Indoor terminal positioning method, system, device and electronic equipment

Abstract

The present application provides an indoor terminal positioning method, system, device and electronic device. The method includes: in response to receiving a satellite navigation signal forwarded by a group of indoor antennas among multiple groups of indoor antennas, determining the estimated position of an indoor point of interest corresponding to the group of indoor antennas among multiple indoor points of interest based on the satellite navigation signal; taking a layout position matching the estimated position among the layout positions of the multiple indoor points of interest as the regional position, and taking a group of indoor antennas corresponding to the layout position among the multiple groups of indoor antennas as the adjacent antenna group; based on the regional position, the indoor prior map and the inertial navigation information obtained by the terminal in real time, using a particle filter algorithm with the terminal position as a particle, predicting multiple first positions of the terminal and multiple first weights corresponding to the multiple first positions respectively; and calculating the weighted sum of the multiple first positions according to the multiple first weights as the second position of the terminal.

Description

Technical Field

[0001] The present application relates to positioning technology, and in particular to an indoor terminal positioning method, system, device and electronic equipment. Background Art

[0002] With the rapid development of positioning technology, the Global Navigation Satellite System (GNSS) has been widely used in the field of terminal positioning. However, in some places with complex building structures, such as underground garages, large shopping malls, museums and exhibition halls, satellite signals will be blocked by walls or the ground, and it is impossible to achieve full coverage of satellite signals indoors, thus affecting the positioning results of the terminal.

[0003] On the other hand, although there are technologies in the prior art that use Wi-Fi to assist in positioning the terminal, the terminal positioning result can be further refined. However, since Wi-Fi positioning accuracy is very low, there is no orientation, and the access point coverage radius is small. When only one access point is considered, there is a reception error, and it cannot be applied in an environment that requires accurate real-time positioning requirements. In addition, Wi-Fi positioning is easily interfered by other signals, the quality of positioning cannot be effectively guaranteed, and the energy consumption is high, so it is difficult to perform actual terminal positioning tasks. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide an indoor terminal positioning method, system, device and electronic equipment.

[0005] Based on the above purpose, in a first aspect, the present application provides an indoor terminal positioning method, wherein a plurality of groups of indoor antennas are distributed indoors, and the plurality of groups of indoor antennas are respectively connected to a plurality of outdoor antennas arranged outdoors to receive satellite navigation signals via a plurality of indoor points of interest, and the method comprises:

[0006] In response to receiving the satellite navigation signal forwarded via a group of indoor antennas among the plurality of groups of indoor antennas, determining an estimated position of an indoor point of interest among the plurality of indoor points of interest corresponding to the group of indoor antennas based on the satellite navigation signal;

[0007] taking a layout position among the layout positions of the plurality of indoor points of interest that matches the estimated position as a regional position, and taking a group of indoor antennas among the plurality of groups of indoor antennas that corresponds to the layout position as a neighboring antenna group;

[0008] According to the regional position, the indoor prior map and the inertial navigation information acquired by the terminal in real time, a particle filter algorithm with the position of the terminal as a particle is used to predict a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the plurality of first positions;

[0009] A weighted sum of the multiple first positions is calculated according to the multiple first weights as the second position of the terminal.

[0010] Optionally, the method further includes:

[0011] In response to detecting that the terminal switches from being connected to a first indoor antenna in the neighboring antenna group to being connected to a second indoor antenna in the neighboring antenna group, the plurality of first weights are updated using the particle filter algorithm to obtain a plurality of second weights,

[0012] Calculating the weighted sum of the multiple first positions according to the multiple first weights includes: calculating the weighted sum of the multiple first positions according to the multiple second weights.

[0013] Optionally, the using the particle filter algorithm to update the multiple first weights to obtain multiple second weights includes:

[0014] For each first position among the multiple first positions and a first weight among the multiple first weights corresponding to the first position, a first probability of the switching occurring when the terminal is in the first position is obtained based on the Gaussian distribution of the switching detection error in the sub-area where the switching occurs, and a second weight among the multiple second weights corresponding to the first weight is obtained by multiplying the first probability by the first weight.

