th layer The relative positional relationship between the indoor p-th layer edge grid and the base station antenna corresponding to the grid is based on the horizontal position information of the indoor p-th layer edge grid corresponding to the indoor p-th layer non-edge grid , Height information and the horizontal position information and height information of the base station antenna.

[0264] The indoor cell signal strength information of the non-edge grid of the p-th layer is determined and the method 200 consists of the cell signal strength information of the n-th layer of the indoor edge grid and the cell signal strength of the n-th layer of the outdoor grid. The method for determining the location matching information of the non-edge grid of the nth floor of the building by using the information is similar. For brevity, the details are not repeated here.

[0265] Therefore, the method for determining cell signal strength information of an indoor grid provided by an embodiment of the present invention determines the outdoor grid corresponding to the indoor p-th layer according to the horizontal position information of the indoor p-th layer grid. The m-th level grid or the indoor m-th level grid can be determined by obtaining the cell signal strength information of the corresponding outdoor m-th level grid or indoor m-th level grid. The cell signal strength information of the grid of the p-th layer can obtain high-accuracy indoor cell signal strength information, so as to further realize high-precision indoor 3D positioning.

[0266] It should be understood that the cell signal strength information of the non-edge grid of the p-th floor indoor can also be determined by the cell signal strength information of the non-edge grids of other floors in the room, combined with the loss relationship of the signal strength between floors. The embodiment of the present invention There is no restriction on this.

[0267] The above has respectively explained in detail the method of determining the cell signal strength information of the indoor nth layer grid based on the outdoor cell signal strength information of the nth layer grid and the method of using the outdoor mth layer grid or the indoor cell signal strength information. The cell signal strength information of the m-layer grid is a method for determining the cell signal strength information of the indoor p-th layer (when n is not equal to 1, the n-th layer may be the same as the p-th layer). The cell signal strength information determined by the former is more accurate and is suitable for higher floors in buildings; the latter has a simpler process of determining cell signal strength information and is suitable for shorter floors in buildings. Therefore, the two can be combined. For example, when determining the cell signal strength information of the grid in a building, the floor can be determined first. When the floor n is less than or equal to N, the latter can be used to determine the grid of the floor. Cell signal strength information; when the building's floor n is greater than N, the former is used to determine the cell signal strength information of the grid of the floor. Combining the positioning matching information of the floors separately determined by the two methods can obtain the positioning matching information of each floor of the entire building.

[0268] Therefore, the method for determining cell signal strength information of an indoor grid provided by an embodiment of the present invention determines the outdoor grid corresponding to the nth indoor grid according to the horizontal position information of the indoor nth grid. The first layer of the grid or the indoor first layer of the grid, through the acquisition of the corresponding outdoor first layer grid or indoor first layer of the grid cell signal strength information can determine the indoor The cell signal strength information of the grid of the nth layer can obtain high-accuracy indoor cell signal strength information, so as to further realize high-precision indoor 3D positioning.

[0269] Optionally, as another embodiment, the cell signal strength information of the non-edge grid in the indoor grid is determined by the following steps:

[0270] According to the horizontal position information of the non-edge grid of the k-th indoor, the distance from the non-edge grid of the k-th indoor is determined to be less than the third threshold. The distance is based on The horizontal position information of the grid is calculated, where k is an integer greater than or equal to 1;

[0271] Acquiring cell signal strength information of the indoor edge grid of the kth layer whose distance from the non-edge grid of the kth layer in the room is less than the third threshold;

[0272] According to the engineering parameter information of the antenna of the base station, it is determined through simulation calculation that the distance from the non-edge grid of the k-th layer in the room is less than the third threshold, and the signal strength information of the simulated cell of the edge grid of the k-th layer in the room and the The signal strength information of the simulated cell of the non-edge grid of the kth layer indoors;

[0273] According to the simulation cell signal strength information of the indoor k-th layer edge grid whose distance from the indoor non-edge grid of the kth layer is less than the third threshold, the simulation of the indoor kth layer non-edge grid The cell signal strength information and the cell signal strength information of the indoor edge grid of the kth layer whose distance from the non-edge grid of the kth layer in the room is less than the third threshold is used to determine the non-edge cell of the kth layer in the room The cell signal strength information of the grid.

[0274] Specifically, for a non-edge grid of any floor indoors, such as a non-edge grid of the k-th floor indoors, the signal strength information of the simulated cell can be simulated according to the information of the signal strength of the cell and the k-th indoor grid whose distance is less than the third threshold. The cell signal strength information of the edge grid of the layer and the signal strength information of the simulated cell are determined. The third threshold can be 20 meters, 30 meters or 50 meters. Preferably, the edge grid of the k-th indoor floor that is closest to the non-edge grid of the k-th indoor floor can be selected.

[0275] Such as Picture 11 As shown, selecting the indoor edge grid of the k-th layer closest to the non-edge grid of the indoor k-th layer can determine the indoor k-th layer according to the engineering parameter information of the antenna of the base station and using simulation calculation methods such as ray tracing. The signal strength information of the simulated cell of the non-edge grid of the layer, and the signal strength information of the simulated cell of the edge grid of the indoor k-th layer closest to the non-edge grid of the indoor layer.

[0276] Set the indoor simulated cell signal strength information of the k-th layer of non-edge grid in the signal strength of a cell and the simulation of the indoor edge grid of the k-th layer closest to the indoor non-edge grid The difference in the signal strength of the cell in the cell signal strength information is the fifth difference. Set the signal strength of a cell in the cell signal strength information of the non-edge grid of the k-th floor indoors and the cell signal of the edge grid of the k-th floor indoor closest to the non-edge grid of the k-th floor indoors The difference in the signal strength of the cell in the strength information is the sixth difference. According to the fifth difference and the sixth difference being equal, the signal strength of the cell in the cell signal strength information of the non-edge grid of the k-th layer in the room can be determined. Of course, it is also possible to set the fifth difference value and the sixth difference value to be not equal, but a certain empirical value to determine the signal strength of the cell in the cell signal strength information of the non-edge grid of the k-th layer indoors.

[0277] Similarly, you can refer to the simulated cell signal strength information or the cell information in the cell signal strength information of the indoor k-th layer edge grid where the distance from the indoor k-th non-edge grid is less than the third threshold, Or the cell information in the signal strength information of the simulated cell in the non-edge grid of the k-th layer in the room supplements the cell in the signal strength information of the non-edge grid cell in the k-th layer in the room, which is not provided in this embodiment of the present invention. limited. In addition, the indoor cell signal strength information of the edge grid of the k-th layer may come from indoor test data, or may be calculated according to a simulation algorithm or other embodiments of the present invention, which is not limited in the embodiment of the present invention.

