Indoor network communication equipment positioning method and system

Abstract

The indoor network communication equipment positioning method is used for positioning at least one equipment end arranged in an indoor area. The indoor network communication equipment positioning method comprises the following steps of: obtaining an initial position of a mobile terminal through satellite positioning; obtaining a plurality of anchor point positions of the mobile terminal in the indoor area according to the inertial navigation and the initial position; the mobile terminal measures and obtains a plurality of measurement distances between the mobile terminal and at least one equipment terminal at the plurality of anchor point positions, wherein each anchor point position corresponds to one measurement distance; and analyzing the plurality of anchor point positions and the plurality of measurement distances according to a positioning algorithm to calculate a setting position of at least one device end in the indoor area.

Description

Technical Field

[0001] The present invention relates to a positioning method and system, and more specifically, to a positioning method and system for indoor network communication equipment. Background Art

[0002] Satellite positioning services have become one of the indispensable technologies in modern society and are widely used in many fields, such as travel navigation, online taxi hailing, food delivery, or outdoor search and rescue. Since the signals sent by satellite positioning cannot penetrate buildings, the communication device will not receive good signals when it is located indoors due to the obstruction of the building, making it impossible to extend the positioning function indoors. In order to solve the problem of indoor communication device positioning, a device with communication function is usually installed in the indoor space of the building to continue the outdoor positioning function and improve the indoor reception quality.

[0003] However, before deploying the existing indoor positioning system, designers must plan dozens or even hundreds of device locations in large buildings and map the devices to the floor plan of the building. In addition, when building the device, the precise location measurement and adjustment of the anchor points must be performed according to the actual environment to complete the construction of the indoor positioning system. This cumbersome deployment, calibration and setting process not only reduces construction efficiency but also increases maintenance costs. Summary of the invention

[0004] In view of this, one scope of the present invention provides an indoor network communication device positioning method for locating at least one device terminal set in an indoor area. The indoor network communication device positioning method comprises the following steps: obtaining an initial position of a mobile terminal through satellite positioning; obtaining multiple anchor point positions of the mobile terminal in the indoor area according to inertial navigation and the initial position; the mobile terminal measures and obtains multiple measurement distances between the mobile terminal and the device terminal at the anchor point positions, wherein each anchor point position corresponds to a measurement distance; and analyzing the anchor point positions and the measurement distances according to a positioning algorithm to calculate the setting position of the device terminal in the indoor area.

[0005] Among them, the step of obtaining the initial position of the mobile terminal through satellite positioning further includes the following steps: obtaining the positioning coordinates of the mobile terminal through satellite positioning; detecting the distance accuracy value of the mobile terminal; and when the distance accuracy value is less than or equal to the accuracy threshold, setting the positioning coordinates as the initial position.

[0006] Among them, the accuracy threshold is between 1 meter and 4 meters.

[0007] Among them, in the step of obtaining multiple anchor positions of the mobile terminal in the indoor area based on inertial navigation and the initial position, it is further: obtaining multiple anchor positions of the mobile terminal in the indoor area based on inertial navigation, the initial position and a measurement time, wherein the measurement time is less than or equal to 1 minute.

[0008] Among them, the step of the mobile terminal measuring at the anchor point positions and obtaining multiple measurement distances between the mobile terminal and the device end further includes the following steps: the mobile terminal transmits a distance measurement signal to the device end at the anchor point positions respectively; and the mobile terminal calculates the measurement distance according to the transmission time of the distance measurement signal.

[0009] Among them, in the step of the mobile terminal measuring and obtaining a plurality of measurement distances between the mobile terminal and the device end at the anchor point positions, the mobile terminal further measures and obtains a plurality of measurement distances between the mobile terminal and the device end at the anchor point positions according to the 802.11mc standard.

[0010] The positioning algorithm may be a three-circle positioning algorithm, an arrival time positioning method, an arrival time difference positioning method, a received signal strength positioning method or a received signal angle positioning method.

[0011] Among them, the device end includes a first device end, a second device end and a third device end, and the indoor network communication device positioning method further includes the following steps: the first device end, the second device end and the third device end respectively measure and obtain a device measurement distance with a fourth device end set outside the indoor area; and analyze the setting positions and device measurement distances of the first device end, the second device end and the third device end according to the positioning algorithm to calculate the setting position of the fourth device end.

