Indoor positioning method, device and system

Abstract

The present disclosure relates to indoor positioning methods, devices and systems. The indoor positioning method includes: obtaining inertial navigation data of a first terminal at multiple times; obtaining signal data of wireless signals received by the first terminal at multiple times from multiple wireless beacons dispersedly arranged indoors; for each time, judging whether the first terminal is located in a locatable area of ​​at least one wireless beacon at each time according to the corresponding signal data; when the first terminal is located in the locatable area of ​​at least one wireless beacon, determining the position coordinates of the first terminal according to the signal data of at least one wireless beacon; when the first terminal is located outside the locatable area of ​​the multiple wireless beacons, determining the position coordinates of the first terminal according to the position coordinates of the first terminal at the time when it is located in the locatable area of ​​at least one wireless beacon and the inertial navigation data; storing the corresponding relationship between the position coordinates of the first terminal at each time and the signal data.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to an indoor positioning method, device and system, and a computer storable medium. Background Art

[0002] User terminals can be positioned outdoors using the Global Positioning System (GPS), but cannot be positioned indoors using GPS because there is no satellite signal indoors.

[0003] In the related art, indoor position coordinates and signal data corresponding to each position coordinate are collected through manual labeling. Summary of the invention

[0004] The inventor believes that: in order to achieve high-precision indoor positioning in related technologies, the cost of manual labeling is high.

[0005] In response to the above technical problems, the present disclosure proposes a solution to achieve high-precision indoor positioning and reduce the cost of manual labeling.

[0006] According to a first aspect of the present disclosure, there is provided an indoor positioning method, comprising: acquiring inertial navigation data of a first terminal moving indoors at multiple times; acquiring signal data of wireless signals received by the first terminal at multiple times from multiple wireless beacons dispersedly arranged indoors; for each time, judging, based on the corresponding signal data, whether the first terminal is located within a locatable area of ​​at least one wireless beacon at each time; in a case where the first terminal is located within the locatable area of ​​at least one wireless beacon, determining the position coordinates of the first terminal based on the signal data of the at least one wireless beacon; in a case where the first terminal is located outside the locatable area of ​​the multiple wireless beacons, determining the position coordinates of the first terminal based on the position coordinates of the first terminal at the time when it is located within the locatable area of ​​at least one wireless beacon and the inertial navigation data; and storing the correspondence between the position coordinates of the first terminal and the signal data at each time during the indoor movement process.

[0007] In some embodiments, the multiple moments include the i-th moment and the j-th moment, the first terminal is located within the locatable area of ​​at least one wireless beacon at the i-th moment, and the first terminal is located outside the locatable areas of the multiple wireless beacons at the j-th moment, i and j are different positive integers, and determining the position coordinates of the first terminal according to the position coordinates of the first terminal at the moment when it is located within the locatable area of ​​at least one wireless beacon and the inertial navigation data includes: determining the moving distance and moving direction of the position of the first terminal at the j-th moment relative to the position at the i-th moment according to the inertial navigation data at the i-th moment and the inertial navigation data at the j-th moment; and determining the position coordinates of the first terminal at the j-th moment according to the moving distance, the moving direction and the position coordinates of the first terminal at the i-th moment.

[0008] In some embodiments, the i-th moment is the moment when the first terminal is located within the locatable area of ​​at least one wireless beacon closest to the j-th moment.

[0009] In some embodiments, the signal data includes signal strength, and determining whether the first terminal is located within the locatable area of ​​at least one wireless beacon at each moment includes: for each moment, in the presence of signal data of at least one wireless beacon with a signal strength greater than a preset threshold, determining that the first terminal is located within the locatable area of ​​the at least one wireless beacon.

[0010] In some embodiments, the signal data includes signal type, signal strength, and an identifier, and each wireless beacon corresponds to a unique identifier.

[0011] In some embodiments, the indoor positioning method further includes: acquiring signal data measured by the second terminal at the current moment; and determining the position coordinates of the second terminal at the current moment based on the signal data measured by the second terminal at the current moment and the corresponding relationship.

[0012] In some embodiments, determining the location coordinates of the second terminal at the current moment includes: using a fingerprint positioning algorithm to determine the location coordinates of the second terminal at the current moment.

[0013] In some embodiments, the plurality of wireless beacons include at least one of an ultrasonic transmitter, a Bluetooth module, a WIFI module, a visible light module, and an ultra-wideband module.

[0014] In some embodiments, the locatable area of ​​each wireless beacon is a circular area with the wireless beacon as the center and a specified value as the radius.