[0278] Therefore, the method for determining the cell signal strength information of an indoor non-edge grid provided by the embodiment of the present invention determines that it is related to the indoor non-edge grid of the k-th floor according to the horizontal position information of the indoor non-edge grid. The indoor edge grid of the k-th layer corresponding to the grid is based on the cell signal strength information of the indoor edge grid of the k-th layer, so as to obtain the signal strength information of the non-edge grid of the k-th layer. Further achieve high-precision indoor 3D positioning.

[0279] The above described in detail the method of obtaining the cell signal strength information of the grid on each floor of the building. The horizontal position information, height information and cell signal strength information of the grid constitute the indoor 3D positioning matching information, and multiple positioning matching information sets Together, it can be called a matching feature library. From a more systematic point of view, the following describes the steps to determine the building's indoor matching feature library.

[0280] Based on 3D GIS, the vector outline information and height information of all buildings are extracted. Use building information extracted from 3D GIS to model buildings in 3D. The 3D model of the building is divided into floors. Each floor of each building indoors is divided into grids according to 3D GIS resolution or multiples of resolution. Use simulation tools to perform indoor simulation on the floors of the building, and obtain cell signal strength information corresponding to the grid on each floor through simulation. Thus, the simulation matching feature library of the grids of the floors of the building is obtained, and the simulation matching feature information of each grid includes the horizontal position information, height information, and cell signal strength information of the grid obtained through simulation.

[0281] As an example, Picture 12 A method 400 for determining a matching feature library in the building for the lower floors of the building is shown. For the lower floors of the building, the indoor signal strength value changes in accordance with a certain law, and this method is relatively simple and convenient. According to the main features of the method 400, the method 400 may also be referred to as a "floor penetration loss determination method". Method 400 includes:

[0282] S410: When selecting the outdoor grid of the first floor, select the edge grid of the indoor first floor to be 50-60 meters (within this distance, there is basically no obstruction by other buildings, DT data or terminal The attenuation law of the test data and the indoor grid data is relatively close, has similar signal characteristics, and the number of points is also enough, in line with the statistical characteristics in mathematics) to determine the indoor matching feature library.

[0283] S420: Process the outdoor grid data of the first layer. Considering that the measured value of the grid on the first floor of a single outdoor may have a large random error, so the first threshold around any grid on the first floor (the first threshold can take a different value, generally 10 meters is better, Because the DT points or terminal test data in the range of 10 meters have high characteristic correlation), the outdoor first layer grid data within the range is smoothed to obtain relatively stable and accurate measurement values ​​(signal strength of the same cell) For averaging).

[0284] S430. For the simulation matching feature information of the first layer of the indoor edge grid, only its horizontal position information is used, and a distance between the first layer of the outdoor grid and the to be determined indoor edge grid of the first layer is determined The nearest outdoor first floor grid. The signal strength of the same cell is replaced by the signal strength corresponding to the outdoor grid on the first floor after the wall penetration loss is corrected. For a cell that is only in the simulation matching feature library or only in the outdoor grid data of the first layer, query the antenna engineering parameter library to determine the proximity of the cell to the real geographic location of the set of the same cells obtained above. If there is a cell close to it, in a similar propagation environment, the cell should also be received by the indoor grid, so it is added to the matching feature information of the indoor grid, otherwise the cell is discarded.

[0285] S440: Determine the indoor first layer according to the matching feature information of the edge grid of the first layer indoors, the data of the outdoor first layer grid and the simulation matching feature information of the non-edge grid of the first layer indoors Matching feature information of non-edge grids. The specific method is the same as above Figure 5 The principle shown is consistent with the corresponding description, and will not be repeated here.

[0286] S450: After obtaining the matching feature information of the edge grid of the first layer indoors and the matching feature information of the non-edge grid according to the above steps, a matching feature library corresponding to all the grids of the first layer in the room can be obtained.

[0287] S460, the matching feature information of the edge grid of the nth floor indoors at the same horizontal position is determined by performing floor penetration loss on the signal strength of the cell of the edge grid of the first floor indoors (floor penetration loss may be desirable Different values, generally 3(n-1)dB is better).

[0288] S470: Determine the matching feature information of the non-edge grid of the nth layer indoors according to the matching feature information of the edge grid of the nth layer indoors and the data of the first layer grid of the outdoor. The specific method is consistent with the corresponding description above, and will not be repeated here.

[0289] S480: After obtaining the matching feature information of the edge grid of the nth layer indoors and the matching feature information of the non-edge grid according to the above steps, a matching feature library corresponding to all the grids of the nth layer in the room can be obtained.

[0290] S490: According to the above steps, the matching feature information of the grids of all floors in the room can be obtained, that is, the matching feature library in the room can be obtained.

[0291] As another example, Figure 13 It shows a method 500 for determining a matching feature library in the building for a higher floor of a building. For the higher floors of the building, the loss between floors causes the indoor signal strength value change trend to be no longer stable, and this method is more accurate. According to the main features of the method 500, the method 500 may also be referred to as the "outdoor virtual test point determination method". Method 500 includes:

[0292] The process of selecting the grid of the first layer outdoors and determining the matching feature information of the grid of the first layer indoors in S501 to S505 is similar to the process of S410 to S450 in the method 400, and will not be repeated here.

[0293] S506: Refer to the height of each floor in the room with reference to the space of the neighboring buildings at the periphery of the building, and use ray tracing 3D simulation to generate a simulation matching feature library, where the grid of each floor outdoors is at the level of the grid of the nth floor indoors The distance is 50-60 meters.

[0294] S507: Determine the matching feature information of the grid of each outdoor floor according to the test data of the grid on the first floor of the outdoor and the simulation matching feature information of each outdoor floor. The specific method is the same as above Figure 7 or Figure 8 The principle shown is consistent with the corresponding description, and will not be repeated here.

[0295] S508: Correct the matching feature information of the grid of the nth layer outdoors according to the wall penetration loss, and determine the matching feature information of the edge grid of the nth layer indoors. The specific method is consistent with the principle and corresponding description of determining the matching feature information of the edge grid of the first layer indoor by using the matching feature information of the first layer grid outdoor in S430, and will not be repeated here.

[0296] S509: Determine the indoor n-th layer according to the matching feature information of the n-th layer indoor edge grid and the data of the n-th layer outdoor grid and the simulation matching feature information of the n-th layer indoor non-edge grid. Matching feature information of non-edge grids. The specific method is consistent with the principle of S440 and the corresponding description, and will not be repeated here.

[0297] S510: After obtaining the matching feature information of the edge grid of the nth layer indoors and the matching feature information of the non-edge grid according to the above steps, a matching feature library corresponding to all the grids of the nth layer in the room can be obtained.

