Indoor positioning method, device and system, electronic equipment and storage medium

Abstract

The embodiment of the present application discloses an indoor positioning method, device and system, electronic device and storage medium, which are applied to a receiver, and the method includes: measuring the signal-to-noise ratio of each first pseudo-satellite among the multiple first pseudo-satellites currently tracked by the receiver, and determining the target pseudo-satellite with the highest signal-to-noise ratio from the multiple first pseudo-satellites currently tracked; obtaining the neighboring satellite list broadcast by the target pseudo-satellite with the highest signal-to-noise ratio; the neighboring satellite list includes satellite information of each neighboring pseudo-satellite of the target pseudo-satellite; selecting a second pseudo-satellite from each neighboring pseudo-satellite included in the neighboring satellite list according to the satellite information, and controlling the receiver to switch to track the second pseudo-satellite, so as to locate the receiver by tracking the second pseudo-satellite. The method provides a mechanism for efficient switching between pseudo-satellites for indoor positioning technology.

Description

Technical Field

[0001] The present application relates to the field of indoor positioning and navigation technology, and in particular to an indoor positioning method, device and system, electronic equipment and storage medium. Background Art

[0002] The existing Global Navigation Satellite System (GNSS) can provide users with high-precision outdoor positioning services, but the satellite signal will be severely attenuated in indoor spaces shielded by urban buildings, and is not suitable for indoor positioning. Therefore, the existing indoor positioning technology introduces pseudo-satellites for indoor positioning and utilizes the technical principles of outdoor positioning. Because the coverage of indoor pseudo-satellites is small, they need to be switched frequently. However, it is found in practice that the existing indoor positioning technology cannot meet the needs of frequent switching of pseudo-satellites. Summary of the invention

[0003] The embodiments of the present application disclose an indoor positioning method, device and system, electronic equipment and storage medium, which provide a mechanism for efficient switching between pseudo-satellites for indoor positioning technology.

[0004] The present application embodiment discloses an indoor positioning method, which is applied to a receiver. The method includes:

[0005] Measuring the signal-to-noise ratio of each first pseudolite among the multiple first pseudolites currently tracked by the receiver, and determining a target pseudolite with the highest signal-to-noise ratio from the multiple first pseudolites currently tracked;

[0006] Acquire a neighboring satellite list broadcast by the target pseudo-satellite with the highest signal-to-noise ratio; the neighboring satellite list includes satellite information of each neighboring pseudo-satellite of the target pseudo-satellite;

[0007] A second pseudolite is selected from each neighbor pseudolite included in the neighbor satellite list according to the satellite information, and the receiver is controlled to switch and track the second pseudolite, so as to locate the receiver by tracking the second pseudolite.

[0008] As an optional implementation manner, selecting a second pseudo-satellite from each neighbor pseudo-satellite included in the neighbor satellite list according to the satellite information includes:

[0009] A second pseudolite which is not currently tracked and has a signal-to-noise ratio higher than a first threshold is selected from each neighbor pseudolite included in the neighbor satellite list according to the satellite information.

[0010] As an optional implementation manner, the step of determining the target pseudolite with the highest signal-to-noise ratio from the multiple first pseudolites currently tracked includes:

[0011] When it is detected that there is a faulty pseudolite whose signal-to-noise ratio is lower than the second threshold value among the plurality of first pseudolites, the target pseudolite with the highest signal-to-noise ratio is determined from the plurality of first pseudolites currently tracked.

[0012] As an optional implementation manner, when a faulty pseudolite having a signal-to-noise ratio lower than a second threshold value is detected among the multiple first pseudolites, determining the target pseudolite with the highest signal-to-noise ratio from the multiple first pseudolites currently tracked includes:

[0013] When it is detected that there is a faulty pseudolite whose signal-to-noise ratio is lower than a second threshold value among the plurality of first pseudolites, recording a duration for which the signal-to-noise ratio of the faulty pseudolite is lower than the second threshold value;

[0014] When the duration exceeds a duration threshold, the target pseudolite with the highest signal-to-noise ratio is determined from the multiple first pseudolites currently tracked.

[0015] As an optional implementation manner, the satellite information of the neighbor pseudolite includes: a neighbor satellite number of the neighbor pseudolite; and the controlling the receiver to switch to track the second pseudolite includes:

[0016] Acquire the neighboring satellite number of the second pseudolite from the neighboring satellite list, and convert the neighboring satellite number of the second pseudolite into a pseudocode sequence of the second pseudolite;

[0017] The second pseudolite is captured according to the pseudocode sequence of the second pseudolite, and the second pseudolite is locked and tracked.