[0015] According to a second aspect of the present disclosure, an indoor positioning device is provided, comprising: a first acquisition module, configured to acquire inertial navigation data of a first terminal moving indoors at multiple times; a second acquisition module, configured to acquire signal data of wireless signals received by the first terminal at multiple times from multiple wireless beacons dispersedly arranged indoors; a judgment module, configured to judge, for each moment, whether the first terminal is located in a locatable area of ​​at least one wireless beacon at each moment according to the corresponding signal data; a first determination module, configured to determine the position coordinates of the first terminal according to the signal data of the at least one wireless beacon when the first terminal is located in the locatable area of ​​the at least one wireless beacon; a second determination module, configured to determine the position coordinates of the first terminal according to the position coordinates of the first terminal at the moment when it is located in the locatable area of ​​the at least one wireless beacon and the inertial navigation data when the first terminal is located outside the locatable area of ​​the multiple wireless beacons; a storage module, configured to store the correspondence between the position coordinates of the first terminal and the signal data at each moment during the indoor movement.

[0016] According to a third aspect of the present disclosure, an indoor positioning device is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the indoor positioning method described in any of the above embodiments based on instructions stored in the memory.

[0017] According to a fourth aspect of the present disclosure, an indoor positioning system is provided, comprising: a first terminal, configured to: obtain inertial navigation data of a first terminal moving indoors at multiple times, obtain signal data of wireless signals received by the first terminal at multiple times from multiple wireless beacons dispersedly arranged indoors, for each time, determine whether the first terminal is located in a locatable area of ​​at least one wireless beacon at each time according to the corresponding signal data, determine the position coordinates of the first terminal according to the signal data of the at least one wireless beacon when the first terminal is located in the locatable area of ​​the at least one wireless beacon, and determine the position coordinates of the first terminal according to the position coordinates of the first terminal at the time of being located in the locatable area of ​​the at least one wireless beacon and the inertial navigation data when the first terminal is located outside the locatable area of ​​the multiple wireless beacons; multiple wireless beacons, dispersedly arranged indoors, configured to generate wireless signals; and a server, configured to store the correspondence between the position coordinates of the first terminal and the signal data at each time during the indoor movement.

[0018] In some embodiments, the plurality of wireless beacons are dispersedly arranged around at least one indoor coverage antenna at a specified distance to share resources of the at least one indoor coverage antenna.

[0019] In some embodiments, the server is further configured to: obtain signal data measured by the second terminal at the current moment; and determine the position coordinates of the second terminal at the current moment based on the signal data measured by the second terminal at the current moment and the corresponding relationship.

[0020] According to a fifth aspect of the present disclosure, a computer storable medium is provided, on which computer program instructions are stored, and when the instructions are executed by a processor, the indoor positioning method described in any of the above embodiments is implemented.

[0021] In the above embodiments, relatively high-precision indoor positioning is achieved, and the cost of manual labeling is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0023] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0024] Figure 1 is a flow chart showing an indoor positioning method according to some embodiments of the present disclosure;

[0025] Figure 2 is a schematic diagram showing the positional relationship between a wireless beacon and an indoor coverage antenna according to some embodiments of the present disclosure;

[0026] Figure 3 is a schematic diagram showing a first terminal moving indoors according to some embodiments of the present disclosure;

[0027] Figure 4 is a flowchart illustrating determining the location coordinates of a first terminal according to some embodiments of the present disclosure;

[0028] Figure 5 is a flow chart showing an indoor positioning method according to other embodiments of the present disclosure;

[0029] Figure 6 is a block diagram showing an indoor positioning device according to some embodiments of the present disclosure;

[0030] Figure 7 is a block diagram showing an indoor positioning device according to some other embodiments of the present disclosure;

[0031] Figure 8 is a block diagram illustrating an indoor positioning system according to some embodiments of the present disclosure;

[0032] Fig. 9 is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0033] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0034] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0035] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0036] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0037] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0038] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0039] Figure 1 is a flow chart illustrating an indoor positioning method according to some embodiments of the present disclosure.

[0040] like Figure 1 As shown, the indoor positioning method includes: step S110, obtaining inertial navigation data of the first terminal at multiple times; step S120, obtaining signal data; step S130, judging whether the first terminal is located in the locatable area of ​​at least one wireless beacon at each time; step S140, determining the position coordinates of the first terminal according to the signal data of at least one wireless beacon; step S150, determining the position coordinates of the first terminal according to the position coordinates of the first terminal at the time when it is located in the locatable area of ​​at least one wireless beacon and the inertial navigation data; and step S160, storing the corresponding relationship between the position coordinates of the first terminal at each time during the indoor movement and the signal data. For example, steps S110-S160 are performed by at least one of the first terminal and the indoor positioning platform deployed on the server.

[0041] In the present disclosure, the position coordinates of the first terminal within the locatable area are determined based on the signal data of the wireless signal, and the position coordinates of the first terminal outside the locatable area are determined by combining the position coordinates within the locatable area and the inertial navigation data, thereby achieving relatively high-precision indoor positioning. Furthermore, through the correspondence between the position coordinates and the signal data, the automatic collection of a relatively high-precision location-based wireless database is achieved, and the cost of manual labeling is reduced.