[0298] S511: According to the above steps, the matching feature information of the grids of all floors in the room can be obtained, that is, the matching feature library in the room can be obtained.

[0299] As another embodiment, Figure 14 It shows the method 600 for determining the indoor matching feature information of the building by using different methods for the lower floors and the higher floors of the building, so as to further improve the accuracy of the matching feature library. According to the main features of the method 600, the method 600 may also be referred to as a "hybrid determination method". Method 600 includes:

[0300] S610, the division of low and high floors. Set division rules to divide floors into low floors and high floors. For example, n≤N is low floors and n>N is high floors (N can take different values, generally 4 or 5).

[0301] S620, the lower floor uses the "floor penetration loss determination method" to obtain the matching feature database of the floor.

[0302] S630, the high floor uses the "outdoor virtual test point determination method" to obtain the matching feature library of the floor.

[0303] S640: Combine the matching feature libraries of low floors and high floors respectively corrected by the above two methods to form an overall matching feature library in the building.

[0304] The following takes a specific example to comprehensively describe the process of establishing the entire matching feature library and 3D feature matching and positioning. Such as Figure 15 As shown, the building information is extracted from the 3D GIS, the building is 3D modeled, the building is divided into floors according to the building information, and each floor is divided into grids, and then combined with the engineering parameters of the antenna 3D simulation of the building is carried out. So far, a 3D simulation matching feature library can be constructed, and these data can be directly used as the data of the 3D matching feature library for final 3D feature matching and positioning.

[0305] Obtain outdoor test data, merge the outdoor test data, and then screen and process the test data around the building. These test data are used to correct the information in the 3D simulation feature library, and indoor test data can also be used to correct the information in the 3D simulation feature library to form a 3D matching feature library for 3D feature matching and positioning.

[0306] When performing 3D positioning, the measurement report can be directly obtained from the terminal to be located, and the horizontal position and height of the terminal can be determined according to the information in the measurement report and the 3D matching feature library. It is also possible to perform 2D positioning of the terminal first with reference to the engineering parameters of the antenna according to the measurement report of the terminal. According to the positioning results, combined with 3D GIS information, the user can distinguish indoors and outdoors. After determining that the terminal is located indoors, the terminal is accurately positioned according to the indoor 3D matching feature library.

[0307] It should be understood that, in various embodiments of the present invention, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not correspond to the difference in the embodiments of the present invention. The implementation process constitutes any limitation.

[0308] Combine the above Figure 1 to Figure 15 , A detailed description of the indoor positioning method according to the embodiment of the present invention, the following will combine Figure 16 to Figure 18 , A detailed description of the indoor positioning device according to an embodiment of the present invention.

[0309] Figure 16 A schematic block diagram of an indoor positioning apparatus 700 according to an embodiment of the present invention is shown. Such as Figure 16 As shown, the indoor positioning device 700 includes:

[0310] The obtaining module 710 is configured to obtain current cell signal strength information of a terminal in the room;

[0311] The first determining module 720 is configured to determine the horizontal position information and height information of the indoor grid corresponding to the signal strength information of the current cell obtained by the obtaining module 710 according to the indoor three-dimensional 3D positioning matching information, wherein the indoor 3D positioning The matching information includes the correspondence between the cell signal strength information of the indoor grid and the horizontal position information and height information of the indoor grid;

[0312] The second determining module 730 is configured to determine the horizontal position of the terminal indoors according to the horizontal position information and height information of the indoor grid corresponding to the signal strength information of the current cell determined by the first determining module 720 And the height of the terminal, wherein the horizontal position information includes position information in a first direction and a second direction, and the first direction and the second direction are two directions perpendicular to each other in a horizontal plane.

[0313] Therefore, the indoor positioning device provided in the embodiment of the present invention determines the corresponding indoor grid by matching the current cell signal strength information of the terminal to be positioned indoors with the cell signal strength information in the indoor three-dimensional 3D positioning matching information. The horizontal position information and height information of the grid are determined to determine the horizontal position of the terminal indoors and the height of the terminal, so as to realize high-precision indoor 3D positioning.

[0314] Optionally, as an embodiment, such as Figure 17 As shown, the indoor positioning apparatus 700 may further include a third determining module 740 for determining cell signal strength information of the indoor grid, and the third determining module 740 includes:

[0315] The first determining unit 741 is configured to determine, according to the horizontal position information of the n-th indoor grid, the outdoor n-th grid corresponding to the indoor n-th grid, where n is greater than Or an integer equal to 1;

[0316] The first acquiring unit 742 is configured to acquire the cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid determined by the first determining unit 741;

[0317] The second determining unit 743 is configured to determine the indoor cell signal strength information of the outdoor n-th grid corresponding to the indoor n-th grid acquired by the first acquiring unit 742 Cell signal strength information of the n-layer grid.

[0318] Optionally, when the grid of the nth layer in the room is the edge grid of the nth layer in the room,

[0319] The first determining unit 741 is specifically configured to:

[0320] According to the horizontal position information of the edge grid of the nth layer indoors, determine the nth layer outdoor grid whose distance from the edge grid of the nth layer indoors is less than the first threshold. The distance is based on the horizontal position of the grid Information calculated;

[0321] The second determining unit 743 is specifically configured to:

[0322] Determine the indoor edge grid of the nth layer according to the cell signal strength information of the outdoor nth layer grid whose distance from the indoor edge grid of the nth layer is less than the first threshold and the loss relationship between the signal strength inside and outside the wall The signal strength information of the cell.

[0323] Optionally, when the indoor grid of the nth floor is a non-edge grid of the indoor nth floor,

[0324] The first determining unit 741 is specifically configured to:

[0325] Determine the indoor n-th floor edge grid corresponding to the indoor n-th floor non-edge grid in any direction in the horizontal position information;

[0326] Determine the first outdoor grid and the second outdoor grid, the first outdoor grid and the second outdoor grid are both outdoor grids of the nth floor, where the first outdoor grid and the second outdoor grid are opposite The positional relationship is consistent with the relative positional relationship between the indoor n-th floor edge grid corresponding to the indoor n-th floor non-edge grid and the indoor n-th floor non-edge grid, and the first outdoor grid The environmental relevance of is consistent with the environmental relevance of the n-th indoor edge grid corresponding to the indoor n-th non-edge grid; where the relative positions of the first outdoor grid and the second outdoor grid The relationship is calculated based on the horizontal position information of the first outdoor grid and the horizontal position information of the second outdoor grid; the edge grid of the nth indoor layer corresponding to the non-edge grid of the nth indoor layer and The relative positional relationship of the non-edge grids of the nth floor indoors is based on the horizontal position information of the edge grids of the nth floor indoors corresponding to the non-edge grids of the nth floor indoors and the nth floor of the room The horizontal position information of the non-edge grid is calculated;

[0327] The second determining unit 743 is specifically configured to:

[0328] According to the cell signal strength information of the first outdoor grid, the cell signal strength information of the second outdoor grid, and the cell signal of the edge grid of the nth floor indoor corresponding to the non-edge grid of the nth floor indoors Strength information, to determine the cell signal strength information of the non-edge grid of the nth layer indoors.