[0012] Another scope of the present invention provides an indoor network communication device positioning system. In a specific embodiment, the indoor network communication device positioning system includes a mobile terminal and a server. The mobile terminal includes a positioning unit, an inertial measurement unit, a distance calculation unit and a signal transmission unit. The positioning unit is used to locate and obtain the initial position of the mobile terminal. The inertial measurement unit is used to obtain multiple anchor point positions of the mobile terminal in the indoor area based on inertial navigation and the initial position. The distance calculation unit is used to measure multiple measured distances between the anchor point positions and at least one device end, wherein each anchor point position corresponds to a measured distance. The signal transmission unit is used to send the anchor point positions and the measured distances. The server is communicatively connected to the mobile terminal and is used to receive the anchor point positions and the measured distances. The server further includes a position calculation unit, which is used to analyze the anchor point positions and the measured distances according to the positioning algorithm to calculate the setting position of the device end in the indoor area.

[0013] The positioning unit stores an accuracy threshold in advance. The positioning unit obtains and detects the positioning coordinates and distance accuracy value of the mobile terminal through satellite positioning. When the distance accuracy value is less than or equal to the accuracy threshold, the positioning unit sets the positioning coordinates as the initial position.

[0014] The inertial measurement unit obtains the anchor positions of the mobile terminal in the indoor area according to the inertial navigation, the initial position and a measurement duration, wherein the measurement duration is less than or equal to 1 minute.

[0015] The distance calculation unit of the mobile terminal generates a distance measurement signal at the anchor point and sends the distance measurement signal to the server through the signal transmission unit. When the signal transmission unit receives the distance measurement signal sent back by the server, the distance calculation unit calculates the measurement distance according to the transmission time of the distance measurement signal.

[0016] The distance calculation unit generates a distance measurement signal at the anchor point and transmits the distance measurement signal to the server via the signal transmission unit according to the 802.11mc standard to measure the measurement distance.

[0017] The server is communicatively connected to at least one device end, and the device end includes a first device end, a second device end, and a third device end. The position calculation unit of the server is used to receive the device measurement distances respectively measured by the first device end, the second device end, and the third device end with a fourth device end disposed outside the indoor area, and analyze the setting positions and device measurement distances of the first device end, the second device end, and the third device end according to the positioning algorithm to calculate the setting position of the fourth device end.

[0018] The server further comprises a database for storing the indoor plan. The position calculation unit is used to mark the setting position of at least one device end in the indoor plan.

[0019] In summary, the indoor network communication equipment positioning method and system of the present invention can dynamically generate multiple accurate anchor positions through satellite positioning and inertial navigation to automatically and quickly locate the position of the equipment end, without the need to obtain the absolute position of each anchor point in advance and will not be affected by the poor indoor signal, thereby improving the construction efficiency of network communication equipment and reducing construction and maintenance costs. In addition, the indoor network communication equipment positioning method and system of the present invention can also automatically locate other peripheral equipment ends through positioning algorithms and the located equipment ends, so as to expand the effective range of the indoor positioning system, thereby reducing construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The figure is a flowchart of a method for locating an indoor network communication device according to an embodiment of the present invention.

[0021] Figure 2 It is a functional block diagram of an indoor network communication device positioning system according to an embodiment of the present invention.

[0022] Figure 3 It is a simplified location diagram of indoor network communication equipment positioning according to an embodiment of the present invention.

[0023] Figure 4 The figure is a flowchart of a method for locating an indoor network communication device according to an embodiment of the present invention.

[0024] Figure 5 The figure is a flowchart of a method for locating an indoor network communication device according to an embodiment of the present invention.