[0015] Optionally, the method further includes:

[0016] According to the base station signal strength obtained by the terminal in real time, the plurality of second weights are updated by using the particle filter algorithm to obtain a plurality of third weights,

[0017] Calculating the weighted sum of the multiple first positions according to the multiple second weights includes: calculating the weighted sum of the multiple first positions according to the multiple third weights.

[0018] Optionally, the using the particle filter algorithm to update the multiple second weights to obtain multiple third weights includes:

[0019] For each first position among the multiple first positions and a second weight among the multiple second weights corresponding to the first position, a second probability that the terminal measures the signal strength of the preset base station when it is at the first position is obtained based on the Gaussian distribution of the signal strength measurement error, and a third weight among the multiple third weights corresponding to the second weight is obtained by multiplying the second probability by the second weight.

[0020] Optionally, the method further includes:

[0021] The prior map includes the indoor wall position information and slope information and the distribution map of the multiple groups of indoor antennas;

[0022] According to the regional position, the prior map and the inertial navigation information, the particle filter algorithm is used to predict the multiple first positions and the multiple first weights, including:

[0023] Determine the particle reachable area in the room according to the wall position information, the slope information and the distribution map of the multiple groups of indoor antennas;

[0024] The plurality of first positions and the plurality of first weights are predicted according to the area position, the particle reachable area and the inertial navigation information using the particle filter algorithm.

[0025] In a second aspect, the present application provides an indoor positioning device, wherein a plurality of groups of indoor antennas are distributed indoors, and the plurality of groups of indoor antennas are respectively connected to a plurality of outdoor antennas arranged outdoors to receive satellite navigation signals via a plurality of indoor points of interest, and the device comprises:

[0026] an estimation module, configured to, in response to receiving the satellite navigation signal forwarded via a group of indoor antennas among the plurality of groups of indoor antennas, determine an estimated position of an indoor point of interest among the plurality of indoor points of interest corresponding to the group of indoor antennas based on the satellite navigation signal;

[0027] a matching module configured to use a layout position among the layout positions of the plurality of indoor points of interest that matches the estimated position as a regional position, and use a group of indoor antennas among the plurality of groups of indoor antennas that corresponds to the layout position as a neighboring antenna group;

[0028] A prediction module is configured to predict a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the plurality of first positions by using a particle filter algorithm with the position of the terminal as a particle according to the regional position, the prior map of the room and the inertial navigation information acquired by the terminal in real time;

[0029] The positioning module is configured to calculate a weighted sum of the multiple first positions according to the multiple first weights as the second position of the terminal.

[0030] In a third aspect, the present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, an indoor terminal positioning method as described in any one of the above items is implemented.

[0031] In a fourth aspect, the present application also provides an indoor terminal positioning system, including:

[0032] A plurality of outdoor antennas are arranged outdoors to receive satellite navigation signals;

[0033] A plurality of groups of indoor antennas distributed in the room are connected to the plurality of outdoor antennas via a plurality of indoor points of interest respectively;

[0034] The terminal in the room is configured to:

[0035] In response to receiving the satellite navigation signal forwarded via a group of indoor antennas among the plurality of groups of indoor antennas, determining an estimated position of an indoor point of interest among the plurality of indoor points of interest corresponding to the group of indoor antennas based on the satellite navigation signal;

[0036] taking a layout position among the layout positions of the plurality of indoor points of interest that matches the estimated position as a regional position;

[0037] According to the regional position, the indoor prior map and the inertial navigation information acquired by the terminal in real time, a particle filter algorithm with the position of the terminal as a particle is used to predict a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the plurality of first positions;

[0038] A weighted sum of the multiple first positions is calculated according to the multiple first weights as the second position of the terminal.

[0039] Optionally, the terminal is further configured to:

[0040] In response to detecting that the terminal switches from being connected to a first indoor antenna in the neighboring antenna group to being connected to a second indoor antenna in the neighboring antenna group, updating the plurality of first weights using the particle filter algorithm to obtain a plurality of second weights;

[0041] According to the base station signal strength obtained by the terminal in real time, the plurality of second weights are updated by using the particle filter algorithm to obtain a plurality of third weights,

[0042] Calculating the weighted sum of the multiple first positions according to the multiple first weights includes: calculating the weighted sum of the multiple first positions according to the multiple third weights.