[0042] In addition, compared with the method of densely deploying a large number of Bluetooth devices indoors and using triangulation positioning technology for indoor positioning, the present invention does not need to add a large number of Bluetooth devices, which ensures the accuracy of indoor positioning while reducing hardware costs.

[0043] In step S110, inertial navigation data of a first terminal moving indoors at multiple times is acquired. For example, the first terminal includes but is not limited to a dedicated terminal for indoor cleaning vehicles, a mobile robot, or a mobile phone terminal.

[0044] In some embodiments, the first terminal obtains inertial navigation data of the first terminal at multiple times through an inertial navigation system. For example, the inertial navigation system includes but is not limited to an acceleration sensor and an electronic compass. The inertial navigation data includes the acceleration of the first terminal and the electronic compass direction at each time. For example, the electronic compass direction is the moving direction of the first terminal.

[0045] In step S120, signal data of wireless signals received by the first terminal at multiple times from multiple wireless beacons dispersedly arranged indoors is obtained. For example, the signal data includes signal type, signal strength, and identification. Each wireless beacon corresponds to a unique identification. For example, the signal data also includes a timestamp and signal quality. For example, the timestamp is the signal arrival time.

[0046] In some embodiments, the signal data is also called a wireless signal fingerprint. A wireless signal fingerprint refers to a set of parameters of several wireless signals measured by a terminal at a certain location. The parameter is at least one of a signal type, a signal strength, an identifier, a timestamp, and a signal quality.

[0047] For example, the plurality of wireless beacons include at least one of an ultrasonic transmitter, a Bluetooth module, a WIFI module, a visible light module, and an ultra-wideband (UWB) module. Accordingly, the wireless signal includes at least one of an ultrasonic signal, a Bluetooth signal, a WIFI signal, a visible light signal, and an ultra-wideband signal. In some embodiments, the wireless signal may also be a geomagnetic signal.

[0048] In some embodiments, the visible light module includes an infrared module. For example, the Bluetooth module is a Bluetooth 5.1 version of the Bluetooth module, which can measure the angle of the first terminal, thereby more accurately locating the first terminal. In some embodiments, the first terminal receives the ultrasonic signal through a microphone of the first terminal.

[0049] In some embodiments, multiple wireless beacons are dispersedly arranged around at least one indoor coverage antenna at a specified distance, sharing the resources of at least one indoor coverage antenna. For example, the indoor coverage antenna is an RRU (Remote Radio Unit) or a pRRU (p Remote Radio Unit). By sharing the resources of the indoor coverage antenna, the wireless beacons can share the resources of the small base station, without the need to set up additional pipelines or installation locations to add dedicated wireless beacons, further reducing hardware costs, improving resource utilization, and reducing operating costs.

[0050] Figure 2 is a schematic diagram showing the positional relationship between a wireless beacon and an indoor coverage antenna according to some embodiments of the present disclosure.

[0051] like Figure 2 As shown, four wireless beacons 21 are respectively installed on the edges of a circle with R as the radius and the center position of the indoor coverage antenna 22 as the center. R is a specified distance. For example, the distance between adjacent wireless beacons 21 is 1 meter. In some embodiments, the number of wireless beacons 21 can be set according to demand. For example, the number of wireless beacons 21 is 2 to 6, forming an ultrasonic transmitter array. In some embodiments, four wireless beacons 21 are connected to the indoor coverage antenna 22 to share the power supply and other resources of the indoor coverage antenna 22.

[0052] In some embodiments, Figure 2 The four wireless beacons 21 are all ultrasonic transmitters. For example, the frequencies of the ultrasonic signals of the ultrasonic transmitters are different, namely 26KHZ, 27KHZ, 28KHZ and 29KHZ. The ultrasonic signals of the ultrasonic transmitters are identified by the frequencies of the ultrasonic signals. That is, the ultrasonic transmitters are encoded by frequency to distinguish the ultrasonic signals of different ultrasonic transmitters. In some embodiments, the ultrasonic transmitters can also be encoded by time division.

[0053] Those skilled in the art should understand that Figure 2 For illustration only, the location of the wireless beacon 21 can be set as required.

[0054] In step S130, for each moment, based on the corresponding signal data, it is determined whether the first terminal is located within the locatable area of ​​at least one wireless beacon at each moment. For example, for each moment, if there is signal data of at least one wireless beacon with a signal strength greater than a preset threshold, the first terminal is located within the locatable area of ​​at least one wireless beacon.

[0055] Figure 3 is a schematic diagram showing a first terminal moving indoors according to some embodiments of the present disclosure.

[0056] For example, in Figure 3 In FIG. 1 , there are room 1, room 2, room 3, and room 4 indoors. The first terminal starts from position A in room 1, moves through locatable areas 31, 32, and 33 indoors, and arrives at position B in room 4. The first terminal forms a moving path S during the movement.

