Positioning method and device based on indoor distribution system

Abstract

The embodiment of the invention provides a positioning method and device based on an indoor distribution system, and the method comprises the steps: carrying out the transmission of a communication signal through a signal receiving and transmitting device, and detecting whether a moving target exists in an indoor space or not based on an echo signal of the communication signal; if yes, calculating the regional position of each moving target based on the transmitted sensing signal and echo signal, and detecting whether the moving target starts a base station positioning function or not; if so, transmitting and receiving a detection signal to the regional position, and calculating the position of the network access equipment based on detection signal data to obtain an equipment positioning position; and performing position fusion calculation on the equipment positioning position and the moving target position obtained by calculation according to the inductive signal data to obtain the target positioning position of the network access equipment, thereby improving the accuracy of indoor positioning through the indoor distribution system.

Description

Technical Field

[0001] This document relates to the field of indoor positioning technology, and in particular to a positioning method and device based on an indoor distribution system. Background Technology

[0002] Indoor distributed antenna systems (DAS) are wireless communication infrastructures that use distributed antennas and signal transmission links to uniformly cover indoor spaces with wireless signals from outdoor macro base stations or indoor micro base stations. They are used to solve signal blind spots, weak coverage, and insufficient capacity problems in indoor areas (such as shopping malls, office buildings, subways, basements, etc.). The mainstream positioning methods of DAS, such as time-based precise positioning, are based on the round-trip time or time difference of the signal by transmitting and receiving measurement signals. However, the indoor environment is complex and variable, and phenomena such as obstruction and multipath propagation seriously affect the positioning accuracy. Furthermore, due to the diversity of positioning targets, including objects that cooperate with positioning and those that do not, how to overcome the limitations of positioning technology and improve positioning accuracy has become a key focus for the industry. Summary of the Invention

[0003] This specification provides one or more embodiments of a positioning method and apparatus based on an indoor distribution system to address the problem of how to improve indoor positioning accuracy.

[0004] In a first aspect, embodiments of this disclosure provide a positioning method based on an indoor distribution system, including: The system transmits sensing signals through signal transceiver equipment and detects the presence of moving targets in the indoor space based on the echo signals of the sensing signals. If present, calculate the regional location of each moving target based on the transmitted sensing signal and the echo signal, and detect whether the moving target has enabled the base station positioning function; If enabled, the device transmits and receives detection signals to the area, and calculates the device's location based on the detection signal data. The target location of the network access device is obtained by performing a location fusion calculation between the device's location and the mobile target location calculated based on the sensor signal data.

[0005] Secondly, embodiments of this disclosure provide a positioning device based on an indoor distribution system, characterized in that it includes: The signal transceiver module is used to transmit sensing signals through the signal transceiver device and detect whether there is a moving target in the indoor space based on the echo signal of the sensing signal. If present, execute the data analysis module; the data analysis module is used to calculate the regional location of each moving target based on the transmitted sensing signal and the echo signal, and to detect whether the moving target has enabled the base station positioning function; If enabled, the device positioning module is executed; the device positioning module is used to transmit and receive detection signals to the area location, and calculate the device positioning location based on the detection signal data. The fusion computing module is used to perform location fusion calculations on the device's location and the location of the moving target obtained from the sensor signal data to obtain the target location of the network access device.

[0006] Thirdly, embodiments of this disclosure provide an electronic device, including: a memory, a processor, and computer-executable instructions stored in the memory and executable on the processor, wherein the computer-executable instructions, when executed by the processor, implement the method described in the first aspect above.

[0007] Fourthly, embodiments of this disclosure provide a computer-readable storage medium for storing computer-executable instructions that, when executed by a processor, implement the method described in the first aspect above.

[0008] Fifthly, embodiments of this disclosure provide a computer program product, the computer program product including a computer program, which, when executed by a processor, implements the method described in the first aspect above.