[0043] From the above, it can be seen that the indoor terminal positioning method, system, device and electronic device provided by the present application, the terminal determines an estimated position relative to the indoor point of interest by receiving the satellite navigation signal forwarded by the outdoor antenna, and then matches the estimated position with the layout position of the actual indoor point of interest, obtains the regional position within the range of the terminal, and at the same time determines the indoor antenna group close to the terminal, introduces the indoor point of interest in the terminal positioning process, and can more flexibly locate the terminal according to the indoor environment layout. According to the inertial navigation information and prior map obtained by the terminal in real time, it can be achieved that the possible distribution positions of multiple terminals and the weights corresponding to the positions are predicted by the particle filtering algorithm with the terminal position as the particle in the reachable area of ​​the prior map, which solves the problem that the satellite signal will be blocked by the wall or the ground and the satellite signal cannot be fully covered indoors. The weight corresponding to the terminal position is updated multiple times according to the switching of the indoor antenna connected to the terminal and the base station signal strength obtained by the terminal in real time, which further improves the accuracy of positioning and realizes high-precision, high-efficiency and low-energy indoor terminal positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A schematic diagram of the connection scenario of the indoor antenna, point of interest and outdoor antenna provided in the embodiment of the present application.

[0046] Figure 2 An exemplary flow chart of an indoor terminal positioning method provided in an embodiment of the present application.

[0047] Figure 3 This is a structural diagram of an indoor terminal positioning device provided in an embodiment of the present application.

[0048] Figure 4 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0050] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0051] As described in the background technology section, in some places with complex building structures, such as underground garages, large shopping malls, museums and exhibition halls, satellite signals will be blocked by walls or the ground, and it is impossible to achieve full coverage of satellite signals indoors, thus affecting the positioning results of the terminal. In addition, when using Wi-Fi to assist in positioning the terminal, the Wi-Fi positioning accuracy is very low, there is no orientation, and the access point coverage radius is small. When only one access point is considered, there is a reception error, and it cannot be applied in an environment that requires accurate real-time positioning requirements. In addition, Wi-Fi positioning is easily interfered by other signals, the quality of positioning cannot be effectively guaranteed, and the energy consumption is high, so it is difficult to perform actual terminal positioning tasks.

[0052] In view of this, an embodiment of the present application provides an indoor terminal positioning method, in which the terminal determines an estimated position relative to an indoor point of interest by receiving a satellite navigation signal forwarded by an outdoor antenna, and then matches the estimated position with the layout position of the actual indoor point of interest to obtain the indoor regional position of the terminal, and at the same time determines the indoor antenna group adjacent to the terminal, introduces the indoor point of interest in the terminal positioning process, and can more flexibly locate the terminal according to the indoor environment layout. According to the inertial navigation information and a priori map obtained by the terminal in real time, it can be achieved that the possible distribution positions of multiple terminals and the weights corresponding to the positions are predicted by a particle filtering algorithm with the position of the terminal as a particle in the reachable area of ​​the a priori map, thereby solving the problem that the satellite signal will be blocked by the wall or the ground and the satellite signal cannot be fully covered indoors. The weight corresponding to the terminal position is updated multiple times according to the switching of the indoor antenna connected to the terminal and the base station signal strength obtained by the terminal in real time, which further improves the accuracy of positioning and realizes high-precision, high-efficiency and low-energy indoor terminal positioning.

[0053] The indoor terminal positioning method provided in the embodiment of the present application is described in detail below through specific embodiments.

[0054] refer to Figure 1 , which is a schematic diagram of the connection scenario of the indoor antenna, point of interest and outdoor antenna provided in the embodiment of the present application.

[0055] There are multiple groups of indoor antennas distributed in the room, each group of indoor antennas includes multiple indoor antennas, and the multiple groups of indoor antennas are connected to multiple outdoor antennas set up outdoors to receive satellite navigation signals via multiple indoor points of interest. For a known indoor environment, the layout positions of indoor points of interest can be obtained.