[0025] Explanation of symbols

[0026] S: Indoor network communication equipment positioning system

[0027] 1: Mobile terminal

[0028] 1A: First mobile terminal

[0029] 1B: Second mobile terminal

[0030] 11: Positioning unit

[0031] 12: Inertial Measurement Unit

[0032] 13: Distance calculation unit

[0033] 14: Signal transmission unit

[0034] 2: Server

[0035] 21: Position calculation unit

[0036] 22: Database

[0037] AP: Device side

[0038] AP1: First device

[0039] AP2: Second device

[0040] AP3: The third device

[0041] AP4: The fourth device

[0042] A0, B0: initial position

[0043] A1, B1: first anchor point position

[0044] A2, B2: Second anchor point position

[0045] A3, B3: The third anchor point

[0046] D: Buildings

[0047] I: Indoor area

[0048] S1~S6, S11~S14, S21, S31~S32: Steps DETAILED DESCRIPTION

[0049] In order to make the advantages, spirit and features of the present invention easier and clearer to understand, the following will be described and discussed in detail with reference to the embodiments and figures. It is worth noting that these embodiments are only representative embodiments of the present invention, and the specific methods, devices, conditions, etc. exemplified therein are not intended to limit the present invention or the corresponding embodiments. In addition, the indefinite articles "one", "a kind of" and "an" before the device or component of the present invention are not restrictive on the quantity requirements (i.e., the number of occurrences) of the device or component. Therefore, "one" should be interpreted as including one or at least one, and the device or component in the singular form also includes the plural form, unless the number clearly refers to the singular form.

[0050] See also Figure 1 . Figure 1 This is a flowchart of the steps of the indoor network communication device positioning method according to an embodiment of the present invention. Figure 1 As shown, in this specific embodiment, the indoor network communication device positioning method is used to locate at least one device end set in an indoor area and includes the following steps: Step S1: obtaining an initial position of a mobile terminal through satellite positioning; Step S2: obtaining multiple anchor point positions of the mobile terminal in the indoor area based on inertial navigation and the initial position; Step S3: the mobile terminal measures at the anchor point positions and obtains multiple measurement distances between the mobile terminal and the device end, wherein each anchor point position corresponds to a measurement distance; and Step S4: analyzing the anchor point positions and the measurement distances according to a positioning algorithm to calculate the setting position of the device end in the indoor area.

[0051] In practice, the device end may be a wireless network sharer, a wireless network router, or other network communication equipment with wireless signal transmission function, and the device end may be set in an indoor area of ​​a building. In actual application, multiple device ends may be installed in the indoor area, and the device ends may be dispersed in the indoor area according to the signal coverage range.

[0052] In step S1, the mobile terminal may be a smart phone, a tablet, a laptop, etc., and may have wireless transmission and positioning functions. The initial position may be the coordinates (including longitude, latitude and altitude) located by satellite positioning, and may be the position where the mobile terminal has good reception before entering the building. In practical applications, after the satellite positioning establishes the initial position of the mobile terminal, the coordinates corresponding to the initial position may be regarded as the origin coordinates.

[0053] In step S2, the inertial navigation can calculate the moving distance of the mobile terminal according to the moving direction and speed of the mobile terminal and can convert the moving distance into the current coordinates in real time, and then generate the anchor coordinates (i.e., the anchor position) according to the origin coordinates and the current coordinates. In practice, the inertial navigation can generate a motion path according to the movement of the mobile terminal, and the anchor position is located on the motion path. In addition, the number of anchor positions can be determined according to the design or requirements.

[0054] In step S3, when the mobile terminal moves to the anchor point position, a specific signal can be transmitted between the mobile terminal and the device end, and the measured distance between the mobile terminal and the device end can be calculated based on the transmission time of the specific signal. In practice, the mobile terminal can send a specific signal to the device end, and the device end can then send back the specific signal to the mobile terminal. In actual applications, the fine timing measurement (Fine Timing Measurement, FTM) technology of the 802.11mc standard (also known as Wi-Fi certified Location) can be used between the mobile terminal and the device end to calculate the round-trip time of the signal, and then calculate and measure the measured distance between the mobile terminal and the device end. In another specific embodiment, when the mobile terminal moves to the anchor point position, the device end can send a specific signal and a timestamp to the mobile terminal. When the mobile terminal receives the specific signal, the mobile terminal can calculate the measured distance between the device end and the timestamp and the reception time. When the mobile terminal is located at different anchor points, the measured distance between the mobile terminal and the device end can be calculated separately.