[0018] The present application embodiment discloses another indoor positioning method, which is applied to a first pseudo-satellite. The method includes:

[0019] A neighbor satellite list is broadcasted, so that a receiver selects a second pseudo-satellite from the neighbor satellite list broadcasted by a target pseudo-satellite, and controls the receiver to switch and track the second pseudo-satellite, so as to locate the receiver by tracking the second pseudo-satellite; the target pseudo-satellite is the first pseudo-satellite with the highest signal-to-noise ratio among a plurality of the first pseudo-satellites currently tracked by the receiver; and the neighbor satellite list broadcasted by the target pseudo-satellite includes satellite information of each neighbor pseudo-satellite of the target pseudo-satellite.

[0020] As an optional implementation, the neighbor satellite list includes a first number of neighbor pseudo-satellites; the first number is the sum of the number of pseudo-satellites currently positioned and the number of pseudo-satellites to be positioned next time, the number of pseudo-satellites currently positioned is the number of first pseudo-satellites currently tracked by the receiver; the number of pseudo-satellites to be positioned next time is the minimum number of pseudo-satellites required for the next positioning.

[0021] The embodiment of the present application discloses an indoor positioning system, the system comprising: a plurality of pseudolites and a receiver; the plurality of pseudolites comprises a first pseudolite currently tracked by the receiver;

[0022] The plurality of pseudolites are used to broadcast a list of neighboring satellites;

[0023] The receiver is used to measure the signal-to-noise ratio of each of the multiple first pseudolites currently tracked by the receiver, and determine the target pseudolites with the highest signal-to-noise ratio from the multiple first pseudolites currently tracked;

[0024] The receiver is used to obtain a neighboring satellite list broadcast by the target pseudo-satellite with the highest signal-to-noise ratio; the neighboring satellite list includes satellite information of each neighboring pseudo-satellite of the target pseudo-satellite;

[0025] The receiver is used to select a second pseudo-satellite from each neighbor pseudo-satellite included in the neighbor satellite list according to the satellite information, and control the receiver to switch to tracking the second pseudo-satellite, so as to locate the receiver by tracking the second pseudo-satellite.

[0026] The embodiment of the present application discloses an indoor positioning device, which is applied to a receiver, including:

[0027] A determination module, configured to measure the signal-to-noise ratio of each of the plurality of first pseudolites currently tracked by the receiver, and determine the target pseudolites with the highest signal-to-noise ratio from the plurality of first pseudolites currently tracked;

[0028] An acquisition module, used for acquiring a neighboring satellite list broadcast by the target pseudolite with the highest signal-to-noise ratio; the neighboring satellite list includes satellite information of each neighboring pseudolite of the target pseudolite;

[0029] The switching module is used to select a second pseudolite from each neighbor pseudolite included in the neighbor satellite list according to the satellite information, and control the receiver to switch and track the second pseudolite, so as to locate the receiver by tracking the second pseudolite.

[0030] The present application embodiment discloses an indoor positioning device, which is applied to a first pseudo-satellite, including:

[0031] A broadcasting module is used to broadcast a neighboring satellite list, so that a receiver selects a second pseudo-satellite from the neighboring satellite list broadcast by a target pseudo-satellite, and controls the receiver to switch and track the second pseudo-satellite, so as to locate the receiver by tracking the second pseudo-satellite; the target pseudo-satellite is the first pseudo-satellite with the highest signal-to-noise ratio among the multiple first pseudo-satellites currently tracked by the receiver; the neighboring satellite list broadcast by the target pseudo-satellite includes satellite information of each neighbor pseudo-satellite of the target pseudo-satellite.

[0032] An embodiment of the present application discloses an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements any one of the indoor positioning methods for a receiver disclosed in the embodiments of the present application.

[0033] An embodiment of the present application discloses an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor implements any one of the indoor positioning methods for a first pseudo-satellite disclosed in the embodiments of the present application.

[0034] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute any one of the indoor positioning methods for a receiver disclosed in the embodiments of the present application.

[0035] The embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute any one of the indoor positioning methods for a first pseudo-satellite disclosed in the embodiment of the present application.

[0036] Compared with the related art, the embodiments of the present application have the following beneficial effects:

[0037] In an embodiment of the present application, the signal-to-noise ratio of each first pseudo-satellite among multiple first pseudo-satellites currently tracked by the measurement receiver can be obtained, and a target pseudo-satellite with the highest signal-to-noise ratio is selected from them; a neighbor satellite list broadcast by the target pseudo-satellite with the highest signal-to-noise ratio is obtained, and the neighbor satellite list includes satellite information of each neighbor pseudo-satellite of the target pseudo-satellite; the receiver is switched to tracking a second pseudo-satellite, and the second pseudo-satellite is selected from each neighbor pseudo-satellite included in the neighbor satellite list according to satellite information. The receiver can be positioned by tracking the second pseudo-satellite.