[0056] refer to Figure 2 , which is an exemplary flow chart of an indoor terminal positioning method provided in an embodiment of the present application.

[0057] Step S201, in response to receiving the satellite navigation signal forwarded via a group of indoor antennas among the multiple groups of indoor antennas, determining an estimated position of an indoor point of interest among the multiple indoor points of interest corresponding to the group of indoor antennas based on the satellite navigation signal.

[0058] In the specific implementation, Figure 1 As shown, an outdoor antenna capable of receiving satellite navigation signals is set up in an open environment such as the rooftop of a building where indoor terminal positioning is required. The received satellite navigation signals are forwarded through multiple groups of indoor antennas arranged indoors to achieve indoor satellite navigation signal coverage.

[0059] Furthermore, the indoor terminal receives the satellite navigation signal forwarded by a group of indoor antennas among multiple groups of indoor antennas. Since each group of indoor antennas is connected to a corresponding indoor point of interest, the estimated position of an indoor point of interest among multiple indoor points of interest corresponding to the group of indoor antennas can be determined based on the satellite navigation signal.

[0060] It should be noted that satellite navigation signals include but are not limited to information about satellite pseudorange, ephemeris, satellite launch time, etc. received by near-Earth space stations. The sources of satellite navigation signals include but are not limited to the Global Navigation Satellite System, the US Global Positioning System, China's Beidou Navigation Satellite System, the Russian Global Navigation Satellite System and the European Union's Galileo Satellite Navigation System.

[0061] Step S202: taking a layout position among the layout positions of the plurality of indoor points of interest that matches the estimated position as a regional position, and taking a group of indoor antennas among the plurality of groups of indoor antennas that corresponds to the layout position as a neighboring antenna group.

[0062] In a specific implementation, for a known indoor environment, the layout location of the indoor point of interest can be obtained. By matching the estimated location obtained above with the actually obtained layout location, the regional location of the terminal can be obtained. Furthermore, a group of indoor antennas corresponding to the layout location can be used as a neighboring antenna group.

[0063] Step S203, based on the area location, the indoor prior map and the inertial navigation information acquired by the terminal in real time, a particle filtering algorithm with the terminal location as a particle is used to predict multiple first locations of the terminal and multiple first weights corresponding to the multiple first locations.

[0064] In a specific implementation, the inertial navigation information includes but is not limited to original observation quantities such as the three-axis angular velocity based on the gyroscope, the three-axis acceleration based on the acceleration sensor, and the three-axis magnetic field strength based on the magnetic sensor, which are obtained by the terminal equipped with an inertial sensor according to an open source data interface, as well as secondary calculation information such as the terminal's moving distance and direction of movement.

[0065] In a specific implementation, the prior map includes indoor wall position information and slope information and distribution maps of multiple groups of indoor antennas.

[0066] In the embodiment of the present application, a particle filter algorithm using the position of the terminal as a particle is used to predict multiple first positions of the terminal and multiple first weights corresponding to the multiple first positions, taking the i-th particle as an example:

[0067] x (i) = {r (i) ,ω (i)}

[0068] ∑ω (i) =1

[0069] Where i represents the i-th particle, ω (i) is the first weight of the ith particle, r (i) represents the first position of the ith particle, x (i) Indicates the particle state at the current moment.

[0070] In the embodiment of the present application, the particle state of the i-th particle at the previous moment is x k-1 (i) , the particle state of the i-th particle at the current moment is x k (i) , the inertial navigation information is expressed as P(x k |x k-1 ).

[0071] According to the particle state of the ith particle at the previous moment, the particle state of the ith particle at the current moment and the inertial navigation information, the first position distribution probability of the ith particle is obtained:

[0072] P(x k (i) )=∫P(x k |x k-1 )P(x k-1 (i) )dx k-1 (i)

[0073] Step S204: Calculate a weighted sum of the multiple first positions according to the multiple first weights as the second position of the terminal.

[0074] Specifically, taking the i-th particle as an example:

[0075]

[0076] in, Indicates the first position, represents the first weight, r (k) Indicates the second position.