[0057] In some embodiments, the locatable area of ​​each wireless beacon is a circular area with the wireless beacon as the center and a specified value as the radius. It should be understood that the locatable area of ​​the wireless beacon can also be defined as an elliptical area, etc.

[0058] return Figure 1 After determining whether the first terminal is located within the locatable area of ​​at least one wireless beacon at each moment, execute step S140.

[0059] In step S140, when the first terminal is located within a locatable area of ​​at least one wireless beacon, the location coordinates of the first terminal are determined according to signal data of at least one wireless beacon.

[0060] In some embodiments, the first terminal is located in a locatable area of ​​a wireless beacon at a certain moment. The position coordinates of the absolute position of the wireless beacon are (113, 23). 113 is longitude, and 23 is latitude. By measuring the wireless signal and using the existing wireless signal positioning technology, the first terminal can determine that the relative position of the first terminal relative to the wireless beacon is 5 meters offset to the east and 6 meters offset to the north. The position coordinates of the first terminal at this moment are (113+5×Δx, 23+6×Δy). Δx is the longitude offset per meter, and Δy is the latitude offset per meter. For example, in the case of an eastward offset, Δx is a positive number. In the case of a westward offset, Δx is a negative number. In the case of a northward offset, Δy is a positive number. In the case of a southward offset, Δy is a negative number. For example, when the first terminal is located in a locatable area of ​​multiple wireless beacons at a certain moment, indoor positioning can also be performed using the signal data of the wireless signal of any one wireless beacon or the signal data of the wireless signals of multiple wireless beacons.

[0061] For example, wireless signal positioning technology includes ultrasonic TDOA (Time Difference of Arrival) positioning technology, Bluetooth signal strength positioning technology, WIFI signal strength positioning technology, WIFI RTT (Round-Trip Time) positioning technology and infrared positioning technology. In some embodiments, Bluetooth signal strength positioning technology includes angle positioning technology such as AOA (Angle Of Arrival) and AOD (Angle Of Departure).

[0062] In some embodiments, when the first terminal is positioned using wireless signal positioning technology, the first terminal can be positioned by at least one of an uplink wireless signal and a downlink wireless signal. The uplink wireless signal is a wireless signal such as an ultrasonic signal, a Bluetooth signal, and a WIFI signal emitted by the first terminal measured by a wireless beacon. The downlink wireless signal is a wireless signal such as an ultrasonic signal, a Bluetooth signal, and a WIFI signal emitted by a wireless beacon measured by the first terminal.

[0063] In step S150, when the first terminal is outside the locatable area of ​​multiple wireless beacons, the position coordinates of the first terminal are determined according to the position coordinates of the first terminal at the time when the first terminal is located in the locatable area of ​​at least one wireless beacon and the inertial navigation data. The first terminal being outside the locatable area of ​​multiple wireless beacons means that the first terminal is outside the locatable area of ​​any wireless beacon.

[0064] In some embodiments, the multiple moments include an i-th moment and a j-th moment. The first terminal is located within a locatable area of ​​at least one wireless beacon at the i-th moment. The first terminal is located outside the locatable areas of multiple wireless beacons at the j-th moment. i and j are different positive integers.

[0065] For example, by Figure 4 The steps shown implement step S150 to determine the position coordinates of the first terminal according to the position coordinates and inertial navigation data at the moment when the first terminal is located within the locatable area of ​​at least one wireless beacon.

[0066] Figure 4 is a flowchart illustrating determining the location coordinates of a first terminal according to some embodiments of the present disclosure.

[0067] like Figure 4 As shown, determining the position coordinates of the first terminal according to the position coordinates and inertial navigation data at the moment when the first terminal is located within the locatable area of ​​at least one wireless beacon includes steps S151 and S152.

[0068] In step S151, the moving distance and moving direction of the position of the first terminal at the jth moment relative to the position at the i-th moment are determined based on the inertial navigation data at the i-th moment and the inertial navigation data at the j-th moment.

[0069] For example, the i-th moment is the moment when the first terminal closest to the j-th moment is located in the locatable area of ​​at least one wireless beacon. In some embodiments, the moment when the first terminal is located in the locatable area of ​​at least one wireless beacon includes the 3rd moment to the 6th moment, and the first terminal is outside the locatable area of ​​multiple wireless beacons at the 7th moment. In this case, j is 7, and the moment when the first terminal closest to the 7th moment is located in the locatable area of ​​at least one wireless beacon is 6. That is, i is 6.

[0070] In some embodiments, based on the acceleration of the first terminal at the i-th moment and the j-th moment, the average acceleration of the first terminal between the i-th moment and the j-th moment is determined. Based on the average acceleration of the first terminal, the moving speed of the first terminal between the i-th moment and the j-th moment is determined. Based on the moving speed of the first terminal and the direction of the electronic compass, the moving distance and moving direction of the position of the first terminal at the j-th moment relative to the position at the i-th moment are determined. For example, the direction of the electronic compass is the moving direction, the time difference between the j-th moment and the i-th moment is the moving time, and the product of the moving speed and the moving time is the relative displacement. The relative displacement here includes the moving distance and the moving direction.