[0038] It can be seen that by obtaining the neighboring satellite list broadcast by the target pseudo-satellite with the highest signal-to-noise ratio, the receiver can directly switch and track between the neighboring satellites of the target pseudo-satellite, without having to re-detect all pseudo-satellites in the entire space and then switch. This efficient switching mechanism effectively improves the efficiency of indoor positioning, speeds up the capture and tracking of pseudo-satellites, and makes up for the problems of insensitive positioning caused by low switching frequency in indoor positioning in the past. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a structural schematic diagram of an indoor positioning system disclosed in an embodiment of the present application;

[0041] Figure 2 It is a flowchart of an indoor positioning method disclosed in an embodiment of the present application;

[0042] Figure 3 It is a flowchart of another indoor positioning method disclosed in an embodiment of the present application;

[0043] Figure 4 is a structural schematic diagram of another indoor positioning system disclosed in an application embodiment;

[0044] Figure 5 is a structural schematic diagram of an indoor positioning device disclosed in an embodiment of the present application;

[0045] Figure 6 is a structural schematic diagram of another indoor positioning device disclosed in an embodiment of the present application;

[0046] Figure 7 It is a structural schematic diagram of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0049] The embodiments of the present application disclose an indoor positioning method, device and system, electronic device and storage medium, which can provide an efficient indoor pseudo-satellite switching mechanism, thereby improving the efficiency of indoor positioning.

[0050] See also Figure 1 , Figure 1 Schematic diagram of the structure of an indoor positioning system disclosed in the embodiment of the present application. Figure 1As shown, the indoor positioning system may include: a receiver 10 and a first pseudo-satellite 20 .

[0051] The receiver 10 is an instrument for receiving satellite signals and determining the ground space position, and may include a mobile terminal such as a mobile phone, but is not limited thereto. The operating system of the mobile terminal may include but is not limited to an Android operating system, an IOS operating system, a Symbian operating system, a Black Berry operating system, a Windows Phone 8 operating system, etc., and the present application embodiment does not limit this.

[0052] The first pseudolite 20 is any one of a plurality of pseudolites that the receiver is currently tracking.

[0053] In addition to the first pseudolite 20 currently tracked by the receiver, the entire system may also include other pseudolites. Other pseudolites include pseudolites that are not currently tracked by the receiver, and the pseudolites that are not currently tracked by the receiver may also include second pseudolites that need to be tracked for the next positioning.

[0054] The indoor positioning technology used in the examples of this application is pseudo-satellite positioning technology. The current mainstream indoor positioning technologies can be divided into: Wi-Fi positioning, Bluetooth positioning, Ultra Wide Band (UWB) positioning, pseudo-satellite positioning, etc. according to the signal source used for positioning. Pseudo-satellite is a transmitter deployed on the ground that can emit signals similar to navigation satellites. The pseudo-satellite transmitter emits signals that are compatible with or similar to GNSS satellite signals, which can be captured and resolved by the user's receiver. Therefore, pseudo-satellite can enhance the positioning performance of GPS (Global Positioning System, GPS) in blocked, shaded, underground and indoor environments, and realize real-time seamless positioning of pseudo-satellite and GPS systems indoors and outdoors.

[0055] Therefore, compared with indoor positioning technologies such as Wi-Fi positioning, Bluetooth positioning, and UWB positioning, pseudo-satellite positioning does not require the design of new positioning chips on mobile terminals such as mobile phones. As long as pseudo-satellites are properly deployed indoors, the GPS satellite positioning system on mobile terminals such as mobile phones can be optimized to achieve accurate indoor positioning.

[0056] See also Figure 2 , Figure 2 It is a flow chart of an indoor positioning method disclosed in an embodiment of the present application.

[0057] like Figure 2 As shown, the indoor positioning method, applied to a receiver, may include the following steps:

[0058] 201. Measure the signal-to-noise ratio of each first pseudolite among a plurality of first pseudolites currently tracked by a receiver, and determine a target pseudolite with the highest signal-to-noise ratio from among the plurality of first pseudolites currently tracked.

[0059] The signal-to-noise ratio is the ratio between signal power and noise power, and is usually used to measure the quality of a signal. The higher the signal-to-noise ratio, the better the signal quality. The signal-to-noise ratio affects the signal acquisition and tracking performance of the receiver. Therefore, by determining the target pseudolite with the highest signal-to-noise ratio from the multiple first pseudolites currently being tracked, the target pseudolite with the best signal quality that the receiver is tracking can be screened out in advance, preparing for the subsequent rapid switching of pseudolites.

[0060] 202. Obtain a neighboring satellite list broadcast by the target pseudo-satellite with the highest signal-to-noise ratio.

[0061] The neighbor list includes satellite information of each neighbor pseudolite of the target pseudolite. The neighbor list is a newly added ephemeris parameter of the pseudolite. The maximum length N and the default length M of this ephemeris parameter can be set manually, in bits (binary digit, bit). The default length M specifies the number of neighbor pseudolites broadcast by the pseudolite, which is an important parameter of the neighbor list. For example, N can be set to 80 bits and M can be set to 48 bits.