[0055] In step S4, the positioning algorithm may be a three-circle positioning algorithm, a time of arrival (TOA) positioning method, a time difference of arrival (TDOA) positioning method, a received signal strength (RSSI) positioning method or a received signal angle (AOA) positioning method. In practice, the three-circle positioning algorithm is used to illustrate that it can analyze three of the anchor positions and their corresponding measured distances to calculate the coordinates of the device end, and then calculate the setting position of the device end in the indoor area. In actual applications, the positioning algorithm can analyze the three anchor positions closest to the device end to calculate the coordinates of the device end, and can also analyze the three anchor positions closest to the device end and with larger coordinate differences to calculate the coordinates of the device end. In addition, the number of anchor positions analyzed by the positioning algorithm is not limited to this, and the number of anchor positions analyzed by the positioning algorithm can also be more than three.

[0056] Please refer to Figure 1 and Figure 2 . Figure 2 It is a functional block diagram of an indoor network communication device positioning system S according to an embodiment of the present invention. Figure 1 The indoor network communication equipment positioning method can be achieved through Figure 2 This is achieved by using the indoor network communication equipment positioning system S. Figure 2 As shown, in this specific embodiment, the indoor network communication device positioning system S includes a mobile terminal 1 and a server 2, and the server 2 is communicatively connected to the mobile terminal 1 and the device-side AP. The mobile terminal 1 includes a positioning unit 11, an inertial measurement unit 12, a distance calculation unit 13, and a signal transmission unit 14. The server 2 includes a position calculation unit 21. In practice, the server 2 can be a cloud server, a communication host in the central control room of a building, etc., and the server 2 can communicate with the mobile terminal 1 and the device-side AP set in the indoor area of ​​the building through wireless transmission.

[0057] In this specific embodiment, the positioning unit 11 is used to locate and obtain the initial position of the mobile terminal 1. In practice, the positioning unit 11 can be a positioning chip, and can locate the coordinates of the initial position of the mobile terminal 1 through the Global Navigation Satellite System (GNSS). Furthermore, the mobile terminal 1 can further use the Real Time Kinematic (RTK) technology to improve the accuracy of the coordinates of the initial position.

[0058] In this specific embodiment, the inertial measurement unit 12 is used to obtain multiple anchor positions of the mobile terminal 1 in the indoor area according to the inertial navigation and the initial position, and to measure multiple measured distances between the anchor positions and the device-side AP. In practice, the inertial measurement unit 12 can be a chip or component including an accelerometer and a gyroscope. The inertial measurement unit 12 can measure the acceleration and angular velocity of the mobile terminal 1 to calculate the moving direction and multi-axial movement of the mobile terminal 1, and then calculate the coordinates of the anchor position according to the coordinates of the initial position and the movement of each axis.

[0059] In this specific embodiment, the distance calculation unit 13 is used to measure the measurement distance between the mobile terminal 1 and the device-side AP at each anchor point position, and the signal transmission unit 14 is used to send the anchor point position and the measurement distance to the server 2. In practice, the distance calculation unit 13 can be a distance measurement chip, the signal transmission unit 14 can be a signal transceiver, and the device-side AP can also include a signal transceiver. The distance calculation unit 13 can transmit signals to the device-side AP through the signal transmission unit 14 in accordance with the 802.11mc standard. When the mobile terminal 1 moves to each anchor point position, the distance calculation unit 13 can generate a distance measurement signal, and the signal transmission unit 14 can send the distance measurement signal to the server 2 in accordance with the 802.11mc standard. Furthermore, when the signal transmission unit 14 receives the distance measurement signal sent back by the server 2 in accordance with the 802.11mc standard, the distance calculation unit 13 can calculate the measured distance between the mobile terminal 1 at the anchor point position and the device-side AP according to the transmission time of the distance measurement signal. The signal transmission unit 14 can send all anchor point positions generated by the inertial measurement unit 12 and all measured distances calculated by the distance calculation unit 13 to the server 2.