[0009] In one or more embodiments of this disclosure, firstly, a sensing signal is transmitted via a signal transceiver device, and the presence of a moving target in the indoor space is detected based on the echo signal of the sensing signal; secondly, if present, the regional location of each moving target is calculated based on the transmitted sensing signal and the echo signal, and it is detected whether the moving target has enabled base station positioning function; then, if enabled, a detection signal is transmitted and received to the regional location, and the location of the network access device is calculated based on the detection signal data to obtain the device's positioning location; finally, the device's positioning location is fused with the moving target's location calculated based on the sensing signal data to obtain the target positioning location of the network access device. As can be seen, through this embodiment, in situations where the indoor environment is complex and variable and the positioning targets are diverse, the signal transceiver transmits sensing signals, and detects the presence of moving targets in the indoor space based on the sensing signals and echo signals. If a moving target is found, the regional location of each moving target is calculated and determined. It is also detected whether the moving target has enabled the base station positioning function, and then the detection signal is transmitted and received to the regional location. For network access devices with the base station positioning function enabled, the device positioning location is calculated. The device positioning location is then fused with the moving target location calculated based on the sensing signal data to obtain the target positioning location of the network access device, thus improving the accuracy of indoor positioning based on the indoor distribution system. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in one or more embodiments of this disclosure, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A flowchart illustrating a positioning method based on an indoor distribution system provided in an embodiment of this disclosure; Figure 2 A schematic diagram illustrating an implementation scenario of indoor spatial positioning based on an indoor distribution system, as provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of the structure of a positioning device based on an indoor distribution system provided in an embodiment of the present disclosure; Figure 4 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present disclosure. Detailed Implementation

[0012] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this disclosure, the technical solutions in one or more embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of the embodiments. Based on one or more embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this document.

[0013] This specification provides a positioning method and apparatus based on an indoor distributed antenna system (DAS), which can improve the accuracy of indoor positioning using the DAS. The positioning method based on the DAS is applied on a server-side device and implemented by the server. This server-side device includes, but is not limited to, various types of computing service equipment such as rack servers, blade servers, tower servers, cloud servers, virtual machine instances, containerized server nodes, edge computing servers, gateway servers, distributed server clusters, application servers, database servers, computing power servers, and private cloud servers.

[0014] Figure 1 This is a flowchart illustrating a positioning method based on an indoor distribution system according to an embodiment of the present disclosure, as shown below. Figure 1 As shown, the process includes: Step S102: Transmit a sensing signal through a signal transceiver device, and detect whether there is a moving target in the indoor space based on the echo signal of the sensing signal.

[0015] The indoor distribution system is a system that integrates sensing and positioning capabilities with base station positioning capabilities. It can be deployed in various indoor communication scenarios, such as shopping malls, factories, or subways. Its core components include a fusion positioning server, a baseband processing unit, transmission link equipment, an RF hub, and / or signal transceiver equipment.

[0016] The fusion positioning server can be deployed locally to globally manage the sensing positioning capability and the base station positioning capability. Specifically, it can perform fusion calculations based on the base station positioning location and the mobile positioning location to obtain the target positioning location of the network access device. In addition, it can also calculate the base station positioning location based on the detection signal data, and it can also calculate the mobile positioning location based on the sensing signal and the echo signal of the sensing signal.

[0017] On the one hand, the signal transceiver can transmit and receive detection signals to measure the location of the target and acquire relevant data, which is then used by the fusion positioning server to calculate the base station location of the network access device. On the other hand, it can independently transmit sensing signals and capture echo signals. Specifically, Doppler frequency shift, channel state information, received signal strength, reflection path delay and amplitude, departure angle, arrival angle and / or signal round-trip time can be obtained from the echo signals, which is then used by the fusion positioning server to calculate the sensing and positioning location of the moving target.

[0018] The moving target can be a person or an object with moving attributes. Objects include network access devices, such as mobile phones carried by people or indoor inspection robots. The moving target will undergo continuous changes in position or phased displacement over time. The movement trajectory may be random and may involve floor switching during the movement.

[0019] In practice, during indoor positioning via the indoor distribution system, the signal transceiver transmits a sensing signal and detects the presence of a moving target in the indoor space based on the echo signal of the sensing signal.

[0020] Specifically, if a moving target exists, the following process can be performed to calculate the regional location of each moving target based on the transmitted sensing signal and echo signal, and to detect whether the moving target has enabled the base station positioning function; if no moving target exists, the above detection process can be repeated.

[0021] In one example, during the transmission and reception of sensing signals via a signal transceiver, the fusion positioning server receives the positioning service request from the service requester. The baseband processing unit performs baseband signal processing (encoding and modulation) and transmits the signal to the signal transceiver via optical fiber and interface. The signal transceiver then transmits the sensing signal into the indoor space. After reflection by a moving target, the signal transceiver receives the echo signal and transmits it to the baseband processing unit for signal processing (demodulation and parameter extraction), such as recording the signal's arrival time, delay, angle of arrival, channel state information, and / or Doppler shift. Finally, the signal is sent to the fusion positioning server to detect whether a moving target exists in the indoor space. There may be multiple moving targets, meaning that multiple moving targets may exist simultaneously in the indoor area.