[0329] The environmental correlation of the first outdoor grid includes the relative positional relationship between the first outdoor grid and the antenna of the base station; the environment of the n-th indoor edge grid corresponding to the indoor n-th non-edge grid The correlation degree includes the relative positional relationship between the edge grid of the nth layer in the room and the antenna of the base station corresponding to the non-edge grid of the nth layer in the room.

[0330] The relative position relationship between the first outdoor grid and the antenna of the base station is calculated based on the horizontal position information and height information of the first outdoor grid and the horizontal position information and height information of the antenna of the base station; the non-edge indoor nth layer The relative positional relationship between the edge grid of the nth layer in the room and the antenna of the base station corresponding to the grid is based on the horizontal position information of the edge grid of the nth layer in the room corresponding to the non-edge grid of the nth layer in the room. , Height information and the horizontal position information and height information of the base station antenna.

[0331] Optionally, when n is greater than 1, the first acquiring unit 742 is specifically configured to:

[0332] According to the engineering parameter information of the antenna of the base station, the simulation calculation of the simulated cell signal strength information of the outdoor nth layer grid corresponding to the indoor nth layer grid and the simulation of the outdoor first layer grid Cell signal strength information, where the horizontal position information of the outdoor grid on the first layer is consistent with the horizontal position information of the outdoor grid on the nth floor corresponding to the indoor grid on the nth floor;

[0333] According to the signal strength information of the simulated cell of the outdoor grid of the nth layer corresponding to the indoor grid of the nth layer, the signal strength information of the simulated cell of the outdoor grid of the first layer, and the outdoor grid of the first layer The cell signal strength information of the grid determines the cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid.

[0334] Optionally, when n is greater than 1, the first acquiring unit 742 is specifically configured to:

[0335] According to the engineering parameter information of the antenna of the base station, the signal strength information of the simulated cell of the outdoor grid of the n-1th layer and the signal strength information of the simulated cell of the outdoor grid of the nth layer are determined through simulation calculation. Both the n-1 layer grid and the outdoor nth layer grid correspond to the outdoor n-1 layer grid corresponding to the indoor n-1 layer grid in the first direction and the second The position information of the direction is the same. The height of the grid on the n-1th floor outdoors is equal to the height of the grid on the n-1th floor indoors. The height of the grid on the nth floor outdoors is the same as that of the indoor nth floor. The heights of the grids are equal;

[0336] Determine outdoor cell signal strength information of the n-1th layer grid;

[0337] Determine according to the signal strength information of the simulated cell of the outdoor n-1 layer grid, the signal strength information of the simulated cell of the outdoor n layer grid, and the cell signal strength information of the outdoor n-1 layer grid Outdoor cell signal strength information of the nth layer grid.

[0338] Optionally, when n is equal to 1, the first acquiring unit 742 is specifically configured to:

[0339] Acquire the test data of the outdoor first floor grid corresponding to the indoor first floor grid, and the test data includes the level of the outdoor first floor grid corresponding to the indoor first floor grid Location information and cell signal strength information;

[0340] According to the change law of cell signal strength attenuation with distance, the error data in the test data is deleted. Among them, the cell signal strength attenuation change law with distance is based on the cell signal strength information of multiple outdoor first-layer grids and Obtained from the horizontal position information of the grids on the first floor of multiple outdoor locations;

[0341] It is determined that the cell signal strength information in the test data after the error data is deleted is the cell signal strength information of the outdoor first layer grid corresponding to the indoor first layer grid.

[0342] Optionally, after the first acquiring unit 742 deletes the error data in the test data according to the change rule of the attenuation of the cell signal strength with distance, the first acquiring unit 742 is further configured to:

[0343] Based on the cell signal strength information of a plurality of outdoor first-tier grids corresponding to the indoor first-tier grid whose distance is less than the second threshold, the error data is deleted The cell signal strength information in the subsequent test data is smoothed;

[0344] The first acquiring unit 742 determines that the cell signal strength information in the test data after the error data is deleted is the cell signal strength information of the outdoor layer 1 grid corresponding to the indoor layer 1 grid, including:

[0345] It is determined that the smoothed cell signal strength information in the test data after the error data is deleted is the cell signal strength information of the outdoor first layer grid corresponding to the indoor first layer grid.

[0346] Therefore, the module for determining the cell signal strength information of the indoor grid provided by the embodiment of the present invention determines the outdoor grid corresponding to the nth indoor grid according to the horizontal position information of the indoor nth grid The cell signal strength information of the nth layer of the indoor grid can be determined by obtaining the cell signal strength information of the corresponding outdoor nth layer of the grid, which can obtain high accuracy The indoor cell signal strength information, so that the indoor positioning device can further realize high-precision indoor 3D positioning.

[0347] Optionally, as another embodiment, such as Figure 18 As shown, the indoor positioning apparatus 700 may further include a fourth determining module 750 for determining cell signal strength information of the indoor grid, and the fourth determining module 750 includes:

[0348] The third determining unit 751 is configured to determine the m-th indoor grid corresponding to the p-th indoor grid or the m-th outdoor grid corresponding to the indoor p-th grid according to the horizontal position information of the indoor p-th grid Grid

[0349] The second acquiring unit 752 is configured to acquire the indoor m-th layer grid or the outdoor m-th layer grid cell corresponding to the indoor p-th layer grid determined by the third determining unit 751 Signal strength information

[0350] The fourth determining unit 753 is configured to obtain the indoor m-th layer grid or the outdoor m-th layer grid cell corresponding to the indoor p-th layer grid acquired by the second acquiring unit 752 The signal strength information determines the cell signal strength information of the p-th layer grid in the room, where p is an integer greater than 1, m is a positive integer less than p, the height of the first layer is the ground height, and the p-th The height of the layer is higher than the height of the ground.