[0077] As an optional embodiment, in response to detecting that the terminal switches from being connected to a first indoor antenna in a neighboring antenna group to being connected to a second indoor antenna in the neighboring antenna group, a particle filtering algorithm is used to update the plurality of first weights to obtain a plurality of second weights;

[0078] Calculating the weighted sum of the multiple first positions according to the multiple first weights includes: calculating the weighted sum of the multiple first positions according to the multiple second weights.

[0079] As an optional embodiment, a plurality of first weights are updated using a particle filter algorithm to obtain a plurality of second weights, including:

[0080] For each first position among multiple first positions and a first weight among multiple first weights corresponding to the first position, a first probability of switching occurring when the terminal is in the first position is obtained based on the Gaussian distribution of the switching detection error in the sub-area where the switching occurs, and by multiplying the first probability by the first weight, a second weight among the multiple second weights corresponding to the first weight is obtained.

[0081] Specifically, there are absolute measurements at certain points indoors, and it is possible to detect when a terminal switches from one indoor antenna connection to another indoor antenna connection. Assume that the switching area is {x A,n}, the first weight can be further updated through the switching point to obtain multiple second weights. Taking the i-th particle as an example:

[0082]

[0083] in, Indicates that the terminal is located at When in the switching area {x A,n}The first probability of switching, is the first weight, is the second weight, assuming that the detection error of the switching area has a mean of 0 and a variance of Gaussian distribution ( Obtained from empirical statistics), To the switching area {x A,n The shortest distance of} is but Then we can obtain

[0084] Further, the third position can be obtained according to the second weight, specifically:

[0085]

[0086] in, Indicates the first position, represents the second weight, r (k) ' indicates the third position.

[0087] As an optional embodiment, according to the base station signal strength obtained by the terminal in real time, a plurality of second weights are updated using a particle filter algorithm to obtain a plurality of third weights.

[0088] Calculating the weighted sum of the multiple first positions according to the multiple second weights includes: calculating the weighted sum of the multiple first positions according to the multiple third weights.

[0089] As an optional embodiment, a plurality of second weights are updated using a particle filter algorithm to obtain a plurality of third weights, including:

[0090] For each first position among multiple first positions and a second weight among multiple second weights corresponding to the first position, a second probability that the terminal measures the signal strength of a preset base station when it is at the first position is obtained based on the Gaussian distribution of the signal strength measurement error, and by multiplying the second probability by the second weight, a third weight among multiple third weights corresponding to the second weight is obtained.

[0091] Specifically, through pre-measurement, the target is located at position When the base station signal strength is E k The third weight can be obtained according to the following formula, taking the i-th particle as an example:

[0092]

[0093] in, Indicates that the terminal is located at When the base station signal strength is measured, it is E k Assume that the signal strength measurement error has a mean of 0 and a variance of Gaussian distribution ( obtained by the signal terminal receiver parameters), then Then we can obtain The third weight.

[0094] Further, the fourth position can be obtained according to the third weight, specifically:

[0095]

[0096] in, Indicates the first position, represents the third weight, r (k) ″ indicates the fourth position.

[0097] From the above, it can be seen that the indoor terminal positioning method provided by the present application determines an estimated position relative to an indoor point of interest by receiving a satellite navigation signal forwarded by an outdoor antenna, and then matches the estimated position with the layout position of the actual indoor point of interest to obtain the regional position within the range of the terminal, and at the same time determines the indoor antenna group close to the terminal, introduces the indoor point of interest in the terminal positioning process, and can more flexibly locate the terminal according to the indoor environment layout. According to the inertial navigation information and the prior map obtained by the terminal in real time, it can be achieved that the possible distribution positions of multiple terminals and the weights corresponding to the positions are predicted by a particle filter algorithm with the terminal position as a particle in the reachable area of ​​the prior map, which solves the problem that the satellite signal will be blocked by the wall or the ground and the satellite signal cannot be fully covered indoors. The weight corresponding to the terminal position is updated multiple times according to the switching of the indoor antenna connected to the terminal and the base station signal strength obtained by the terminal in real time, which further improves the accuracy of positioning and realizes high-precision, high-efficiency and low-energy indoor terminal positioning.