[0022] Furthermore, if no moving target is detected in the indoor space, target tracking processing can be performed on previously located historical targets. Specifically, in one optional implementation of this embodiment, target tracking processing is performed in the following manner: Detect whether the static target has enabled base station positioning function; If not enabled, check for historical positioning targets whose last location was indoors and which failed to be located. If present, perform sensor signal localization and / or detection signal localization on historically located targets based on the last location until the historically located targets are detected.

[0023] In one example, the static target does not have the base station positioning function enabled, meaning it cannot use the base station positioning function and sensor signals for location positioning. This situation may be due to a moving target that cannot perform base station positioning being stationary in a certain location in an indoor area, or the static target having its base station positioning function turned off, or a moving object that supports base station positioning stopping moving while simultaneously turning off its base station positioning function.

[0024] To address this, it is possible to detect whether there are historical positioning targets whose last location was in an indoor space and which failed to be located. If so, based on the last location, the historical positioning targets are located using sensor signals and / or detection signals until they are detected. This maintains the periodic detection of the location in the area to solve the positioning interruption problem caused by target loss or discontinuous status, thereby improving the robustness of the system.

[0025] Furthermore, when a static target in an indoor space is detected to have activated its base station positioning function, the static target can be considered a network access device. Specifically, in one optional implementation of this embodiment, the location of the network access device is determined in the following manner: It transmits and receives detection signals into the indoor space, and calculates the target location of the network access device based on the detection signal data.

[0026] In one example, the signal transceiver transmits and receives detection signals into the indoor space, and calculates the target location of the network access device based on the detection signal data. The detection signal data includes the time when the signal transceiver sends the detection signal to the network access device, the time when the network access device receives the detection signal, the signal sent back by the network access device to the signal transceiver, and the signal received by the signal transceiver from the network access device. The distance between the network access device and each transceiver is calculated based on the time difference, thereby realizing the location positioning of the static network access device using the base station positioning function.

[0027] In practical applications, when using an indoor distribution system for indoor positioning, obstacles can affect signal coverage and thus positioning accuracy. To improve positioning accuracy, the deployment location of the indoor distribution system's transceiver equipment in the indoor space can be optimized to reduce the impact of obstacles on signal coverage.

[0028] In one optional implementation of this embodiment, the deployment location of the signal transceiver device in the indoor space is determined in the following way: Transmit sensing signals at each candidate deployment location, calculate the area of ​​the direct-light area and the area of ​​the reflected area based on the transmitted sensing signals; Based on the direct radiation area and the reflection area of ​​each candidate deployment location, the target deployment location of the signal transceiver equipment is determined among the candidate deployment locations.

[0029] In one example, occlusion significantly impacts the effectiveness of locating moving targets. Therefore, based on the sensing capabilities of synsensory signals, the Line-of-Sight Propagation (LOS) coverage mechanism is enhanced by utilizing the reflective properties of smooth surfaces to calculate the coverage area. Specifically, while ensuring direct coverage, the contribution of reflection paths generated by smooth interfaces such as indoor walls and floors to the coverage is also analyzed. Reflection paths include, but are not limited to, the first reflection. In indoor spaces, the installation location of signal transceivers can be calculated by optimizing the coverage area.

[0030] Considering that the spatial relationship between the equipment and obstacles generally results in two types of coverage, with the signal transmitting device located on either side or above the obstruction, the signal coverage from the left and right sides under each obstruction is calculated using the following formula:

[0031] Where x represents the distance between the vertex of the indoor space and the installation location of the signal transceiver. The value of x can be in the range of [0, b]. For example, x can be the distance between the upper left vertex of the indoor space and the installation location of the signal transceiver. This represents the area of ​​the signal coverage region behind m obstructions when the synsensory signal comes from the left side of each obstruction. This represents the area of ​​the signal coverage region behind n obstructions when the synesthetic signal comes from the right side of n obstructions. This represents the overlapping area of ​​the signal coverage regions when a signal originates from the left side of m obstacles and the right side of n obstacles. If there is no overlap, then... .

[0032] Step S104: Calculate the regional location of each moving target based on the transmitted sensing signal and the echo signal, and detect whether the moving target has enabled the base station positioning function.