[0351] Optionally, when the grid of the p-th layer in the room is an edge grid of the p-th layer in the room,

[0352] The third determining unit 751 is specifically configured to:

[0353] Determine the edge grid of the first floor in the room corresponding to the edge grid of the p-th floor in the room, where the edge grid of the first floor in the room corresponding to the edge grid of the p-th floor in the room The horizontal position information of the grid is consistent with the horizontal position information of the p-th layer grid in the room;

[0354] The fourth determining unit 753 is specifically configured to:

[0355] Determine the indoor edge grid of the p-th floor according to the cell signal strength information of the edge grid of the indoor first floor corresponding to the edge grid of the p-th floor in the room and the loss relationship between the signal strengths between floors The signal strength information of the cell.

[0356] Optionally, when the grid of the p-th layer in the room is a non-edge grid of the p-th layer in the room,

[0357] The third determining unit 751 is specifically configured to:

[0358] Determine the indoor p-th layer edge grid corresponding to the indoor p-th layer non-edge grid in any direction in the horizontal position information;

[0359] Determine the first outdoor grid and the second outdoor grid, the first outdoor grid and the second outdoor grid are both outdoor grids on the first floor, where the first outdoor grid and the second outdoor grid The relative positional relationship of the grid is consistent with the relative positional relationship between the p-th layer's edge grid in the room and the p-th layer non-edge grid in the room corresponding to the p-th layer's non-edge grid in the room , And the environmental correlation of the first outdoor grid is consistent with the environmental correlation of the indoor p-th layer edge grid corresponding to the indoor p-th layer non-edge grid; wherein, the first outdoor The relative positional relationship between the grid and the second outdoor grid is calculated according to the horizontal position information of the first outdoor grid and the horizontal position information of the second outdoor grid; The relative positional relationship between the edge grid of the p-th layer in the room and the non-edge grid of the p-th layer in the room corresponding to the edge grid is based on the corresponding position of the non-edge grid of the p-th layer in the room. The horizontal position information of the edge grid of the indoor p-th layer and the horizontal position information of the non-edge grid of the p-th indoor layer are calculated;

[0360] The fourth determining unit 753 is specifically configured to:

[0361] According to the cell signal strength information of the first outdoor grid, the cell signal strength information of the second outdoor grid, and the indoor p-th layer edge grid corresponding to the indoor p-th layer non-edge grid The signal strength information of the cell to determine the cell signal strength information of the non-edge grid of the p-th layer in the room.

[0362] Wherein, the environmental correlation of the first outdoor grid includes the relative positional relationship between the first outdoor grid and the antenna of the base station; the indoor p-th layer corresponding to the indoor p-th non-edge grid The environmental correlation degree of the edge grid includes the relative position relationship between the indoor p-th layer edge grid corresponding to the indoor p-th layer non-edge grid and the antenna of the base station.

[0363] The relative positional relationship between the first outdoor grid and the antenna of the base station is calculated based on the horizontal position information and height information of the first outdoor grid and the horizontal position information and height information of the antenna of the base station; the p-th indoor layer The relative positional relationship between the indoor p-th layer edge grid and the base station antenna corresponding to the non-edge grid is based on the indoor p-th layer edge corresponding to the indoor p-th layer non-edge grid The horizontal position information and height information of the grid and the horizontal position information and height information of the base station antenna are calculated.

[0364] Preferably, m is equal to 1, that is, the fourth determining module 750 is based on the cell signal strength information of the indoor first layer grid or the outdoor first layer grid corresponding to the indoor p-th layer grid, Determine the cell signal strength information of the p-th layer grid in the room.

[0365] Optionally, as yet another embodiment, the apparatus 700 may further include a fifth determining module for determining cell signal strength information of non-edge grids in indoor grids, and the fifth determining module includes:

[0366] The fifth determining unit is used to determine the edge of the indoor k-th layer whose distance to the non-edge grid of the k-th layer in the room is less than the third threshold according to the horizontal position information of the non-edge grid of the k-th layer in the room Grid, the distance is calculated according to the horizontal position information of the grid, where k is an integer greater than or equal to 1;

[0367] The third acquiring unit is configured to acquire the cell signal strength information of the indoor edge grid of the kth layer whose distance from the non-edge grid of the kth layer in the room is less than the third threshold determined by the fifth determining unit;

[0368] The sixth determining unit is used to determine, by simulation calculation, the distance from the non-edge grid of the kth layer in the room is less than the third threshold according to the engineering parameter information of the antenna of the base station. The signal strength information of the simulated cell and the signal strength information of the simulated cell of the non-edge grid of the k-th layer in the room;

[0369] The seventh determining unit is configured to determine the signal strength information of the simulated cell of the indoor edge grid of the kth layer whose distance from the non-edge grid of the kth layer in the room is less than the third threshold value determined by the sixth determining unit , The signal strength information of the simulated cell of the non-edge grid of the kth layer in the room and the indoor kth layer whose distance from the non-edge grid of the kth layer in the room obtained by the third acquisition unit is less than the third threshold The cell signal strength information of the edge grid of the layer determines the cell signal strength information of the non-edge grid of the k-th layer in the room.

[0370] Therefore, the module for determining the cell signal strength information of the indoor grid provided by the embodiment of the present invention determines the outdoor grid corresponding to the nth indoor grid according to the horizontal position information of the indoor nth grid The first layer of the grid or the indoor first layer of the grid, through the acquisition of the corresponding outdoor first layer grid or indoor first layer of the grid cell signal strength information can determine the indoor The cell signal strength information of the grid of the nth layer can obtain high-accuracy indoor cell signal strength information, so that the indoor positioning device can further realize high-precision indoor 3D positioning.

[0371] It should be understood that, in the embodiment of the present invention, the indoor positioning apparatus 700 according to the embodiment of the present invention may correspond to the execution subject of the method according to the embodiment of the present invention, and the above and other operations of each module in the indoor positioning apparatus 700 And/or functions respectively in order to achieve Figure 1 to Figure 15 For the sake of brevity, the corresponding process of each method in the method will not be repeated here.

[0372] Therefore, the indoor positioning device provided in the embodiment of the present invention determines the corresponding indoor grid by matching the current cell signal strength information of the terminal to be positioned indoors with the cell signal strength information in the indoor three-dimensional 3D positioning matching information. According to the horizontal position information and height information of the grid, the horizontal position of the terminal and the height of the terminal are determined indoors, and high-precision indoor 3D positioning can be realized.