[0098] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0099] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0100] Based on the same inventive concept, the present application provides an indoor terminal positioning device, referring to Figure 3 , which is a structural diagram of an indoor terminal positioning device provided in an embodiment of the present application.

[0101] There are multiple groups of indoor antennas distributed indoors, and the multiple groups of indoor antennas are connected to multiple outdoor antennas arranged outdoors to receive satellite navigation signals via multiple indoor points of interest, respectively. The device includes:

[0102] The estimation module 301 is configured to determine, in response to receiving the satellite navigation signal forwarded via a group of indoor antennas among the multiple groups of indoor antennas, an estimated position of an indoor point of interest among the multiple indoor points of interest corresponding to the group of indoor antennas based on the satellite navigation signal;

[0103] The matching module 302 is configured to use a layout position that matches the estimated position among the layout positions of the plurality of indoor points of interest as a regional position, and use a group of indoor antennas among the plurality of groups of indoor antennas that corresponds to the layout position as a neighboring antenna group;

[0104] The prediction module 303 is configured to predict a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the plurality of first positions by using a particle filter algorithm with the position of the terminal as a particle according to the regional position, the prior map of the room and the inertial navigation information acquired by the terminal in real time;

[0105] The positioning module 304 is configured to calculate a weighted sum of the multiple first positions according to the multiple first weights as the second position of the terminal.

[0106] Optionally, the device is further configured to:

[0107] In response to detecting that the terminal switches from being connected to a first indoor antenna in the neighboring antenna group to being connected to a second indoor antenna in the neighboring antenna group, the plurality of first weights are updated using the particle filter algorithm to obtain a plurality of second weights,

[0108] Calculating the weighted sum of the multiple first positions according to the multiple first weights includes: calculating the weighted sum of the multiple first positions according to the multiple second weights.

[0109] Optionally, the using the particle filter algorithm to update the multiple first weights to obtain multiple second weights includes:

[0110] For each first position among the multiple first positions and a first weight among the multiple first weights corresponding to the first position, a first probability of the switching occurring when the terminal is in the first position is obtained based on the Gaussian distribution of the switching detection error in the sub-area where the switching occurs, and a second weight among the multiple second weights corresponding to the first weight is obtained by multiplying the first probability by the first weight.

[0111] Optionally, the device is further configured to:

[0112] According to the base station signal strength obtained by the terminal in real time, the plurality of second weights are updated by using the particle filter algorithm to obtain a plurality of third weights,

[0113] Calculating the weighted sum of the multiple first positions according to the multiple second weights includes: calculating the weighted sum of the multiple first positions according to the multiple third weights.

[0114] Optionally, the using the particle filter algorithm to update the multiple second weights to obtain multiple third weights includes:

[0115] For each first position among the multiple first positions and a second weight among the multiple second weights corresponding to the first position, a second probability that the terminal measures the signal strength of the preset base station when it is at the first position is obtained based on the Gaussian distribution of the signal strength measurement error, and a third weight among the multiple third weights corresponding to the second weight is obtained by multiplying the second probability by the second weight.

[0116] Optionally, the prior map includes indoor wall position information and slope information and a distribution map of the multiple groups of indoor antennas;

[0117] According to the regional position, the prior map and the inertial navigation information, the particle filter algorithm is used to predict the multiple first positions and the multiple first weights, including:

[0118] Determine the particle reachable area in the room according to the wall position information, the slope information and the distribution map of the multiple groups of indoor antennas;

[0119] The plurality of first positions and the plurality of first weights are predicted according to the area position, the particle reachable area and the inertial navigation information using the particle filter algorithm.