[0033] In practice, during indoor positioning through the indoor distribution system, the regional location of each moving target is calculated based on the transmitted sensing signals and echo signals, and it is detected whether the moving target has enabled the base station positioning function. Specifically, if the mobile target has the base station positioning function enabled, the following process can be performed: transmitting and receiving detection signals to the area location, and calculating the location of the network access device based on the detection signal data to obtain the device's location; conversely, if the mobile target has not enabled the base station positioning function, the above detection process can be repeated.

[0034] In one example, the sensing signal can be an OFDM (Orthogonal Frequency Division Multiplexing) signal, and the echo signal is the reflected signal formed on the surface of the object after the sensing signal is transmitted and acquired by the signal transceiver. The sensing signal data can be Doppler frequency shift, channel state information, received signal strength, reflection path delay and amplitude, departure angle, arrival angle and / or signal round-trip time.

[0035] When a moving target is displaced, the signal transceiver receives the echo signal and can determine the approximate location of the moving target by judging the signal coverage area, analyzing the received signal strength, or using multi-node triggering analysis.

[0036] In the signal coverage area, multiple signal transceivers synchronously receive reflected signals and extract inductive signal data to calculate the regional location of each mobile target. When a network access device connects to a base station, its capabilities are determined by the device identifier. In other words, after connecting to the base station, it is automatically determined whether it has base station positioning capabilities. Specifically, if a mobile target can connect to the base station, then the mobile target is a mobile network access device. Whether a network access device supports base station positioning can be determined by factors such as device type and model, hardware capabilities, software version and function license, and function switches.

[0037] In addition, when the base station positioning function is not enabled for detecting moving targets in indoor spaces, the following methods can be used to locate the moving targets: The position of the moving target is calculated based on the sensor signal data, and this position is used as the target location.

[0038] Step S106: Transmit and receive detection signals to the area, and calculate the location of the network access device based on the detection signal data to obtain the device's location.

[0039] The probe signal data can be used for base station positioning. Specifically, during the base station positioning process, the base station location can be calculated using RTT (Round-Trip Time Localization). In particular, the network access device and multiple signal transceivers interact uplink and downlink, recording the transmission and arrival times of the probe signals from both sides, and the distance between the network access device and the signal transceivers is calculated in the server.

[0040] In one example, the location of the area is calculated based on the aforementioned sensing signals. A detection signal is accurately transmitted to the location of the area. After receiving the detection signal, the network access device sends a signal to the signal transceiver based on the detection signal. This can enhance the beam signal and reduce multipath interference as the proportion of useful signal increases, thereby improving the accuracy of the base station positioning results.

[0041] For mobile network access devices, the signal transceiver transmits and receives detection signals into the indoor space, and calculates the target location of the network access device based on the detection signal data. The detection signal data includes the time when the signal transceiver sends the detection signal to the network access device, the time when the network access device receives the detection signal, the signal sent back by the network access device to the signal transceiver, and the signal received by the signal transceiver from the network access device. The distance between the network access device and each transceiver is calculated based on the time difference, thereby realizing the location positioning of the mobile network access device using the base station positioning function and obtaining the base station positioning location.

[0042] Step S108: Perform a location fusion calculation by combining the device's location with the mobile target location calculated based on the sensor signal data to obtain the target location of the network access device.

[0043] In practice, during indoor positioning through the indoor distribution system, the device's location is fused with the location of the moving target obtained from the sensor signal data to obtain the target location of the mobile device.

[0044] In one example, the location of the moving target calculated based on the sensing signal data is the location of the moving target calculated based on the Doppler frequency shift, channel state information, received signal strength, reflection path delay and amplitude, departure angle, arrival angle and / or signal round-trip time obtained from the sensing signal and the echo signal of the sensing signal.

[0045] Specifically, in one optional implementation of this embodiment, the device's location is fused with the location of a moving target calculated based on sensor signal data to obtain the target location of the network access device, including: Calculate the location distance between each moving target's location and the device's location, and bind the locations based on the distance. The device locations at each time point are sorted in chronological order. The base device location and the correction device location are determined based on the sorting results. The base device location is then corrected based on the correction device location to obtain the target location. Optionally, the corrected device location includes the device location other than the reference device location in the device location locations at each time point.

