Terminal equipment indoor positioning method integrating multiple sensors

Abstract

The invention provides a terminal equipment indoor positioning method integrating multiple sensors, and aims to solve the problem that an indoor positioning method which is high in precision, high instability, low in cost and convenient does not exist in the prior art.Through a sensor of an intelligent device terminal and an indoor positioning technology based on a wireless local area network, asensor and wireless local area network positioning-based combined method is provided, the phenomenon of positioning result distortion caused by signal disturbance in a K value nearest neighbor algorithm is effectively suppressed, the indoor positioning method has remarkable innovativeness and outstanding advantages, data analysis and fusion are performed by adopting Karman filtering, and the method has the advantages of being high in fault tolerance, high in intelligent degree, high in real-time dynamics, high in positioning speed, high in positioning precision and the like, facilitates real realization of indoor and outdoor seamless positioning butt joint, and has a very high utilization value in practical application.

Description

technical field [0001] The invention relates to an indoor positioning method for a terminal, in particular to an indoor positioning method for a terminal device based on fusion of various sensors, and belongs to the technical field of indoor positioning methods. Background technique [0002] At present, the information revolution represented by the Internet and IT technology is spreading rapidly all over the world, and mankind has entered the information age. Information affects all aspects of social life, and location information is a crucial item of information. Since GPS was put into use in the 1980s, GNSS technology has advanced by leaps and bounds. At present, a very complete outdoor positioning system has been formed, which can basically meet people's various outdoor positioning needs. However, because GNSS positioning relies on satellite signals, and in indoor environments, GNSS signals are severely interfered or shielded, and cannot be used for precise positioning a...

AI Technical Summary

Problems solved by technology

[0008] Second, there is no indoor positioning method that can meet the requirements of high precision, high stability, and low cost and convenience in the existing technology. The combination method, the efficiency and accuracy of the existing technology are poor, lack of high-precision, stable and convenient indoor positioning technology, can not truly realize the seamless positioning docking of indoor and outdoor, and the use value in practical applications is not high;

[0009] Third, in the prior art indoor positioning method of WLAN fingerprint matching, due to the disturbance of the wireless network signal, the indoor wireless network signal distribution has been different from the signal distribution when the database was built, even if the K nearest fingerprint points are determined It cannot be ruled out that the coordinates of some of the K fingerprint points are too different from the actual coordinates. This situation will cause distortion of the positioning results and seriously affect the positioning accuracy. It cannot meet the needs of the industry and has interactive performance. Weak, low degree of intelligence, slow positioning speed, low positioning accuracy and other defects;

[0010] Fourth, the application scenario of indoor positioning determines that users cannot wait for a long time to obtain positioning results. The positioning process is destined to be real-time and dynamic. When the device terminal is in motion, the wireless LAN signal is more likely to be interfered by environmental changes. The existing technology simply uses wireless local area network positioning to update the position in real time, and the effect of real-time update of the position is not ideal. Different error sources of different positioning methods are not used, and data analysis and fusion are performed to reduce part of the error. Low, slow positioning speed, low positioning accuracy

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