[0062] The purpose of establishing a neighbor list is to number the M neighbor pseudolites that are adjacent to the target pseudolites and store the numbers in the list. The numbers can be used to indicate the M neighbor pseudolites, simplifying the subsequent process of capturing the next neighbor pseudolites and facilitating the management of the M neighbor pseudolites that are adjacent to the target pseudolites. Exemplarily, each number occupies K bits, and the target pseudolites can broadcast at most floor(N / K) neighbor pseudolites, that is, the maximum length N can be (N / K).

[0063] The neighbor pseudolites may be a plurality of pseudolites that are close in distance to the target pseudolites.

[0064] The satellite information may be data related to a pseudo-satellite, and may include but is not limited to: a neighboring satellite code and / or a pseudo-code sequence.

[0065] Each pseudolite in the entire positioning system will broadcast a neighbor list, and the first pseudolite currently being tracked will also broadcast a neighbor list. Therefore, the receiver can capture the broadcast data of these pseudolites, and thus obtain the neighbor list broadcast by the target pseudolite with the highest signal-to-noise ratio among multiple first pseudolites.

[0066] 203. Select a second pseudolite from each neighbor pseudolite included in the neighbor satellite list according to the satellite information, and control the receiver to switch to tracking the second pseudolite, so as to locate the receiver by tracking the second pseudolite.

[0067] The second pseudo-satellite is a neighbor pseudo-satellite selected from the neighbor satellite list for the next positioning.

[0068] Exemplarily, the selection strategy for the second pseudo-satellite may include random selection, selection of the pseudo-satellite with the highest signal-to-noise ratio, selection of the pseudo-satellite with a signal-to-noise ratio higher than the first threshold value, etc. The random selection method may randomly select each pseudo-satellite in the entire positioning system, and if the signal-to-noise ratio of the selected pseudo-satellite is not higher than the first threshold value, the next pseudo-satellite is searched again until a pseudo-satellite that can normally provide positioning services is captured; the method of selecting the pseudo-satellite with the highest signal-to-noise ratio may directly select the pseudo-satellite with the highest signal-to-noise ratio after detecting the signal-to-noise ratios of the pseudo-satellites in the entire positioning system; the method of selecting the pseudo-satellite with a signal-to-noise ratio higher than the first threshold value may select the pseudo-satellite with a signal-to-noise ratio that can meet the minimum requirement for positioning.

[0069] In some embodiments, the number of the second pseudolites selected is the minimum number that can meet the requirements of the next positioning. The minimum number of pseudolites required for the next positioning is selected because broadcasting too many neighbor pseudolites will not achieve the purpose of quickly screening pseudolites, while broadcasting too few neighbor pseudolites will not meet the minimum pseudolites required for positioning, and pseudolites have to be searched again, both of which will lead to a decrease in positioning efficiency.

[0070] In some embodiments, the neighbor list includes a first number of neighbor pseudolites. The first number is the sum of the number of pseudolites currently positioned and the number of pseudolites to be positioned next time, the number of pseudolites currently positioned is the number of first pseudolites currently tracked by the receiver; the number of pseudolites to be positioned next time is the minimum number of pseudolites required for the next positioning.

[0071] For example, the number of pseudolites for current positioning can be set to 3, and the number of pseudolites for next positioning can be set to 3, and the first number obtained by adding the two is 6. That is, the receiver performs positioning through the three first pseudolites currently tracked, and uses the three pseudolites as pseudolites required for next positioning.

[0072] It can be seen that presetting a suitable number of neighbor pseudolites in the neighbor satellite list is conducive to the receiver quickly screening out the second pseudolites and performing locking and tracking, and also effectively improves the efficiency of switching between pseudolites.

[0073] See also Figure 3 , Figure 3 FIG. 1 is a flow chart of another indoor positioning method disclosed in an embodiment of the present application. Figure 3 As shown, the indoor positioning method, applied to a receiver, may include the following steps:

[0074] 301. Measure the signal-to-noise ratio of each of the multiple first pseudolites currently tracked by the receiver, and when a faulty pseudolite having a signal-to-noise ratio lower than a second threshold value is detected among the multiple first pseudolites, record a duration during which the signal-to-noise ratio of the faulty pseudolite is lower than the second threshold value.

[0075] The second threshold value refers to an important technical indicator of the receiver. The second threshold value represents the performance of the receiver, that is, the lower the second threshold value of the receiver, the higher the receiving sensitivity, and vice versa. For example, when the second threshold value of the receiver is very low, it means that even if the signal-to-noise ratio of the currently tracked pseudo-satellite is very low, the receiver can still capture the pseudo-satellite. The second threshold value represents the minimum signal-to-noise ratio for the pseudo-satellite to provide normal positioning services. If the signal-to-noise ratio of the currently tracked pseudo-satellite is lower than the second threshold value, the receiver will no longer be able to capture the pseudo-satellite.