[0046] In one optional implementation of the process of location binding based on location distance, this embodiment includes: Calculate the average distance and distance dispersion index at each location, and then perform a weighted calculation on the average distance and distance dispersion index to obtain the binding detection threshold; If the minimum position distance among all position distances is less than the binding detection threshold, then the moving target position corresponding to the minimum position distance will be bound to the device positioning position.

[0047] Furthermore, in the process of correcting the position of the reference device based on the position of the correction device, this embodiment provides an optional implementation method to obtain the target positioning position by correcting the position of the reference device based on the position of the correction device, including: Repair speed, position variance, and speed variance are calculated based on time and corrected equipment position. The device position is predicted based on the corrected device position, speed, and time. The prediction variance is calculated based on velocity variance, position variance, and time. The target location is calculated based on the location of the reference equipment, the variance of the reference equipment location, the predicted equipment location, and the predicted variance.

[0048] In one example, after obtaining the location of the moving target and the device location, the location fusion calculation between the device location and each moving target location is performed in the following two steps: First, the location distance between each moving target and the device's location is calculated, and location binding is performed based on the location distance. In detail, the average distance and distance dispersion index of each location distance are calculated, and the average distance and distance dispersion index are weighted to obtain the binding detection threshold.

[0049] If the minimum location distance among all location distances is less than the binding detection threshold, then the moving target location corresponding to the minimum location distance is bound to the device positioning location. The specific calculation process is as follows: The location of the i-th network access device at time t is:

[0050] At time t, N moving target positions are detected, and the position of the j-th moving target is:

[0051] For the device location of the i-th network access device, calculate the Euclidean distance to all moving target locations:

[0052] For the location of the i-th device, select the moving target location with the smallest distance and bind it:

[0053] Record the minimum distance = ; To adapt to the target's continuously changing motion state, a sliding window is set. Store the user's most recent W samples .

[0054] The window update rule is:

[0055] Calculate the mean distance within the window and standard deviation :

[0056]

[0057] Set dynamic threshold based on dynamic window And set the adjustment coefficient. Adjust and balance misbinding and missed binding according to actual scenarios:

[0058] That is, at time t, if the shortest distance between the moving target location and the device location of network access device i satisfies... If the target location is bound to the device location of the network access device, then the target location will be bound to the device location of the network access device. In the case of multiple network access devices competing for the same target location, the network access device with the smallest distance will be selected for binding.

[0059] Secondly, during the correction process, the correction speed, position variance, and speed variance are calculated based on time and the location of the correction equipment. The predicted equipment position is calculated based on the correction equipment position, speed, and time. The prediction variance is calculated based on the speed variance, position variance, and time. Finally, the target positioning position is calculated based on the reference equipment position, the position variance of the reference equipment position, the predicted equipment position, and the prediction variance. The specific calculation process is as follows: Correct device position A in time Output position and speed Calculate its position variance and velocity variance .

[0060] The predicted position of device position A with respect to the current time t (the output time of reference device position B) is:

[0061] The prediction variance is: ,

[0062] This demonstrates the uncertainty of speed. The higher, or the time interval The longer the duration, the higher the prediction variance. The larger the prediction variance, the less the prediction location plays a role in the correction. However, no matter how small the prediction variance is, it will still correct the baseline value, making the corrected baseline value more accurate.

[0063] Therefore, the correction effect can be verified by calculating the fusion variance.

[0064] The output of the reference device at position B at time t is The variance is The merged position estimate is a weighted average:

[0065] The fusion variance is:

[0066] It can be seen that for any and ,have:

[0067] Therefore, the accuracy of the fusion result is greater than that of any single capability output, and when The fusion variance approaches ; when The fusion variance approaches At this point, the system is completely dependent on the reference device position B.

[0068] In summary, firstly, a sensing signal is transmitted via a signal transceiver device, and the presence of a moving target in the indoor space is detected based on the echo signal of the sensing signal. Secondly, if a moving target is found, its regional location is calculated based on the transmitted sensing signal and the echo signal, and it is determined whether the moving target has enabled base station positioning. Next, if enabled, a detection signal is transmitted and received to the regional location, and the location of the network access device is calculated based on the detection signal data to obtain the device's location. Finally, the device's location is fused with the moving target's location calculated based on the sensing signal data to obtain the target location of the network access device. As can be seen, through this embodiment, in situations where the indoor environment is complex and variable and the positioning targets are diverse, the signal transceiver transmits sensing signals, and detects the presence of moving targets in the indoor space based on the sensing signals and echo signals. If a moving target is found, the regional location of each moving target is calculated and determined. It is also detected whether the moving target has enabled the base station positioning function, and then the detection signal is transmitted and received to the regional location. For network access devices with the base station positioning function enabled, the device positioning location is calculated. The device positioning location is then fused with the moving target location calculated based on the sensing signal data to obtain the target positioning location of the network access device, thus improving the accuracy of indoor positioning based on the indoor distribution system.