[0060] In this specific embodiment, the signal transceiver of the server 2 can also receive the anchor point position and its corresponding measured distance transmitted by the mobile terminal 1. The position calculation unit 21 is used to analyze multiple anchor point positions and multiple measured distances corresponding to the multiple anchor point positions according to the positioning algorithm to calculate the setting position of the device-side AP in the indoor area. In practice, the position calculation unit 21 can be integrated into a central processing chip (such as a CPU). The position calculation unit 21 can analyze three anchor point positions (or more than three anchor point positions) among the anchor point positions and their corresponding measured distances through a three-circle positioning algorithm to calculate the coordinates of the device end, and then calculate the setting position of the device end in the indoor area.

[0061] The indoor network communication device positioning system of the present invention can locate multiple device terminals set up in the indoor area through multiple mobile terminals. Figure 2 , Figure 3 and Figure 4 . Figure 3 It is a simplified location diagram of indoor network communication equipment positioning according to an embodiment of the present invention. Figure 4 The figure is a flowchart of a method for locating an indoor network communication device according to an embodiment of the present invention. Figure 4 The indoor network communication equipment positioning method can be achieved through Figure 2 This is achieved by using the indoor network communication equipment positioning system S. Figure 3As shown, in this specific embodiment, the indoor network communication device positioning system S locates the first device terminal AP1, the second device terminal AP2 and the third device terminal AP3 set in an indoor area I of the building D through the first mobile terminal 1A and the second mobile terminal 1B.

[0062] like Figures 2 to 4 As shown, in practice, the first mobile terminal 1A may be located outside the building D and obtain the initial position A0 of the first mobile terminal 1A through satellite positioning. Further, the first mobile terminal 1A may first obtain the positioning coordinates of the first mobile terminal 1A through satellite positioning (such as Figure 4 Then, the positioning unit 11 of the first mobile terminal 1A can detect the distance accuracy value (such as Figure 4 The distance accuracy value may be a position dilution of precision (PDOP). The positioning unit 11 may pre-store an accuracy threshold, and the positioning unit 11 may determine whether the position dilution of precision is less than the accuracy threshold (e.g., Figure 4 The accuracy threshold may be between 1 meter and 4 meters. When the position accuracy factor is less than the accuracy threshold, it means that the positioning coordinates of the first mobile terminal 1A generated by the satellite positioning are relatively accurate. At this time, the positioning unit 11 sets the positioning coordinates as the initial position A0 of the first mobile terminal 1A (such as Figure 4 If the position precision factor is greater than the precision threshold, the positioning unit 11 may re-execute step S12. Similarly, the second mobile terminal 1B may also obtain the initial position B0 of the second mobile terminal 1B through the above method, which will not be described in detail.

[0063] After the positioning unit 11 of the first mobile terminal 1A obtains the initial position A0, the inertial measurement unit 12 of the first mobile terminal 1A can obtain multiple anchor positions of the first mobile terminal 1A in the indoor area I (such as Figure 4(as shown in step S21 of ). In practice, the inertial measurement unit 12 can pre-store the measurement duration. The measurement duration can be less than or equal to 1 minute, but is not limited thereto. The measurement duration can also be determined according to the design or demand. Since the inertial navigation can be unaffected by the external environment for a specific time length and still has the characteristic of high positioning accuracy, the inertial measurement unit 12 can accurately locate the coordinates of the anchor position of the first mobile terminal 1A within the measurement duration. In actual applications, the inertial measurement unit 12 can obtain multiple anchor positions of the first mobile terminal 1A in an equal time length manner within the measurement duration. For example, the inertial measurement unit 12 can record and obtain the anchor position of the first mobile terminal 1A every 10 seconds. In this specific embodiment, the first mobile terminal 1A includes a first anchor position A1, a second anchor position A2, and a third anchor position A3, and the inertial measurement unit 12 records the coordinates at the first anchor position A1, the second anchor position A2, and the third anchor position A3, respectively. Similarly, the second mobile terminal 1B can also obtain multiple anchor positions of the second mobile terminal 1B through the above method, which will not be repeated here. In this specific embodiment, the second mobile terminal 1B includes a first anchor position B1, a second anchor position B2 and a third anchor position B3. It is worth noting that the number of anchor positions of the first mobile terminal 1A and the number of anchor positions of the second mobile terminal 1B may also be different. Among them, inertial navigation will have a cumulative error as the measurement time increases. Therefore, a preferred measurement time of 1 minute is proposed, and its accuracy threshold is better. Of course, in other embodiments, it can also be within 5 minutes or 10 minutes.