[0071] For example, the coordinates of the position of the first terminal at the jth moment are (x0, y0), where x0 is the longitude coordinate and y0 is the latitude coordinate. The moving distance and moving direction of the first terminal at the jth moment relative to the position at the ith moment are 5 meters to the east and 6 meters to the north.

[0072] In some embodiments, the first terminal is carried by a pedestrian, and the pedestrian moves indoors. For example, the number of steps, the length of the step, and the direction of movement of the pedestrian between the i-th moment and the j-th moment are determined based on the acceleration of the first terminal using the Pedestrian Dead Reckoning (PDR) technology. Furthermore, based on the number of steps, the length of the step, and the direction of movement of the pedestrian between the i-th moment and the j-th moment, the moving distance and direction of movement of the first terminal at the j-th moment relative to the position at the i-th moment are determined. This technology is an existing inertial navigation technology.

[0073] Those skilled in the art should understand that inertial navigation technology refers to a positioning technology that uses a motion sensor installed on a carrier to obtain inertial navigation data and determines the position coordinates of the carrier based on the inertial navigation data. Inertial navigation technology is also called positioning technology based on motion sensors.

[0074] The inertial navigation data includes at least the acceleration of the terminal and the moving direction of the terminal. The acceleration data of the terminal can be measured by the accelerometer of the terminal, and the moving direction data of the terminal can be measured by the electronic compass on the terminal. Based on the inertial navigation technology, the real-time moving speed and moving direction of the terminal are calculated by a certain algorithm using the above-mentioned inertial navigation data. The real-time moving distance of the terminal can be determined by multiplying the moving speed and the moving time, thereby determining the moving distance and moving direction of the terminal in each time period. Furthermore, the real-time moving displacement trajectory of the terminal can be tracked and determined. The specific calculation process is the existing inertial navigation technology, which includes the inertial navigation algorithm for vehicles and the PDR algorithm for pedestrians.

[0075] In step S152, the position coordinates of the first terminal at the jth moment are determined according to the moving distance, the moving direction and the position coordinates of the first terminal at the i-th moment.

[0076] In some embodiments, the position coordinates at the jth moment are (x0+5×Δx, y0+6×Δy). Δx is the longitude offset per meter, and Δy is the latitude offset per meter. For example, in the case of an eastward offset, Δx is a positive number. In the case of a westward offset, Δx is a negative number. In the case of a northward offset, Δy is a positive number. In the case of a southward offset, Δy is a negative number.

[0077] return Figure 1 After determining the position coordinates of the first terminal according to the position coordinates of the first terminal at the moment when the first terminal is located in the locatable area of ​​at least one wireless beacon and the inertial navigation data, execute step S160.

[0078] In step S160, the correspondence between the position coordinates and signal data of the first terminal at each moment in the indoor movement process is stored. The correspondence between the indoor position coordinates and signal data is accurately obtained by combining the signal data of the wireless signal and the inertial navigation data. Compared with the method of manually labeling and collecting the correspondence between the indoor position coordinates and signal data, the automatic collection of the correspondence is realized, without the need for manual labeling and collection, which further reduces the cost.

[0079] For example, the correspondence between the position coordinates of the first terminal at each moment and the signal data is stored in a database on a positioning platform deployed on the server. In some embodiments, the first terminal stores the correspondence in a database on a positioning platform deployed on the server. In other embodiments, the server may also obtain the correspondence from the first terminal and store the correspondence in a database on a positioning platform deployed on the server.

[0080] In some embodiments, the database fields include ID (Identity Document, unique code), location coordinates, and signal data. For example, the signal data includes the Bluetooth signal strength and identification of multiple Bluetooth wireless beacons, the WIFI signal strength and identification of multiple WIFI wireless beacons, and multiple 4G or 5G signal strength and identification. In some embodiments, the identification of the 4G or 5G signal is represented by TA (Tracking Area). For example, the database is a location-based wireless database.

[0081] Figure 5 is a flowchart illustrating an indoor positioning method according to other embodiments of the present disclosure.

[0082] Figure 5 and Figure 1 The difference is that Figure 5 The indoor positioning method of some other embodiments also includes steps S170 to S180. Figure 5 and Figure 1 The differences are shown below, and the similarities will not be repeated here.

[0083] like Figure 5 As shown, the indoor positioning method includes steps S110 to S180. For example, steps S170 to S180 are executed by the first terminal or an indoor positioning platform deployed on a server.

[0084] In step S170, the signal data measured by the second terminal at the current moment is obtained. For example, the second terminal may be the same terminal as the first terminal. For example, the second terminal is a children's watch terminal or an ordinary mobile phone terminal. The present disclosure can locate any type of second terminal and has strong versatility. Any type of second terminal includes a second terminal that does not support inertial navigation and wireless signal measurement of wireless road signs.