[0069] The following description uses an indoor spatial positioning scenario based on an indoor distribution system provided in this embodiment as an example to further illustrate the positioning method based on an indoor distribution system provided in this embodiment. (See also...) Figure 2 , Figure 2 A schematic diagram of an implementation scenario for indoor spatial positioning based on an indoor distribution system provided in an embodiment of this disclosure, specifically including the following steps; Step S202: The signal transceiver transmits a sensor signal into the indoor space.

[0070] Optionally, the deployment location of the signal transceiver equipment in the indoor space can be determined in the following ways: Transmit sensing signals at each candidate deployment location, calculate the area of ​​the direct-light area and the area of ​​the reflected area based on the transmitted sensing signals; Based on the direct radiation area and the reflection area of ​​each candidate deployment location, the target deployment location of the signal transceiver equipment is determined among the candidate deployment locations.

[0071] Step S204: Detect the presence of a moving target in the indoor space based on the echo signal of the sensing signal; If so, proceed to steps S206 to S208; If not, proceed to step S216.

[0072] Step S206: Calculate the regional location of each moving target based on the transmitted sensing signal and echo signal.

[0073] Step S208: Detect whether the moving target has enabled base station positioning function; If so, proceed to steps S210 to S212; If not, proceed to step S214.

[0074] Step S210: Transmit and receive detection signals to the area location, and calculate the location of the network access device based on the detection signal data to obtain the device's location.

[0075] Step S212: Perform location fusion calculation by combining the device's location with the mobile target location calculated based on the sensor signal data to obtain the target location of the network access device.

[0076] Optionally, calculate the positional distance between each moving target location and the device positioning location, and perform position binding based on the positional distance; The device locations at each time point are sorted in chronological order. The reference device location and the corrected device location are determined based on the sorting results. The reference device location is then corrected based on the corrected device location to obtain the target location. The corrected device location includes the device locations at each time point other than the reference device location.

[0077] Specifically, location binding based on distance can be achieved in the following ways: Calculate the average distance and distance dispersion index at each location, and then perform a weighted calculation on the average distance and distance dispersion index to obtain the binding detection threshold; If the minimum position distance among all position distances is less than the binding detection threshold, then the moving target position corresponding to the minimum position distance will be bound to the device positioning position.

[0078] Furthermore, the target positioning position can be obtained by correcting the position of the reference device based on the position of the correction device using the following method: Repair speed, position variance, and speed variance are calculated based on time and corrected equipment position. The device position is predicted based on the corrected device position, speed, and time. The prediction variance is calculated based on velocity variance, position variance, and time. The target location is calculated based on the location of the reference equipment, the variance of the reference equipment location, the predicted equipment location, and the predicted variance.

[0079] Step S214: Calculate the target location based on the sensor signal data.

[0080] Step S216: Detect whether the static target has enabled base station positioning function; If so, proceed to step S218; If not, proceed to step S220.

[0081] Step S218: Transmit and receive detection signals into the indoor space, and calculate the target positioning position of the static device based on the detection signal data.

[0082] Step S220: Detect whether there are any historical positioning targets whose last positioning location was in an indoor space and whose positioning failed. If so, proceed to step S222; If not, proceed to step S224.

[0083] Step S222: Based on the last positioning location, perform sensor signal positioning and / or detection signal positioning on the historical positioning target until the previous target is detected.

[0084] Step S224: Confirm that there is no target that needs to be located.

[0085] Specifically, based on detecting the presence of moving targets in indoor spaces, and then detecting whether static or moving targets have base station positioning capabilities, the system covers the following four scenarios: (1) When locating a mobile target that supports base station positioning, the device positioning location is used to perform a location fusion calculation with the mobile target location calculated based on the sensor signal data to obtain the target positioning location of the network access device.

[0086] (2) When locating a mobile target that does not support base station positioning, the location of the mobile target is calculated using sensor signal data.

[0087] (3) When locating a static device that supports base station positioning, the device transmits and receives detection signals into the indoor space, and calculates the target location of the static device based on the detection signal data.