[0064] Furthermore, after the inertial measurement unit 12 of the first mobile terminal 1A obtains the first anchor point position A1, the distance calculation unit 13 of the first mobile terminal 1A can calculate the measured distances between the first mobile terminal 1A and the first device end AP1, the second device end AP2 and the third device end AP3 at the first anchor point position A1. In practical applications, the distance calculation unit 13 can generate a distance measurement signal and the signal transmission unit can send the distance measurement signal to the first device end AP1, the second device end AP2 and the third device end AP3 respectively through Wi-Fi, Bluetooth and the like and in accordance with the 802.11mc standard (e.g. Figure 4 Then, the distance calculation unit 13 calculates the measured distances (such as Figure 4). Similarly, after the inertial measurement unit 12 of the first mobile terminal 1A obtains the second anchor point position A2 and the third anchor point position A3, the distance calculation unit 13 of the first mobile terminal 1A can calculate the measured distances between the first mobile terminal 1A and the first device end AP1, the second device end AP2 and the third device end AP3 at the second anchor point position A2, and can calculate the measured distances between the first mobile terminal 1A and the first device end AP1, the second device end AP2 and the third device end AP3 at the third anchor point position A3. The second mobile terminal 1B can also calculate the measured distances between the second mobile terminal 1B and the first device end AP1, the second device end AP2 and the third device end AP3 at the first anchor point position B1, the second anchor point position B2 and the third anchor point position B3 respectively through the above method, which will not be repeated here. In addition, the first mobile terminal 1A and the second mobile terminal 1B can transmit all anchor point positions and measured distances to the server 2.

[0065] After the server 2 receives all anchor point positions and measured distances from the first mobile terminal 1A and the second mobile terminal 1B, the position calculation unit 21 of the server 2 may integrate the anchor point positions and measured distances and generate a window (as shown in Table 1 below).

[0066]

[0067] Table 1. Distance between mobile terminal and device

[0068] Then, the position calculation unit 21 can select multiple anchor positions closest to the device end and analyze and calculate the coordinates of the device end through the positioning algorithm. For example, the position calculation unit 21 uses the positioning algorithm to analyze the first anchor position A1, the second anchor position A2 and the third anchor position A3 of the first mobile terminal 1A to calculate the setting position of the first device end AP1; the position calculation unit 21 uses the positioning algorithm to analyze the second anchor position A2 and the third anchor position A3 of the first mobile terminal 1A, and the second anchor position B2 and the third anchor position B3 of the second mobile terminal 1B to calculate the setting position of the second device end AP2.

[0069] Therefore, the indoor network communication equipment positioning method and system of the present invention can dynamically generate multiple accurate anchor point positions through satellite positioning and inertial navigation to automatically and quickly locate the position of the device end, without the need to obtain the absolute position of each anchor point in advance and will not be affected by poor indoor signals, thereby improving the construction efficiency of network communication equipment and reducing construction and maintenance costs.

[0070] Please refer again Figure 2In this specific embodiment, the server 2 further includes a database 22 connected to the position calculation unit 21. The database 22 is used to store an indoor plan of the building. After the position calculation unit 21 calculates the setting position of the device end, the position calculation unit 21 can mark the device end in the indoor plan according to the coordinates of the device end for relevant personnel to view. In addition, the position calculation unit 21 can also store the form generated after integrating the anchor point position and measuring the distance in the database 22.