[0076] 302. When the duration exceeds a duration threshold, determine a target pseudolite with a highest signal-to-noise ratio from the multiple first pseudolites currently tracked.

[0077] The duration threshold is set to exclude the situation where the signal-to-noise ratio of the first pseudolite is occasionally lower than the second threshold value due to signal drift. The signal-to-noise ratio of the first pseudolite may sometimes drop suddenly due to the influence of time, location, weather and other factors, resulting in unstable satellite signals or signal weakening, which is a signal drift phenomenon. In this case, the decrease in the signal-to-noise ratio of the first pseudolite does not mean that the first pseudolite is a faulty pseudolite, so it is necessary to set a duration threshold to avoid this situation.

[0078] 303. Obtain a neighboring satellite list broadcast by the target pseudo-satellite with the highest signal-to-noise ratio.

[0079] The neighbor satellite list includes satellite information of each neighbor pseudosatellite of the target pseudosatellite; the satellite information of the neighbor pseudosatellite includes: the neighbor satellite number of the neighbor pseudosatellite. It should be noted that the satellite information of the neighbor pseudosatellite includes not only the neighbor satellite number of the neighbor pseudosatellite, but also the pseudo code sequence of the neighbor pseudosatellite. The target pseudosatellite can directly broadcast the neighbor satellite number of the neighbor pseudosatellite, and the receiver generates a one-to-one corresponding pseudo code sequence according to the neighbor satellite number, and then captures and tracks the second pseudosatellite according to the pseudo code sequence. In some embodiments, the target pseudosatellite can also directly broadcast the pseudo code sequence of the neighbor pseudosatellite, and the receiver can directly capture and track the second pseudosatellite according to the broadcast pseudo code sequence.

[0080] 304. Select, according to the satellite information, a second pseudolite which is not currently tracked and has a signal-to-noise ratio higher than a first threshold value from each neighbor pseudolite included in the neighbor satellite list.

[0081] The receiver will exclude the neighbor satellite number of the first pseudolite being tracked from the neighbor satellite list of the target pseudolite with the highest signal-to-noise ratio, and determine the neighbor pseudolite corresponding to the remaining neighbor satellite number in the neighbor satellite list as the second pseudolite required for the next positioning. The second pseudolite is a pseudolite that is not currently tracked by the receiver and has a signal-to-noise ratio higher than the first threshold value.

[0082] The first threshold value in step 204 may be the same as or different from the second threshold value in step 201 , and is not specifically limited.

[0083] Since the first threshold value represents the minimum signal-to-noise ratio that a pseudo-satellite can meet the positioning requirements, the value of the first threshold value can be optionally higher than the second threshold value, so that when the receiver switches to tracking the second pseudo-satellite for the next positioning, it can provide accurate positioning services to the user. Since the working state of the pseudo-satellite is not ideal when the signal-to-noise ratio is near the second threshold value, if the first threshold value is the same as the second threshold value, the second pseudo-satellite after switching may not meet the positioning requirements. Therefore, setting the first threshold value higher than the second threshold value can avoid re-searching for satellites.

[0084] 305. Obtain a neighboring satellite number of the second pseudolite from the neighboring satellite list, and convert the neighboring satellite number of the second pseudolite into a pseudocode sequence of the second pseudolite.

[0085] The pseudo-code sequence refers to the pseudo-random code fixed on each satellite, which is used to identify each satellite. The signal structure design of pseudo-satellite refers to the GPS signal format. It can be designed based on the widely used L1 signal, or different pseudo-satellite signal structures can be designed based on different needs, such as Beidou B1 signal, B2 signal, etc., without specific limitation.

[0086] For example, the C / A code can be used as a pseudo-random code of a pseudo-satellite. The C / A code is a ranging code modulated only on the L1 (1575.42 MHz) carrier. The receiver performs a correlation operation on the pseudo-random code received from the satellite and the local C / A code to obtain a correlation peak, thereby obtaining the code phase of the C / A code and calculating the pseudo-range between the satellite and the receiver. The receiver can identify different pseudo-satellites through the pseudo-range.

[0087] In the example of the present application, the neighbor satellite number of the neighbor pseudo-satellite is used to indicate the pseudo-code sequence of the neighbor pseudo-satellite. Generally speaking, the pseudo-code sequence consists of multiple digits and the sequence is long. Therefore, the pseudo-code sequence is referred to by the neighbor satellite number and saved in the neighbor satellite list, which can simplify the satellite positioning process. After the receiver obtains the neighbor satellite number of the second pseudo-satellite from the neighbor satellite list, it generates the corresponding pseudo-code sequence of the second pseudo-satellite according to the neighbor satellite number.

[0088] In some possible embodiments, the satellite information broadcast by the pseudolite includes a pseudocode. Accordingly, the receiver can directly switch to track the corresponding pseudolite according to the pseudocode without executing the step of converting the neighbor satellite number into a pseudocode sequence in step 305.