[0088] (4) When locating a static target that does not support base station positioning, detect whether the static target has enabled base station positioning function; if not, detect whether there is a historical positioning target whose last positioning location was in an indoor space and whose positioning failed; if so, perform sensor signal positioning and / or detection signal positioning on the historical positioning target based on the last positioning location until the historical positioning target is detected.

[0089] By covering the above four scenarios, not only is the accuracy of location positioning for mobile targets that support base station positioning improved, but also different positioning strategies are dynamically adapted to positioning targets in different states that may change in complex indoor environments, thereby improving the universality of indoor positioning methods.

[0090] Figure 3 This is a schematic diagram of the structure of a positioning device based on an indoor distribution system provided in an embodiment of this disclosure, as shown below. Figure 3 As shown, the device includes: The signal transceiver module 302 is used to transmit sensing signals through the signal transceiver device and detect whether there is a moving target in the indoor space based on the echo signal of the sensing signal. If present, execute data analysis module 304; the data analysis module is used to calculate the regional location of each moving target based on the transmitted sensing signal and echo signal, and to detect whether the moving target has enabled the base station positioning function; If enabled, the device positioning module 306 is executed; the device positioning module is used to transmit and receive detection signals to the area location, and to calculate the device positioning location based on the detection signal data. The fusion computing module 308 is used to perform location fusion calculations between the device's location and the location of the moving target calculated based on the sensor signal data, in order to obtain the target location of the network access device.

[0091] An embodiment of this disclosure provides a positioning device based on an indoor distribution system that can implement the various processes in the aforementioned method embodiments and achieve the same functions and effects, which will not be repeated here.

[0092] Furthermore, one embodiment of this disclosure also provides an electronic device, Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure, such as... Figure 4As shown, the device includes: a memory 401, a processor 402, a bus 403, and a communication interface 404. The memory 401, the processor 402, and the communication interface 404 communicate via the bus 403. The communication interface 404 may include input / output interfaces, including but not limited to a keyboard, mouse, monitor, microphone, and loudspeaker.

[0093] Figure 4 In the processor 402, the memory 401 stores computer-executable instructions that can run on the processor 402. When the processor 402 executes the computer-executable instructions, the following process is implemented: The system transmits sensing signals through signal transceiver equipment and detects the presence of moving targets in the indoor space based on the echo signals of the sensing signals. If present, calculate the regional location of each moving target based on the transmitted sensing signal and echo signal, and detect whether the moving target has enabled the base station positioning function; If enabled, it transmits and receives detection signals to the area and calculates the location of the network access device based on the detection signal data to obtain the device's location. The device's location is fused with the location of the moving target calculated based on the sensor signal data to obtain the target location of the network access device.

[0094] In this embodiment, firstly, a sensing signal is transmitted through a signal transceiver device, and the presence of a moving target in the indoor space is detected based on the echo signal of the sensing signal. Secondly, if a moving target is found, the regional location of each moving target is calculated based on the transmitted sensing signal and the echo signal, and it is detected whether the moving target has enabled the base station positioning function. Next, if enabled, a detection signal is transmitted and received to the regional location, and the location of the network access device is calculated based on the detection signal data to obtain the device's location. Finally, the device's location is fused with the location of the moving target obtained from the sensing signal data to obtain the target location of the network access device. As can be seen, through this embodiment, in situations where the indoor environment is complex and variable and the positioning targets are diverse, the signal transceiver transmits sensing signals, and detects the presence of moving targets in the indoor space based on the sensing signals and echo signals. If a moving target is found, the regional location of each moving target is calculated and determined. It is also detected whether the moving target has enabled the base station positioning function, and then the detection signal is transmitted and received to the regional location. For network access devices with the base station positioning function enabled, the device positioning location is calculated. The device positioning location is then fused with the moving target location calculated based on the sensing signal data to obtain the target positioning location of the network access device, thus improving the accuracy of indoor positioning based on the indoor distribution system.

[0095] An electronic device provided in one embodiment of this disclosure can implement the various processes in the foregoing method embodiments and achieve the same functions and effects, which will not be repeated here.

[0096] Another embodiment of this disclosure also provides a computer-readable storage medium for storing computer-executable instructions that, when executed by a processor, implement the following process: The system transmits sensing signals through signal transceiver equipment and detects the presence of moving targets in the indoor space based on the echo signals of the sensing signals. If present, calculate the regional location of each moving target based on the transmitted sensing signal and echo signal, and detect whether the moving target has enabled the base station positioning function; If enabled, it transmits and receives detection signals to the area and calculates the location of the network access device based on the detection signal data to obtain the device's location. The device's location is fused with the location of the moving target calculated based on the sensor signal data to obtain the target location of the network access device.