[0071] The indoor network communication device positioning method and system of the present invention can also find the location of the device terminal outside the indoor area in the building based on the located device terminal. Figure 2 , Figure 3 and Figure 5 . Figure 5 The figure is a flowchart of a method for locating an indoor network communication device according to an embodiment of the present invention. Figure 5 The indoor network communication equipment positioning method can be achieved through Figure 2 This is achieved by using the indoor network communication equipment positioning system S. Figure 3 As shown, in this specific embodiment, the device end further includes a fourth device end AP4 set at a position outside the indoor area I. After the indoor network communication device positioning system S calculates the setting positions of the first device end AP1, the second device end AP2 and the third device end AP3 through the above steps, it can execute Figure 5 The following steps are as follows: Step S5: The first device end AP1, the second device end AP2 and the third device end AP3 respectively measure and obtain the device measurement distance with the fourth device end AP4 set outside the indoor area I; and Step S6: The position calculation unit 21 analyzes the setting positions and device measurement distances of the first device end AP1, the second device end AP2 and the third device end AP3 according to the positioning algorithm to calculate the setting position of the fourth device end AP4.

[0072] In step S5, the first device end AP1, the second device end AP2 and the third device end AP3 can also respectively send specific signals (or the aforementioned distance measurement signals) to the fourth device end AP4 according to the 802.11mc standard, and then calculate the device measurement distances between the first device end AP1, the second device end AP2 and the third device end AP3 and the fourth device end AP4 respectively, and the location calculation unit 21 of the server 2 can receive the device measurement distances.

[0073] In step S6, the location calculation unit 21 of the server 2 can further use the three-circle algorithm to analyze the coordinates of the first device terminal AP1, the second device terminal AP2 and the third device terminal AP3 and the measured distances of these devices to calculate the installation position of the fourth device terminal AP4. It is worth noting that in actual applications, the indoor network communication device positioning system S can further locate other device terminals located in the building according to the installation positions of the first device terminal AP1, the second device terminal AP2, the third device terminal AP3 and the fourth device terminal AP4.

[0074] In summary, the indoor network communication equipment positioning method and system of the present invention can dynamically generate multiple accurate anchor positions through satellite positioning and inertial navigation to automatically and quickly locate the position of the equipment end, without the need to obtain the absolute position of each anchor point in advance and will not be affected by the poor indoor signal, thereby improving the construction efficiency of network communication equipment and reducing construction and maintenance costs. In addition, the indoor network communication equipment positioning method and system of the present invention can also automatically locate other peripheral equipment ends through positioning algorithms and the located equipment ends, so as to expand the effective range of the indoor positioning system, thereby reducing construction costs.

[0075] Through the detailed description of the above embodiments, it is hoped that the features and spirit of the present invention can be clearly described, and the present invention is not limited to the preferred embodiments disclosed above. On the contrary, its purpose is to cover various changes and equivalent arrangements within the scope of the claims to be applied for the present invention. Therefore, the scope of the claims applied for the present invention should be interpreted in the broadest way based on the above description so as to cover all possible changes and equivalent arrangements.

Claims

1. A method for locating an indoor network communication device, for locating at least one device terminal arranged in an indoor area, the method for locating an indoor network communication device comprising the following steps: Obtaining an initial position of a mobile terminal through satellite positioning; Acquire multiple anchor point positions of the mobile terminal in the indoor area according to inertial navigation and the initial position; The mobile terminal measures and obtains a plurality of measured distances between the mobile terminal and the at least one device end at the plurality of anchor point positions, wherein each anchor point position corresponds to a measured distance; and The plurality of anchor point positions and the plurality of measured distances are analyzed according to a positioning algorithm to calculate a setting position of the at least one device terminal in the indoor area.

2. The indoor network communication device positioning method according to claim 1, characterized in that: The step of obtaining the initial position of the mobile terminal by satellite positioning further includes the following steps: Obtaining a positioning coordinate of the mobile terminal through satellite positioning; Detecting a distance accuracy value of the mobile terminal; and When the distance accuracy value is less than or equal to an accuracy threshold, the positioning coordinates are set as the initial position.

3. The indoor network communication device positioning method according to claim 1, characterized in that: In the step of obtaining a plurality of anchor point positions of the mobile terminal in the indoor area according to the inertial navigation and the initial position, further comprising: The plurality of anchor point positions of the mobile terminal in the indoor area are obtained according to inertial navigation, the initial position and a measurement duration, wherein the measurement duration is less than or equal to 5 minutes.