[0089] 306. Capture the second pseudolite according to the pseudocode sequence of the second pseudolite, and lock and track the second pseudolite, so as to locate the receiver by tracking the second pseudolite.

[0090] It can be seen that the indoor positioning method disclosed in the above embodiments is conducive to the receiver to quickly switch and track between pseudo-satellites, improves the efficiency of positioning, and reduces the complexity of the positioning process.

[0091] See also Figure 4 , Figure 4 FIG. 1 is a schematic diagram of another indoor positioning system disclosed in an embodiment of the present application. Figure 4 As shown, the indoor positioning device 400 may include: a receiver 410 and a first pseudo-satellite 420 .

[0092] The first pseudolite 420 is used to broadcast a neighbor satellite list;

[0093] The receiver 410 is configured to measure the signal-to-noise ratio of each of the plurality of first pseudolites currently tracked by the receiver, and determine a target pseudolite with the highest signal-to-noise ratio from the plurality of first pseudolites currently tracked;

[0094] The receiver 410 is used to obtain a neighbor satellite list broadcast by a target pseudolite with the highest signal-to-noise ratio; the neighbor satellite list includes satellite information of each neighbor pseudolite of the target pseudolite;

[0095] The receiver 410 is used to select a second pseudolite from the neighbor pseudolite included in the neighbor satellite list broadcast by the target pseudolite according to the satellite information, and control the receiver to switch to tracking the second pseudolite, so as to locate the receiver by tracking the second pseudolite.

[0096] In one embodiment, the receiver 410 is further configured to select, from among the neighbor pseudolites included in the neighbor satellite list according to the satellite information, a second pseudolite that is not currently tracked and has a signal-to-noise ratio higher than a first threshold.

[0097] In one embodiment, the receiver 410 is further configured to determine a target pseudolite with the highest signal-to-noise ratio from among the multiple first pseudolites currently being tracked, when a faulty pseudolite with a signal-to-noise ratio lower than a second threshold is detected among the multiple first pseudolites.

[0098] In one embodiment, the receiver 410 is further configured to, when detecting that there is a faulty pseudo-satellite with a signal-to-noise ratio lower than a second threshold value among the multiple first pseudo-satellites, record a duration for which the signal-to-noise ratio of the faulty pseudo-satellite is lower than the second threshold value; and when the duration exceeds the duration threshold, determine a target pseudo-satellite with the highest signal-to-noise ratio from the multiple first pseudo-satellites currently being tracked.

[0099] In one embodiment, the receiver 410 is further configured to obtain a neighboring satellite number of the second pseudolite from the neighboring satellite list, and convert the neighboring satellite number of the second pseudolite into a pseudocode sequence of the second pseudolite; capture the second pseudolite according to the pseudocode sequence of the second pseudolite, and lock and track the second pseudolite.

[0100] See also Figure 5 , Figure 5 is a schematic diagram of the structure of an indoor positioning device disclosed in an embodiment of the present application, and the device can be applied to the receiver of the aforementioned embodiment. Figure 5 As shown, the indoor positioning device 500 may include: a determination module 501 , an acquisition module 502 , and a switching module 503 .

[0101] The determination module 501 is used to measure the signal-to-noise ratio of each of the multiple first pseudolites currently tracked by the receiver, and determine the target pseudolites with the highest signal-to-noise ratio from the multiple first pseudolites currently tracked;

[0102] An acquisition module 502 is used to acquire a neighbor satellite list broadcast by a target pseudolite with the highest signal-to-noise ratio; the neighbor satellite list includes satellite information of each neighbor pseudolite of the target pseudolite;

[0103] The switching module 503 is used to select a second pseudolite from each neighbor pseudolite included in the neighbor satellite list according to the satellite information, and control the receiver to switch to tracking the second pseudolite, so as to locate the receiver by tracking the second pseudolite.

[0104] In one embodiment, the switching module 503 may be configured to select, from among the neighbor pseudolites included in the neighbor satellite list according to the satellite information, a second pseudolite that is not currently tracked and has a signal-to-noise ratio higher than a first threshold.

[0105] In one embodiment, the determination module 501 may be configured to determine the target pseudolite with the highest signal-to-noise ratio from the multiple first pseudolites currently being tracked when a faulty pseudolite with a signal-to-noise ratio lower than a second threshold is detected among the multiple first pseudolites.

[0106] In one embodiment, the determination module 501 may be further configured to, when detecting that a faulty pseudolite having a signal-to-noise ratio lower than a second threshold value exists among the plurality of first pseudolites, record a duration for which the signal-to-noise ratio of the faulty pseudolite is lower than the second threshold value;

[0107] When the duration exceeds a duration threshold, the target pseudolite with the highest signal-to-noise ratio is determined from the multiple first pseudolites currently tracked.