[0085] In step S180, the position coordinates of the second terminal at the current moment are determined according to the signal data and the corresponding relationship measured by the second terminal at the current moment.

[0086] In some embodiments, the fingerprint positioning algorithm is used to determine the location coordinates of the second terminal at the current moment. For example, other search and matching algorithms other than the fingerprint positioning algorithm may also be used to determine the location coordinates of the second terminal at the current moment.

[0087] In some embodiments, the fingerprint positioning algorithm includes a fingerprint positioning algorithm based on a KNN (k-Nearest Neighbor) algorithm. For example, the KNN algorithm is used to match the signal data measured by the second terminal at the current moment with each signal data in the corresponding relationship, and the position coordinates corresponding to the most matched signal data are determined as the position coordinates of the second terminal at the current moment.

[0088] For example, the stored corresponding relationship may be used to train a neural network, and the signal data measured by the second terminal at the current moment may be input into the trained neural network to obtain the position coordinates of the second terminal at the current moment.

[0089] Since the distance and direction between each location and the wireless beacon are different, there are differences in parameters such as signal strength, timestamp, and signal quality of the wireless signals received by the terminal at different locations. By matching the signal data of the wireless signal measured at the current location of the second terminal with the corresponding relationship between the stored location coordinates and signal data, the location coordinates of the second terminal at the current moment can be determined.

[0090] Figure 6 is a block diagram showing an indoor positioning device according to some embodiments of the present disclosure.

[0091] like Figure 6 As shown, the indoor positioning device 61 includes a first acquisition module 611 , a second acquisition module 612 , a judgment module 613 , a first determination module 614 , a second determination module 615 and a storage module 616 .

[0092] The first acquisition module 611 is configured to acquire inertial navigation data of a first terminal moving indoors at multiple times, for example, by executing Figure 1 Step S110 is shown.

[0093] The second acquisition module 612 is configured to acquire signal data of wireless signals received by the first terminal at multiple times from multiple wireless beacons dispersedly arranged indoors, for example, by executing the following steps: Figure 1 Step S120 is shown.

[0094] The judgment module 613 is configured to judge, at each moment, based on the corresponding signal data, whether the first terminal is located within the locatable area of ​​at least one wireless beacon at each moment, for example, by performing the following steps: Figure 1 Step S130 is shown.

[0095] The first determination module 614 is configured to determine the location coordinates of the first terminal according to the signal data of at least one wireless beacon when the first terminal is located in the locatable area of ​​at least one wireless beacon, for example, by performing the following steps: Figure 1 Step S140 is shown.

[0096] The second determination module 615 is configured to determine the position coordinates of the first terminal according to the position coordinates of the first terminal at the time when the first terminal is located in the locatable area of ​​at least one wireless beacon and the inertial navigation data when the first terminal is located outside the locatable area of ​​the plurality of wireless beacons, for example, by performing the following steps: Figure 1 Step S150 is shown.

[0097] The storage module 616 is configured to store the corresponding relationship between the position coordinates of the first terminal at each moment in the indoor movement process and the signal data, for example, executing the following steps: Figure 1 Step S160 is shown.

[0098] Figure 7 is a block diagram showing an indoor positioning device according to some other embodiments of the present disclosure.

[0099] like Figure 7 As shown, the indoor positioning device 71 includes a memory 711; and a processor 712 coupled to the memory 711. The memory 711 is used to store instructions for executing the corresponding embodiments of the indoor positioning method. The processor 712 is configured to execute the indoor positioning method in any of the embodiments of the present disclosure based on the instructions stored in the memory 711.

[0100] Figure 8 is a block diagram illustrating an indoor positioning system according to some embodiments of the present disclosure.

[0101] like Figure 8 As shown, the indoor positioning system 8 includes a first terminal 81 , multiple wireless beacons 82 and a server 83 .

[0102] The first terminal 81 is configured to execute Figure 1 Steps S110 to S150 are shown.

[0103] Multiple wireless beacons 82 are dispersedly arranged indoors and are configured to generate wireless signals. In some embodiments, multiple wireless beacons 82 are dispersedly arranged around at least one indoor coverage antenna at a specified distance, and share resources of the at least one indoor coverage antenna. For example, resources such as power supply and communication channels of the indoor coverage antenna are shared.

[0104] The server 83 is configured to store the corresponding relationship between the position coordinates and the signal data of the first terminal at each moment during the indoor movement, for example, executing the following steps: Figure 1 Step S160 is shown. For example, after the server 83 obtains the corresponding relationship from the first terminal 81, it stores the corresponding relationship. For example, the first terminal 81 and the server 83 together constitute an indoor positioning device.

[0105] In some embodiments, the server 83 is further configured to obtain the signal data measured by the second terminal at the current moment, for example, by performing the following steps: Figure 5 Step S170 shown.