[0120] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0121] The device of the above embodiment is used to implement the corresponding indoor terminal positioning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0122] Based on the same inventive concept, the present application provides an indoor terminal positioning system, comprising:

[0123] A plurality of outdoor antennas are arranged outdoors to receive satellite navigation signals;

[0124] A plurality of groups of indoor antennas distributed in the room are connected to the plurality of outdoor antennas via a plurality of indoor points of interest respectively;

[0125] The terminal in the room is configured to:

[0126] In response to receiving the satellite navigation signal forwarded via a group of indoor antennas among the plurality of groups of indoor antennas, determining an estimated position of an indoor point of interest among the plurality of indoor points of interest corresponding to the group of indoor antennas based on the satellite navigation signal;

[0127] taking a layout position among the layout positions of the plurality of indoor points of interest that matches the estimated position as a regional position;

[0128] According to the regional position, the indoor prior map and the inertial navigation information acquired by the terminal in real time, a particle filter algorithm with the position of the terminal as a particle is used to predict a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the plurality of first positions;

[0129] A weighted sum of the multiple first positions is calculated according to the multiple first weights as the second position of the terminal.

[0130] Optionally, the terminal is further configured to:

[0131] In response to detecting that the terminal switches from being connected to a first indoor antenna in the neighboring antenna group to being connected to a second indoor antenna in the neighboring antenna group, updating the plurality of first weights using the particle filter algorithm to obtain a plurality of second weights;

[0132] According to the base station signal strength obtained by the terminal in real time, the plurality of second weights are updated by using the particle filter algorithm to obtain a plurality of third weights,

[0133] Calculating the weighted sum of the multiple first positions according to the multiple first weights includes: calculating the weighted sum of the multiple first positions according to the multiple third weights.

[0134] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the indoor terminal positioning method described in any of the above embodiments is implemented. Figure 4 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 410, a memory 420, an input / output interface 430, a communication interface 440, and a bus 450. The processor 410, the memory 420, the input / output interface 430, and the communication interface 440 are connected to each other through the bus 450 in the device.

[0135] The processor 410 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0136] The memory 420 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 420 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 420 and are called and executed by the processor 410.

[0137] The input / output interface 430 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0138] The communication interface 440 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0139] The bus 450 comprises a pathway for transmitting information between the various components of the device (eg, the processor 410, the memory 420, the input / output interface 430, and the communication interface 440).

[0140] It should be noted that, although the above device only shows the processor 410, the memory 420, the input / output interface 430, the communication interface 440 and the bus 450, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0141] The electronic device of the above embodiment is used to implement the corresponding indoor terminal positioning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0142] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0143] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0144] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0145] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A method for indoor terminal positioning, wherein: The indoor space has multiple groups of indoor antennas distributed therein, and the multiple groups of indoor antennas are connected to multiple outdoor antennas arranged outdoors to receive satellite navigation signals via multiple indoor points of interest, respectively. The method comprises: In response to receiving the satellite navigation signal forwarded via a group of indoor antennas among the plurality of groups of indoor antennas, determining an estimated position of an indoor point of interest among the plurality of indoor points of interest corresponding to the group of indoor antennas based on the satellite navigation signal; taking a layout position among the layout positions of the plurality of indoor points of interest that matches the estimated position as a regional position, and taking a group of indoor antennas among the plurality of groups of indoor antennas that corresponds to the layout position as a neighboring antenna group; According to the regional position, the indoor prior map and the inertial navigation information acquired by the terminal in real time, a particle filter algorithm with the position of the terminal as a particle is used to predict a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the plurality of first positions; A weighted sum of the multiple first positions is calculated according to the multiple first weights as the second position of the terminal.

2. The method according to claim 1, further comprising: In response to detecting that the terminal switches from being connected to the first indoor antenna in the neighboring antenna group to being connected to the second indoor antenna in the neighboring antenna group, the plurality of first weights are updated using the particle filter algorithm to obtain a plurality of second weights, Calculating the weighted sum of the multiple first positions according to the multiple first weights includes: calculating the weighted sum of the multiple first positions according to the multiple second weights.

3. The method according to claim 2, wherein: The plurality of first weights are updated by using the particle filter algorithm to obtain a plurality of second weights, including: For each first position among the multiple first positions and a first weight among the multiple first weights corresponding to the first position, a first probability of the switching occurring when the terminal is in the first position is obtained based on the Gaussian distribution of the switching detection error in the sub-area where the switching occurs, and a second weight among the multiple second weights corresponding to the first weight is obtained by multiplying the first probability by the first weight.