[0373] Such as Figure 19 As shown, the embodiment of the present invention also provides an indoor positioning device 800, which is characterized in that the device 800 includes a processor 810, a memory 820, a transceiver 830 and a bus device 840, a processor 810, a memory 820, and a transceiver. The 830 is connected through a bus device 840, the memory 820 is used to store instructions, and the processor 810 is used to execute instructions stored in the memory 820. The transceiver 830 is used to:

[0374] Acquiring current cell signal strength information of a terminal located indoors;

[0375] The processor 810 is used to:

[0376] According to the indoor three-dimensional 3D positioning matching information, determine the horizontal position information and height information of the indoor grid corresponding to the signal strength information of the current cell. The indoor 3D positioning matching information includes the cell signal strength information of the indoor grid and the indoor cell signal strength information. The corresponding relationship between the horizontal position information and the height information of the grid;

[0377] According to the horizontal position information and height information of the indoor grid corresponding to the signal strength information of the current cell, determine the horizontal position of the terminal in the room and the height of the terminal, wherein the horizontal position information includes the first The position information of the direction and the second direction, where the first direction and the second direction are two directions perpendicular to each other in a horizontal plane.

[0378] Therefore, the indoor positioning device provided in the embodiment of the present invention determines the corresponding indoor grid by matching the current cell signal strength information of the terminal to be positioned indoors with the cell signal strength information in the indoor three-dimensional 3D positioning matching information. The grid and its horizontal position information and height information are used to determine the horizontal position of the terminal indoors and the height of the terminal, which can realize high-precision indoor 3D positioning.

[0379] It should be understood that, in the embodiment of the present invention, the processor 810 may be a central processing unit (Central Processing Unit, CPU), and the processor 810 may also be other general-purpose processors, digital signal processors (DSP), or application specific integrated circuits ( ASIC), ready-made programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

[0380] The memory 820 may include a read-only memory and a random access memory, and provides instructions and data to the processor 1010. A part of the memory 820 may also include a non-volatile random access memory. For example, the memory 820 may also store device type information.

[0381] In addition to the data bus, the bus system 840 may also include a power bus, a control bus, and a status signal bus. However, for clear description, various buses are marked as the bus system 840 in the figure.

[0382] In the implementation process, the steps of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 810 or instructions in the form of software. The steps of the method disclosed in the embodiments of the present invention may be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers. The storage medium is located in the memory 820, and the processor 810 reads information in the memory 820, and completes the steps of the foregoing method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0383] Optionally, as an embodiment, the processor 810 is further configured to determine cell signal strength information of an indoor grid, and is specifically configured to perform the following steps:

[0384] According to the horizontal position information of the indoor nth layer grid, determine the outdoor nth layer grid corresponding to the indoor nth layer grid, where n is an integer greater than or equal to 1;

[0385] Acquiring cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid;

[0386] According to the cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid, the cell signal strength information of the n-th layer grid in the room is determined.

[0387] Optionally, when the indoor n-th floor grid is an indoor n-th floor edge grid, the processor 810 determines the indoor n-th floor grid according to the horizontal position information of the indoor n-th floor grid. The outdoor n-th layer grid corresponding to the grid can include:

[0388] According to the horizontal position information of the edge grid of the nth layer indoors, determine the nth layer outdoor grid whose distance from the edge grid of the nth layer indoors is less than the first threshold. The distance is based on the horizontal position of the grid Information calculated;

[0389] The processor 810 determines the cell signal strength information of the indoor nth layer grid according to the cell signal strength information of the outdoor nth layer grid corresponding to the indoor nth layer grid, which may include:

[0390] Determine the indoor edge grid of the nth layer according to the cell signal strength information of the outdoor nth layer grid whose distance from the indoor edge grid of the nth layer is less than the first threshold and the loss relationship between the signal strength inside and outside the wall The signal strength information of the cell.

[0391] Optionally, when the indoor n-th layer grid is an indoor n-th layer non-edge grid, the processor 810 determines the indoor n-th layer grid according to the horizontal position information of the indoor n-th layer grid. The outdoor n-th layer grid corresponding to the grid can include:

[0392] Determine the indoor n-th floor edge grid corresponding to the indoor n-th floor non-edge grid in any direction in the horizontal position information;

[0393] Determine the first outdoor grid and the second outdoor grid, the first outdoor grid and the second outdoor grid are both outdoor grids of the nth floor, where the first outdoor grid and the second outdoor grid are opposite The positional relationship is consistent with the relative positional relationship between the indoor n-th floor edge grid corresponding to the indoor n-th floor non-edge grid and the indoor n-th floor non-edge grid, and the first outdoor grid The environmental relevance of is consistent with the environmental relevance of the n-th indoor edge grid corresponding to the indoor n-th non-edge grid; where the relative positions of the first outdoor grid and the second outdoor grid The relationship is calculated based on the horizontal position information of the first outdoor grid and the horizontal position information of the second outdoor grid; the edge grid of the nth indoor layer corresponding to the non-edge grid of the nth indoor layer and The relative positional relationship of the non-edge grids of the nth floor indoors is based on the horizontal position information of the edge grids of the nth floor indoors corresponding to the non-edge grids of the nth floor indoors and the nth floor of the room The horizontal position information of the non-edge grid is calculated;

[0394] The processor 810 determines the cell signal strength information of the indoor nth layer grid according to the cell signal strength information of the outdoor nth layer grid corresponding to the indoor nth layer grid, which may include:

[0395] According to the cell signal strength information of the first outdoor grid, the cell signal strength information of the second outdoor grid, and the cell signal of the edge grid of the nth floor indoor corresponding to the non-edge grid of the nth floor indoors Strength information, to determine the cell signal strength information of the non-edge grid of the nth layer indoors.

[0396] Optionally, the environmental correlation of the first outdoor grid includes the relative positional relationship between the first outdoor grid and the antenna of the base station; an indoor n-th layer edge grid corresponding to an indoor n-th non-edge grid The environmental relevance of the grid includes the relative positional relationship between the edge grid of the nth layer in the room and the antenna of the base station corresponding to the non-edge grid of the nth layer in the room.

[0397] Optionally, the relative position relationship between the first outdoor grid and the antenna of the base station is calculated according to the horizontal position information and height information of the first outdoor grid and the horizontal position information and height information of the antenna of the base station; the nth indoor The relative positional relationship between the indoor edge grid of the nth floor corresponding to the non-edge grid of the floor and the antenna of the base station is based on the indoor edge grid of the nth floor corresponding to the non-edge grid of the indoor nth floor The horizontal position information and height information of the base station and the horizontal position information and height information of the base station antenna are calculated.

[0398] Optionally, when n is greater than 1, the processor 810 obtains cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid, which may include:

[0399] According to the engineering parameter information of the antenna of the base station, the simulation calculation of the simulated cell signal strength information of the outdoor nth layer grid corresponding to the indoor nth layer grid and the simulation of the outdoor first layer grid Cell signal strength information, where the horizontal position information of the outdoor grid on the first layer is consistent with the horizontal position information of the outdoor grid on the nth floor corresponding to the indoor grid on the nth floor;

[0400] According to the signal strength information of the simulated cell of the outdoor grid of the nth layer corresponding to the indoor grid of the nth layer, the signal strength information of the simulated cell of the outdoor grid of the first layer, and the outdoor grid of the first layer The cell signal strength information of the grid determines the cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid.