[0106] In some embodiments, the server 83 is further configured to determine the position coordinates of the second terminal at the current moment according to the signal data and the corresponding relationship measured by the second terminal at the current moment, for example, by performing the following steps: Figure 5 Step S180 is shown.

[0107] Fig. 9 is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure.

[0108] like Fig. 9 As shown, the computer system 90 may be embodied in the form of a general-purpose computing device. The computer system 90 includes a memory 910, a processor 920, and a bus 900 that connects the various system components.

[0109] The memory 910 may include, for example, a system memory, a non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application, a boot loader, and other programs. The system memory may include a volatile storage medium, such as a random access memory (RAM) and / or a cache memory. The non-volatile storage medium may store, for example, instructions for executing at least one of the corresponding embodiments of the indoor positioning method. The non-volatile storage medium includes, but is not limited to, a disk memory, an optical memory, a flash memory, and the like.

[0110] The processor 920 can be implemented by a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistors, etc. Discrete hardware components. Accordingly, each module such as the judgment module and the determination module can be implemented by a central processing unit (CPU) running instructions in a memory that execute corresponding steps, or can be implemented by a dedicated circuit that executes corresponding steps.

[0111] The bus 900 may use any of a variety of bus architectures, including, but not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, and a Peripheral Component Interconnect (PCI) bus.

[0112] The computer system 90 may also include an input / output interface 930, a network interface 940, a storage interface 950, etc. These interfaces 930, 940, 950, the memory 910, and the processor 920 may be connected via a bus 900. The input / output interface 930 may provide a connection interface for input / output devices such as a display, a mouse, and a keyboard. The network interface 940 may provide a connection interface for various networked devices. The storage interface 950 may provide a connection interface for external storage devices such as a floppy disk, a USB flash drive, and an SD card.

[0113] Here, various aspects of the present disclosure are described with reference to flowcharts and / or block diagrams of methods, devices, and computer program products according to embodiments of the present disclosure. It should be understood that each frame of the flowchart and / or block diagram and the combination of frames can be implemented by computer-readable program instructions.

[0114] These computer-readable program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable device to produce a machine, so that the processor executes the instructions to produce means for implementing the functions specified in one or more blocks in the flowchart and / or block diagram.

[0115] These computer-readable program instructions may also be stored in a computer-readable memory, which cause the computer to work in a specific manner to produce an article of manufacture, including instructions for implementing the functions specified in one or more blocks in the flowchart and / or block diagram.

[0116] The present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects.

[0117] Through the indoor positioning method, device and system, and computer storable medium in the above-mentioned embodiments, high-precision indoor positioning is achieved and the cost of manual labeling is reduced.

[0118] So far, the indoor positioning method, device and system, and computer storable medium according to the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

Claims

1. An indoor positioning method, comprising: Acquiring inertial navigation data of a first terminal moving indoors at multiple times; Acquire signal data of wireless signals received by the first terminal at multiple times from multiple wireless beacons dispersedly arranged indoors; For each moment, judging, according to corresponding signal data, whether the first terminal is located within a locatable area of ​​at least one wireless beacon at each moment; When the first terminal is located within a locatable area of ​​at least one wireless beacon, determining the location coordinates of the first terminal according to signal data of the at least one wireless beacon; In a case where the first terminal is outside the locatable areas of the multiple wireless beacons, determining the position coordinates of the first terminal according to the position coordinates of the first terminal at the time when the first terminal is located in the locatable area of ​​at least one wireless beacon and the inertial navigation data; Storing the correspondence between the position coordinates of the first terminal and the signal data at each moment during the indoor movement; Acquire signal data measured by the second terminal at the current moment; Determining the position coordinates of the second terminal at the current moment according to the signal data measured by the second terminal at the current moment and the corresponding relationship includes: Using a fingerprint positioning algorithm, the signal data measured by the second terminal at the current moment is matched with the signal data in the corresponding relationship, and the position coordinates corresponding to the best matching signal data are used as the position coordinates of the second terminal at the current moment; or, The corresponding relationship is used to train a neural network, and the signal data measured by the second terminal at the current moment is input into the trained neural network to obtain the position coordinates of the second terminal at the current moment.

2. The indoor positioning method according to claim 1, wherein: The multiple moments include an i-th moment and a j-th moment, the first terminal is located within a locatable area of ​​at least one wireless beacon at the i-th moment, and the first terminal is located outside the locatable areas of the multiple wireless beacons at the j-th moment, i and j are different positive integers, and determining the position coordinates of the first terminal according to the position coordinates of the first terminal at the moment when the terminal is located within the locatable area of ​​at least one wireless beacon and the inertial navigation data includes: Determine, based on the inertial navigation data at the i-th moment and the inertial navigation data at the j-th moment, a moving distance and a moving direction of the position of the first terminal at the j-th moment relative to the position at the i-th moment; The position coordinates of the first terminal at the jth moment are determined according to the moving distance, the moving direction and the position coordinates of the first terminal at the i-th moment.