[0108] In one embodiment, the satellite information of the neighbor pseudolite includes: the neighbor satellite number of the neighbor pseudolite; the switching module 503 may include: a conversion unit and a capture unit;

[0109] a conversion unit, configured to obtain a neighboring satellite number of the second pseudosatellite from the neighboring satellite list, and convert the neighboring satellite number of the second pseudosatellite into a pseudocode sequence of the second pseudosatellite;

[0110] Capturing unit: can be used to capture the second pseudolite according to the pseudocode sequence of the second pseudolite, and lock and track the second pseudolite.

[0111] In one embodiment, see Figure 6 , Figure 6 It is a structural schematic diagram of another indoor positioning device disclosed in an embodiment of the present application. Figure 6 The indoor positioning device 600 shown can be applied to the first pseudo-satellite of the aforementioned embodiment.

[0112] like Figure 6 As shown, the indoor positioning device 600 may include a broadcast module 601 .

[0113] The broadcast module can be used to broadcast a neighbor satellite list, so that a receiver selects a second pseudo satellite from the neighbor satellite list broadcast by a target pseudo satellite, and controls the receiver to switch and track the second pseudo satellite, so as to locate the receiver by tracking the second pseudo satellite; the target pseudo satellite is the first pseudo satellite with the highest signal-to-noise ratio among multiple first pseudo satellites currently tracked by the receiver; the neighbor satellite list broadcast by the target pseudo satellite includes satellite information of each neighbor pseudo satellite of the target pseudo satellite.

[0114] In one embodiment, the neighbor list includes a first number of neighbor pseudolites. The first number is the sum of the number of pseudolites currently positioned and the number of pseudolites to be positioned next time, the number of pseudolites currently positioned is the number of first pseudolites currently tracked by the receiver; the number of pseudolites to be positioned next time is the minimum number of pseudolites required for positioning next time.

[0115] See also Figure 7 , Figure 7 is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present application. The electronic device may be the receiver in the aforementioned embodiment, such as Figure 7 As shown, the electronic device 700 may include:

[0116] A memory 710 storing executable program codes;

[0117] a processor 720 coupled to the memory 710;

[0118] The processor 720 calls the executable program code stored in the memory 710 to execute any one of the indoor positioning methods for the receiver disclosed in the embodiments of the present application.

[0119] The present application embodiment discloses another electronic device, which can be a pseudo-satellite in the above-mentioned embodiment. The electronic device includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements any indoor positioning method for pseudo-satellite disclosed in the present application embodiment. The structure can be as follows: Figure 7 When the processor calls the executable program code stored in the memory, any indoor positioning method for pseudolites disclosed in the embodiments of the present application is executed.

[0120] The embodiments of the present application disclose a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute any one of the indoor positioning methods for a receiver disclosed in the embodiments of the present application.

[0121] The embodiments of the present application disclose a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute any one of the indoor positioning methods for pseudolites disclosed in the embodiments of the present application.

[0122] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present application.

[0123] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0124] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0126] If the above-mentioned 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-accessible memory. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for a computer device (which can be a personal computer, a server or a network device, etc., specifically a processor in a computer device) to perform some or all of the steps of the above-mentioned methods of various embodiments of the present application.

[0127] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0128] The above is a detailed introduction to an indoor positioning method, device and system, electronic device and storage medium disclosed in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those of ordinary skill in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An indoor positioning method, characterized in that: Applied to a receiver, the method comprises: Measuring the signal-to-noise ratio of each first pseudolite among the multiple first pseudolites currently tracked by the receiver, and determining a target pseudolite with the highest signal-to-noise ratio from the multiple first pseudolites currently tracked; Acquire a neighboring satellite list broadcast by the target pseudo-satellite with the highest signal-to-noise ratio; the neighboring satellite list includes satellite information of each neighboring pseudo-satellite of the target pseudo-satellite, and the satellite information includes at least a neighboring satellite number and a pseudo-code sequence; A second pseudolite is selected from each neighbor pseudolite included in the neighbor satellite list according to the satellite information, and the receiver is controlled to switch and track the second pseudolite, so as to locate the receiver by tracking the second pseudolite.

2. The method according to claim 1, characterized in that The step of selecting a second pseudolite from each neighbor pseudolite included in the neighbor satellite list according to the satellite information comprises: A second pseudolite which is not currently tracked and has a signal-to-noise ratio higher than a first threshold is selected from each neighbor pseudolite included in the neighbor satellite list according to the satellite information.

3. The method according to claim 1, characterized in that: The step of determining the target pseudolite with the highest signal-to-noise ratio from the multiple first pseudolites currently being tracked includes: When it is detected that there is a faulty pseudolite whose signal-to-noise ratio is lower than the second threshold value among the plurality of first pseudolites, the target pseudolite with the highest signal-to-noise ratio is determined from the plurality of first pseudolites currently tracked.