[0401] Optionally, when n is greater than 1, the processor 810 obtains cell signal strength information of the outdoor n-th layer grid corresponding to the indoor n-th layer grid, which may include:

[0402] According to the engineering parameter information of the antenna of the base station, the signal strength information of the simulated cell of the outdoor grid of the n-1th layer and the signal strength information of the simulated cell of the outdoor grid of the nth layer are determined through simulation calculation. Both the n-1 layer grid and the outdoor nth layer grid correspond to the outdoor n-1 layer grid corresponding to the indoor n-1 layer grid in the first direction and the second The position information of the direction is the same. The height of the grid on the n-1th floor outdoors is equal to the height of the grid on the n-1th floor indoors. The height of the grid on the nth floor outdoors is the same as that of the indoor nth floor. The heights of the grids are equal;

[0403] Determine outdoor cell signal strength information of the n-1th layer grid;

[0404] Determine according to the signal strength information of the simulated cell of the outdoor n-1 layer grid, the signal strength information of the simulated cell of the outdoor n layer grid, and the cell signal strength information of the outdoor n-1 layer grid Outdoor cell signal strength information of the nth layer grid.

[0405] Optionally, when n is equal to 1, the processor 810 obtains cell signal strength information of the outdoor n-th grid corresponding to the indoor n-th grid, which may include:

[0406] Acquire the test data of the outdoor first floor grid corresponding to the indoor first floor grid, and the test data includes the level of the outdoor first floor grid corresponding to the indoor first floor grid Location information and cell signal strength information;

[0407] According to the change law of cell signal strength attenuation with distance, the error data in the test data is deleted. Among them, the cell signal strength attenuation change law with distance is based on the cell signal strength information of multiple outdoor first-layer grids and Obtained from the horizontal position information of the grids on the first floor of multiple outdoor locations;

[0408] It is determined that the cell signal strength information in the test data after the error data is deleted is the cell signal strength information of the outdoor first layer grid corresponding to the indoor first layer grid.

[0409] Optionally, after the processor 810 deletes the error data in the test data according to the change rule of the attenuation of the cell signal strength with the distance, it may also be used to:

[0410] Based on the cell signal strength information of a plurality of outdoor first-tier grids corresponding to the indoor first-tier grid whose distance is less than the second threshold, the error data is deleted The cell signal strength information in the subsequent test data is smoothed;

[0411] The processor 810 determines that the cell signal strength information in the test data after the error data is deleted is the cell signal strength information of the outdoor layer 1 grid corresponding to the indoor layer 1 grid, which may include:

[0412] It is determined that the smoothed cell signal strength information in the test data after the error data is deleted is the cell signal strength information of the outdoor first layer grid corresponding to the indoor first layer grid.

[0413] Optionally, as another embodiment, the processor 810 is further configured to determine cell signal strength information of an indoor grid, and is specifically configured to perform the following steps:

[0414] According to the horizontal position information of the indoor p-th layer grid, determine the indoor m-th layer grid corresponding to the indoor p-th layer grid or the outdoor m-th layer grid

[0415] Acquiring cell signal strength information of an indoor m-th grid or an outdoor m-th grid corresponding to the indoor p-th grid;

[0416] Determine the cell signal of the indoor p-th layer grid according to the cell signal strength information of the indoor m-th layer grid or the outdoor m-th layer grid corresponding to the indoor p-th layer grid Strength information, where p is an integer greater than 1, m is a positive integer less than p, the height of the first layer is the height of the ground, and the height of the p-th layer is higher than the height of the ground.

[0417] Optionally, when the indoor p-th layer grid is an indoor edge grid of the p-th layer, the processor 810 determines that it is related to the indoor p-th layer grid according to the horizontal position information of the indoor p-th layer grid. The indoor grid on the first floor or the outdoor grid on the first floor corresponding to the grid can include:

[0418] Determine the edge grid of the first floor in the room corresponding to the edge grid of the p-th floor in the room, where the edge grid of the first floor in the room corresponding to the edge grid of the p-th floor in the room The horizontal position information of the grid is consistent with the horizontal position information of the p-th layer grid in the room;

[0419] The processor 810 determines the indoor first-layer grid based on the cell signal strength information of the indoor first-layer grid or the outdoor first-layer grid corresponding to the indoor p-th grid The cell signal strength information of the grid can include:

[0420] Determine the indoor edge grid of the p-th floor according to the cell signal strength information of the edge grid of the indoor first floor corresponding to the edge grid of the p-th floor in the room and the loss relationship between the signal strengths between floors The signal strength information of the cell.

[0421] Optionally, when the indoor p-th layer grid is a non-edge grid of the indoor p-th layer, the processor 810 determines the difference with the indoor p-th layer grid according to the horizontal position information of the indoor p-th layer grid. The indoor first floor grid or outdoor first floor grid corresponding to the p-layer grid can include:

[0422] Determining the indoor p-th layer edge grid corresponding to the indoor p-th layer non-edge grid in any direction in the horizontal position information;

[0423] Determine the first outdoor grid and the second outdoor grid, the first outdoor grid and the second outdoor grid are both outdoor grids on the first floor, wherein the first outdoor grid and the The relative positional relationship of the second outdoor grid and the non-edge grid of the p-th indoor layer corresponding to the non-edge grid of the p-th indoor layer and the non-edge of the p-th indoor layer The relative positional relationship of the grids is consistent, and the environmental correlation of the first outdoor grid is the environment of the p-th indoor edge grid corresponding to the p-th indoor non-edge grid The correlation is consistent; wherein the relative positional relationship between the first outdoor grid and the second outdoor grid is based on the horizontal position information of the first outdoor grid and the horizontal position information of the second outdoor grid Calculated; the relative positional relationship between the indoor p-th layer edge grid and the indoor p-th layer non-edge grid corresponding to the indoor p-th layer non-edge grid Is based on the horizontal position information of the edge grid of the p-th layer in the room corresponding to the non-edge grid of the p-th layer in the room and the horizontal position information of the non-edge grid of the p-th layer in the room Calculated

[0424] The processor 810 determines the indoor p-th layer grid cell signal strength information corresponding to the indoor p-th layer grid or outdoor cell signal strength information of the first layer grid The cell signal strength information of the grid can include:

[0425] According to the cell signal strength information of the first outdoor grid, the cell signal strength information of the second outdoor grid, and the indoor p-th layer corresponding to the indoor p-th non-edge grid The cell signal strength information of the edge grid of, and the cell signal strength information of the non-edge grid of the p-th layer in the room is determined.