3. The indoor positioning method according to claim 2, wherein: The ith moment is the moment when the first terminal, which is closest to the jth moment, is located in the locatable area of ​​at least one wireless beacon.

4. The indoor positioning method according to claim 1, wherein: The signal data includes signal strength, and determining whether the first terminal is located within a locatable area of ​​at least one wireless beacon at each moment includes: At each moment, when there is signal data of at least one wireless beacon whose signal strength is greater than a preset threshold, it is determined that the first terminal is located within a locatable area of ​​the at least one wireless beacon.

5. The indoor positioning method according to claim 1, wherein: The signal data includes signal type, signal strength and identification, and each wireless beacon corresponds to a unique identification.

6. The indoor positioning method according to any one of claims 1 to 5, wherein: The multiple wireless beacons include at least one of an ultrasonic transmitter, a Bluetooth module, a WIFI module, a visible light module and an ultra-wideband module.

7. The indoor positioning method according to any one of claims 1 to 5, wherein: The locatable area of ​​each wireless beacon is a circular area with the wireless beacon as the center and the specified value as the radius.

8. An indoor positioning device, comprising: A first acquisition module is configured to acquire inertial navigation data of a first terminal moving indoors at multiple times; A second acquisition module is configured to acquire signal data of wireless signals received by the first terminal at multiple times from multiple wireless beacons dispersedly arranged indoors; A determination module, configured to determine, at each moment, based on corresponding signal data, whether the first terminal is located within a locatable area of ​​at least one wireless beacon at each moment; A first determination module is configured to determine the location coordinates of the first terminal according to signal data of the at least one wireless beacon when the first terminal is located in a locatable area of ​​the at least one wireless beacon; A second determination module is configured to determine the position coordinates of the first terminal according to the position coordinates of the first terminal at the time when the first terminal is located in the locatable area of ​​at least one wireless beacon and the inertial navigation data when the first terminal is located outside the locatable area of ​​the multiple wireless beacons; A storage module, configured to store a correspondence between the position coordinates of the first terminal at each moment in the indoor movement process and the signal data; A third acquisition module is configured to acquire signal data measured by the second terminal at a current moment; The third determination module is configured to determine the position coordinates of the second terminal at the current moment according to the signal data measured by the second terminal at the current moment and the corresponding relationship, including: Using a fingerprint positioning algorithm, the signal data measured by the second terminal at the current moment is matched with the signal data in the corresponding relationship, and the position coordinates corresponding to the best matching signal data are used as the position coordinates of the second terminal at the current moment; or, The corresponding relationship is used to train a neural network, and the signal data measured by the second terminal at the current moment is input into the trained neural network to obtain the position coordinates of the second terminal at the current moment.

9. An indoor positioning device, comprising: Memory; as well as A processor coupled to the memory, wherein the processor is configured to execute the indoor positioning method according to any one of claims 1 to 7 based on instructions stored in the memory.

10. An indoor positioning system, comprising: The first terminal is configured as: Acquire inertial navigation data of a first terminal moving indoors at multiple times, acquiring signal data of wireless signals received by the first terminal at multiple times from multiple wireless beacons dispersedly arranged indoors, At each moment, judging, according to corresponding signal data, whether the first terminal is located within a locatable area of ​​at least one wireless beacon at each moment, In a case where the first terminal is located within a locatable area of ​​at least one wireless beacon, determining the location coordinates of the first terminal according to signal data of the at least one wireless beacon, In a case where the first terminal is outside the locatable areas of the multiple wireless beacons, determining the position coordinates of the first terminal according to the position coordinates of the first terminal at the time when the first terminal is located in the locatable area of ​​at least one wireless beacon and the inertial navigation data; A plurality of wireless beacons are dispersedly disposed indoors and configured to generate wireless signals; and The server is configured to store the corresponding relationship between the position coordinates and the signal data of the first terminal at each moment during the indoor movement; Acquire signal data measured by the second terminal at the current moment; Determine the position coordinates of the second terminal at the current moment based on the signal data measured by the second terminal at the current moment and the corresponding relationship, including: using a fingerprint positioning algorithm to match the signal data measured by the second terminal at the current moment with the signal data in the corresponding relationship, and using the position coordinates corresponding to the most matching signal data as the position coordinates of the second terminal at the current moment; or, using the corresponding relationship to train a neural network, and inputting the signal data measured by the second terminal at the current moment into the trained neural network to obtain the position coordinates of the second terminal at the current moment.

11. The indoor positioning system according to claim 10, wherein: The multiple wireless beacons are dispersedly arranged around at least one indoor coverage antenna at a specified distance to share resources of the at least one indoor coverage antenna.

12. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the indoor positioning method according to any one of claims 1 to 7.

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