4. The method according to claim 2, further comprising: According to the base station signal strength obtained by the terminal in real time, the plurality of second weights are updated by using the particle filter algorithm to obtain a plurality of third weights, Calculating the weighted sum of the multiple first positions according to the multiple second weights includes: calculating the weighted sum of the multiple first positions according to the multiple third weights.

5. The method according to claim 4, wherein: The plurality of second weights are updated by using the particle filter algorithm to obtain a plurality of third weights, including: For each first position among the multiple first positions and a second weight among the multiple second weights corresponding to the first position, a second probability that the terminal measures the signal strength of the preset base station when it is at the first position is obtained based on the Gaussian distribution of the signal strength measurement error, and a third weight among the multiple third weights corresponding to the second weight is obtained by multiplying the second probability by the second weight.

6. The method according to any one of claims 1 to 5, wherein: The prior map includes the indoor wall position information and slope information and the distribution map of the multiple groups of indoor antennas; According to the regional position, the prior map and the inertial navigation information, the particle filter algorithm is used to predict the multiple first positions and the multiple first weights, including: Determine the particle reachable area in the room according to the wall position information, the slope information and the distribution map of the multiple groups of indoor antennas; The plurality of first positions and the plurality of first weights are predicted according to the area position, the particle reachable area and the inertial navigation information using the particle filter algorithm.

7. An indoor terminal positioning device, wherein: The indoor space has multiple groups of indoor antennas distributed therein, and the multiple groups of indoor antennas are connected to multiple outdoor antennas arranged outdoors to receive satellite navigation signals via multiple indoor points of interest, respectively. The device includes: an estimation module, configured to, in response to receiving the satellite navigation signal forwarded via a group of indoor antennas among the plurality of groups of indoor antennas, determine an estimated position of an indoor point of interest among the plurality of indoor points of interest corresponding to the group of indoor antennas based on the satellite navigation signal; a matching module configured to use a layout position among the layout positions of the plurality of indoor points of interest that matches the estimated position as a regional position, and use a group of indoor antennas among the plurality of groups of indoor antennas that corresponds to the layout position as a neighboring antenna group; A prediction module is configured to predict a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the plurality of first positions by using a particle filter algorithm with the position of the terminal as a particle according to the regional position, the prior map of the room and the inertial navigation information acquired by the terminal in real time; The positioning module is configured to calculate a weighted sum of the multiple first positions according to the multiple first weights as the second position of the terminal.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. An indoor terminal positioning system, comprising: A plurality of outdoor antennas are arranged outdoors to receive satellite navigation signals; A plurality of groups of indoor antennas distributed in the room are connected to the plurality of outdoor antennas via a plurality of indoor points of interest respectively; The terminal in the room is configured to: In response to receiving the satellite navigation signal forwarded via a group of indoor antennas among the plurality of groups of indoor antennas, determining an estimated position of an indoor point of interest among the plurality of indoor points of interest corresponding to the group of indoor antennas based on the satellite navigation signal; taking a layout position among the layout positions of the plurality of indoor points of interest that matches the estimated position as a regional position, and taking a group of indoor antennas among the plurality of groups of indoor antennas that corresponds to the layout position as a neighboring antenna group; According to the regional position, the indoor prior map and the inertial navigation information acquired by the terminal in real time, a particle filter algorithm with the position of the terminal as a particle is used to predict a plurality of first positions of the terminal and a plurality of first weights respectively corresponding to the plurality of first positions; A weighted sum of the multiple first positions is calculated according to the multiple first weights as the second position of the terminal.

10. The system according to claim 9, wherein: The terminal is also configured to: In response to detecting that the terminal switches from being connected to a first indoor antenna in the neighboring antenna group to being connected to a second indoor antenna in the neighboring antenna group, updating the plurality of first weights using the particle filter algorithm to obtain a plurality of second weights; According to the base station signal strength obtained by the terminal in real time, the plurality of second weights are updated by using the particle filter algorithm to obtain a plurality of third weights, Calculating the weighted sum of the multiple first positions according to the multiple first weights includes: calculating the weighted sum of the multiple first positions according to the multiple third weights.

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