[0426] Optionally, the environmental relevance of the first outdoor grid includes the relative positional relationship between the first outdoor grid and the antenna of the base station; the said first outdoor grid corresponding to the non-edge grid of the indoor p-th layer The environmental correlation of the indoor p-th layer edge grid includes the difference between the indoor p-th layer edge grid and the base station antenna corresponding to the indoor p-th layer non-edge grid. Relative position relationship.

[0427] Optionally, the relative position relationship between the first outdoor grid and the antenna of the base station is calculated based on the horizontal position information and height information of the first outdoor grid and the horizontal position information and height information of the antenna of the base station; The relative positional relationship between the indoor p-th layer edge grid and the base station antenna corresponding to the indoor p-th layer non-edge grid is based on the corresponding indoor p-th layer non-edge grid The horizontal position information and height information of the edge grid of the p-th layer in the room and the horizontal position information and height information of the antenna of the base station are calculated.

[0428] Optionally, as yet another embodiment, the processor 810 is further configured to determine cell signal strength information of non-edge grids in indoor grids, and the specific steps include:

[0429] According to the horizontal position information of the non-edge grid of the k-th indoor, the distance from the non-edge grid of the k-th indoor is determined to be less than the third threshold. The distance is based on The horizontal position information of the grid is calculated, where k is an integer greater than or equal to 1;

[0430] Acquiring cell signal strength information of the indoor edge grid of the kth layer whose distance from the non-edge grid of the kth layer in the room is less than the third threshold;

[0431] According to the engineering parameter information of the antenna of the base station, it is determined through simulation calculation that the distance from the non-edge grid of the k-th layer in the room is less than the third threshold, and the signal strength information of the simulated cell of the edge grid of the k-th layer in the room and the The signal strength information of the simulated cell of the non-edge grid of the kth layer indoors;

[0432] According to the simulation cell signal strength information of the indoor k-th layer edge grid whose distance from the indoor non-edge grid of the kth layer is less than the third threshold, the simulation of the indoor kth layer non-edge grid The cell signal strength information and the cell signal strength information of the indoor edge grid of the kth layer whose distance from the non-edge grid of the kth layer in the room is less than the third threshold is used to determine the non-edge cell of the kth layer in the room The cell signal strength information of the grid.

[0433] It should be understood that, in the embodiment of the present invention, the indoor positioning apparatus 800 according to the embodiment of the present invention may correspond to the execution subject of the method according to the embodiment of the present invention, and may also correspond to the indoor positioning apparatus 700, and the apparatus 800 The above and other operations and/or functions of each module in Figure 1 to Figure 15 For the sake of brevity, the corresponding process of each method in the method will not be repeated here.

[0434] Therefore, the indoor positioning device provided in the embodiment of the present invention determines the corresponding indoor grid by matching the current cell signal strength information of the terminal to be positioned indoors with the cell signal strength information in the indoor three-dimensional 3D positioning matching information. According to the horizontal position information and height information of the grid, the horizontal position of the terminal and the height of the terminal are determined indoors, and high-precision indoor 3D positioning can be realized.

[0435] The indoor positioning device provided in the embodiment of the present invention may be deployed in a base station in the form of a functional module, or may be a separate positioning server, which is not limited in the embodiment of the present invention.

[0436] Picture 20 It is a schematic structural diagram of a base station with indoor positioning function in an embodiment of the present invention, such as Picture 20 As shown, Picture 20 A specific embodiment of a base station is shown. In this embodiment, the base station 900 includes a transmitting circuit 910, a receiving circuit 920, a processor 930, a memory 940, an encoding processor 950, a decoding processor 960, an antenna 970, and a bus system. 980. The processor 930 controls the operation of the base station 900, which may include one or more modules for positioning. The memory 940 may include a read-only memory and a random access memory, and provides instructions and data to the processor 930. A part of the memory 940 may further include a non-volatile random access memory (NVRAM). Specifically, in the embodiment of the present invention, the memory 940 may be used to store indoor positioning matching information.

[0437] In a specific application, the base station 900 may include a carrier accommodating the transmitting circuit 910 and the receiving circuit 920 to allow data transmission and reception between the base station 900 and a remote location. The transmitting circuit 910 and the receiving circuit 920 may be coupled to the antenna 970. The components of the base station 900 are coupled together through a bus system 980, where the bus system 980 includes a power bus, a control bus, and a status signal bus in addition to a data bus. However, for clear description, various buses are marked as the bus system 980 in the figure. The base station 900 may further include an encoding processor 950 and a decoding processor 960, which are used to encode and decode transmitted or received signals.

[0438] The method disclosed in the foregoing embodiment of the present invention may be applied to the processor 930, or implemented by the processor 930, and the indoor positioning apparatus in the foregoing embodiment of the present invention may be specifically the foregoing Picture 20 The base station shown is implemented. The processor 930 may be an integrated circuit chip, which has command and data execution capabilities and signal processing capabilities. In the implementation process, the steps of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 930 or instructions in the form of software. The above-mentioned processor may be a general-purpose processor (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, Discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like. The steps of the method disclosed in the embodiments of the present invention may be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers. The storage medium is located in the memory 940, and the processor reads the information in the memory 940, and completes the steps of the foregoing method in combination with its hardware.

[0439] It should be understood that in the schematic diagrams of the embodiments of the present invention, one or three base stations are schematically listed. For a building, there may be one or more base stations that can cover it, and there may even be buildings that the base station cannot cover, which is not limited in the embodiment of the present invention.

[0440] It should be understood that in each embodiment of the present invention, the size of the sequence number of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not be used for the implementation of the embodiments of the present invention. The process constitutes any limitation.

[0441] In addition, the term "and/or" in this article is only an association relationship describing associated objects, which means that there can be three relationships. For example, A and/or B can mean that there is A alone, and both A and B exist. There are three cases of B alone. In addition, the character "/" in this text generally indicates that the associated objects before and after are in an "or" relationship.

[0442] Those of ordinary skill in the art may realize that the units and algorithm steps of the examples described in the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two, in order to clearly illustrate the hardware and software Interchangeability. In the above description, the composition and steps of each example have been generally described in accordance with the function. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the present invention.

[0443] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working process of the above-described system, device, and unit can refer to the corresponding process in the foregoing method embodiment, which is not repeated here.

[0444] In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or integrated. To another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.

[0445] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments of the present invention.

[0446] In addition, the functional units in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be realized in the form of hardware or software functional unit.

[0447] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium. Among them, several instructions are included to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods in the various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

[0448] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or modifications within the technical scope disclosed in the present invention. Replacement, these modifications or replacements should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.