4. The method according to claim 3, characterized in that The method of determining the target pseudolite with the highest signal-to-noise ratio from the multiple first pseudolites currently tracked when a faulty pseudolite with a signal-to-noise ratio lower than a second threshold value is detected among the multiple first pseudolites comprises: When it is detected that there is a faulty pseudolite whose signal-to-noise ratio is lower than a second threshold value among the plurality of first pseudolites, recording a duration for which the signal-to-noise ratio of the faulty pseudolite is lower than the second threshold value; When the duration exceeds a duration threshold, the target pseudolite with the highest signal-to-noise ratio is determined from the multiple first pseudolites currently tracked.

5. The method according to any one of claims 1 to 4, characterized in that: The controlling the receiver to switch and track the second pseudo-satellite comprises: Acquire the neighboring satellite number of the second pseudolite from the neighboring satellite list, and convert the neighboring satellite number of the second pseudolite into a pseudocode sequence of the second pseudolite; The second pseudolite is captured according to the pseudocode sequence of the second pseudolite, and the second pseudolite is locked and tracked.

6. An indoor positioning method, characterized in that: Applied to a first pseudolite, the method comprises: A neighbor satellite list is broadcasted, so that a receiver selects a second pseudo satellite from the neighbor satellite list broadcasted by a target pseudo satellite, and controls the receiver to switch and track the second pseudo satellite, so as to locate the receiver by tracking the second pseudo satellite; the target pseudo satellite is the first pseudo satellite with the highest signal-to-noise ratio among a plurality of the first pseudo satellites currently tracked by the receiver; the neighbor satellite list broadcasted by the target pseudo satellite includes satellite information of each neighbor pseudo satellite of the target pseudo satellite, and the satellite information includes at least a neighbor satellite number and a pseudo code sequence.

7. The method according to claim 6, characterized in that The neighbor satellite list includes a first number of neighbor pseudolites; the first number is the sum of the number of pseudolites currently positioned and the number of pseudolites to be positioned next time, the number of pseudolites currently positioned is the number of first pseudolites currently tracked by the receiver; the number of pseudolites to be positioned next time is the minimum number of pseudolites required for the next positioning.

8. An indoor positioning system, characterized in that: The system comprises: a plurality of pseudolites and a receiver; the plurality of pseudolites comprises a first pseudolite currently tracked by the receiver; The plurality of pseudolites are used to broadcast a list of neighboring satellites; The receiver is used to measure the signal-to-noise ratio of each of the multiple first pseudolites currently tracked by the receiver, and determine the target pseudolites with the highest signal-to-noise ratio from the multiple first pseudolites currently tracked; The receiver is used to obtain a neighboring satellite list broadcast by the target pseudo-satellite with the highest signal-to-noise ratio; the neighboring satellite list includes satellite information of each neighboring pseudo-satellite of the target pseudo-satellite, and the satellite information includes at least a neighboring satellite number and a pseudo-code sequence; The receiver is used to select a second pseudo-satellite from each neighbor pseudo-satellite included in the neighbor satellite list broadcast by the target pseudo-satellite according to the satellite information, and control the receiver to switch to tracking the second pseudo-satellite, so as to locate the receiver by tracking the second pseudo-satellite.

9. An indoor positioning device, characterized in that: Applications in receivers include: A determination module, configured to measure the signal-to-noise ratio of each of the plurality of first pseudolites currently tracked by the receiver, and determine the target pseudolites with the highest signal-to-noise ratio from the plurality of first pseudolites currently tracked; An acquisition module is used to acquire a neighboring satellite list broadcast by the target pseudo-satellite with the highest signal-to-noise ratio; the neighboring satellite list includes satellite information of each neighboring pseudo-satellite of the target pseudo-satellite, and the satellite information includes at least a neighboring satellite number and a pseudo-code sequence; The switching module is used to select a second pseudolite from each neighbor pseudolite included in the neighbor satellite list according to the satellite information, and control the receiver to switch and track the second pseudolite, so as to locate the receiver by tracking the second pseudolite.

10. An indoor positioning device, characterized in that: Applied to the first pseudo-satellite, including: A broadcasting module is used to broadcast a neighboring satellite list, so that a receiver selects a second pseudo-satellite from the neighboring satellite list broadcasted by a target pseudo-satellite, and controls the receiver to switch and track the second pseudo-satellite, so as to locate the receiver by tracking the second pseudo-satellite; the target pseudo-satellite is the first pseudo-satellite with the highest signal-to-noise ratio among a plurality of the first pseudo-satellites currently tracked by the receiver; the neighboring satellite list broadcasted by the target pseudo-satellite includes satellite information of each neighboring pseudo-satellite of the target pseudo-satellite, and the satellite information includes at least a neighboring satellite number and a pseudo-code sequence.

11. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the method according to any one of claims 1 to 5 or 6 to 7.

12. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 or 6 to 7 is implemented.

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