4. The indoor network communication device positioning method according to claim 1, characterized in that: The step of measuring the multiple distances between the mobile terminal and the at least one device end at the multiple anchor point positions further includes the following steps: The mobile terminal transmits a distance measurement signal to the at least one device end at the plurality of anchor points respectively; and The mobile terminal calculates the measurement distance according to the transmission time of the distance measurement signal.

5. The indoor network communication device positioning method according to claim 1, characterized in that: In the step of measuring the multiple anchor point positions by the mobile terminal and obtaining the multiple measured distances between the mobile terminal and the at least one device end, further comprising: The mobile terminal measures and obtains the plurality of measured distances between the mobile terminal and the at least one device end at the plurality of anchor point positions according to the 802.11mc standard.

6. The indoor network communication device positioning method according to claim 1, characterized in that: The positioning algorithm is at least one of a three-circle positioning algorithm, an arrival time positioning method, an arrival time difference positioning method, a received signal strength positioning method, and a received signal angle positioning method.

7. The indoor network communication device positioning method according to claim 1, characterized in that: The at least one device end includes a first device end, a second device end and a third device end, and further includes the following steps: The first device end, the second device end, and the third device end respectively measure and obtain a device measurement distance with a fourth device end disposed outside the indoor area; and The setting positions of the first device end, the second device end and the third device end and the device measurement distance are analyzed according to the positioning algorithm to calculate the setting position of the fourth device end.

8. An indoor network communication device positioning system for locating at least one device terminal disposed in an indoor area, the indoor network communication device positioning system comprising: A mobile terminal further comprising: a positioning unit, used to locate and obtain an initial position of the mobile terminal; an inertial measurement unit, for obtaining a plurality of anchor positions of the mobile terminal in the indoor area according to inertial navigation and the initial position; a distance calculation unit, configured to measure a plurality of measured distances between the plurality of anchor point positions and the at least one device end, wherein each anchor point position corresponds to a measured distance; and a signal transmission unit, configured to transmit the plurality of anchor point positions and the plurality of measured distances; and a server, communicatively connected to the mobile terminal and configured to receive the plurality of anchor point locations and the plurality of measured distances, the server further comprising: A position calculation unit is used to analyze the plurality of anchor point positions and the plurality of measured distances according to a positioning algorithm to calculate a setting position of the at least one device terminal in the indoor area.

9. The indoor network communication equipment positioning system according to claim 8, characterized in that: The positioning unit stores an accuracy threshold in advance. The positioning unit obtains and detects a positioning coordinate and a distance accuracy value of the mobile terminal through satellite positioning. When the distance accuracy value is less than or equal to the accuracy threshold, the positioning unit sets the positioning coordinate as the initial position.

10. The indoor network communication equipment positioning system according to claim 8, characterized in that: The inertial measurement unit obtains the plurality of anchor point positions of the mobile terminal in the indoor area according to inertial navigation, the initial position and a measurement duration, wherein the measurement duration is less than or equal to 5 minutes.

11. The indoor network communication equipment positioning system according to claim 8, characterized in that: The distance calculation unit of the mobile terminal generates a distance measurement signal at the anchor point and sends the distance measurement signal to the server through the signal transmission unit. When the signal transmission unit receives the distance measurement signal returned by the server, the distance calculation unit is used to calculate the measurement distance according to the transmission time of the distance measurement signal.

12. The indoor network communication equipment positioning system according to claim 8, characterized in that: The distance calculation unit generates a distance measurement signal at the anchor point and transmits the distance measurement signal to the server via the signal transmission unit according to the 802.11mc standard to measure the measurement distance.

13. The indoor network communication equipment positioning system according to claim 8, characterized in that: The positioning algorithm is at least one of a three-circle positioning algorithm, an arrival time positioning method, an arrival time difference positioning method, a received signal strength positioning method, and a received signal angle positioning method.

14. The indoor network communication equipment positioning system according to claim 8, characterized in that: The server is communicatively connected to the at least one device end, and the at least one device end includes a first device end, a second device end and a third device end. The position calculation unit of the server is used to receive the device measurement distances respectively measured by the first device end, the second device end and the third device end with a fourth device end set outside the indoor area, and analyze the setting positions of the first device end, the second device end and the third device end and the device measurement distances according to the positioning algorithm to calculate the setting position of the fourth device end.

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