[0097] In this embodiment, firstly, a sensing signal is transmitted through a signal transceiver device, and the presence of a moving target in the indoor space is detected based on the echo signal of the sensing signal. Secondly, if a moving target is found, the regional location of each moving target is calculated based on the transmitted sensing signal and the echo signal, and it is detected whether the moving target has enabled the base station positioning function. Next, if enabled, a detection signal is transmitted and received to the regional location, and the location of the network access device is calculated based on the detection signal data to obtain the device's location. Finally, the device's location is fused with the location of the moving target obtained from the sensing signal data to obtain the target location of the network access device. As can be seen, through this embodiment, in situations where the indoor environment is complex and variable and the positioning targets are diverse, the signal transceiver transmits sensing signals, and detects the presence of moving targets in the indoor space based on the sensing signals and echo signals. If a moving target is found, the regional location of each moving target is calculated and determined. It is also detected whether the moving target has enabled the base station positioning function, and then the detection signal is transmitted and received to the regional location. For network access devices with the base station positioning function enabled, the device positioning location is calculated. The device positioning location is then fused with the moving target location calculated based on the sensing signal data to obtain the target positioning location of the network access device, thus improving the accuracy of indoor positioning based on the indoor distribution system.

[0098] The computer-readable storage medium includes read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc.

[0099] The computer-readable storage medium provided in one embodiment of this disclosure can implement the various processes in the foregoing method embodiments and achieve the same functions and effects, which will not be repeated here.

[0100] Furthermore, another embodiment of this disclosure also provides a computer program product that, when executed by a processor, implements the following process: The system transmits sensing signals through signal transceiver equipment and detects the presence of moving targets in the indoor space based on the echo signals of the sensing signals. If present, calculate the regional location of each moving target based on the transmitted sensing signal and echo signal, and detect whether the moving target has enabled the base station positioning function; If enabled, it transmits and receives detection signals to the area and calculates the location of the network access device based on the detection signal data to obtain the device's location. The device's location is fused with the location of the moving target calculated based on the sensor signal data to obtain the target location of the network access device.

[0101] The computer program product provided in this embodiment first transmits a sensing signal through a signal transceiver device and detects whether a moving target exists in the indoor space based on the echo signal of the sensing signal. Second, if a moving target exists, the regional location of each moving target is calculated based on the transmitted sensing signal and the echo signal, and it is detected whether the moving target has enabled the base station positioning function. Next, if enabled, a detection signal is transmitted and received to the regional location, and the location of the network access device is calculated based on the detection signal data to obtain the device's location. Finally, the device's location is fused with the location of the moving target calculated based on the sensing signal data to obtain the target location of the network access device. As can be seen, through this embodiment, in situations where the indoor environment is complex and variable and the positioning targets are diverse, the signal transceiver transmits sensing signals, and detects the presence of moving targets in the indoor space based on the sensing signals and echo signals. If a moving target is found, the regional location of each moving target is calculated and determined. It is also detected whether the moving target has enabled the base station positioning function, and then the detection signal is transmitted and received to the regional location. For network access devices with the base station positioning function enabled, the device positioning location is calculated. The device positioning location is then fused with the moving target location calculated based on the sensing signal data to obtain the target positioning location of the network access device, thus improving the accuracy of indoor positioning based on the indoor distribution system.

[0102] The computer program product provided in one embodiment of this specification can implement the various processes in the foregoing method embodiments and achieve the same functions and effects, which will not be repeated here.

[0103] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0104] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0105] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0106] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0107] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0108] Memory may include non-persistent storage in computer-readable storage media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable storage media.

[0109] Computer-readable storage media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable storage media does not include transient media, such as modulated data signals and carrier waves.

[0110] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0111] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A positioning method based on an indoor distribution system, characterized in that, include: The system transmits sensing signals through signal transceiver equipment and detects the presence of moving targets in the indoor space based on the echo signals of the sensing signals. If present, calculate the regional location of each moving target based on the transmitted sensing signal and the echo signal, and detect whether the moving target has enabled the base station positioning function; If enabled, the device transmits and receives detection signals to the area, and calculates the device's location based on the detection signal data. The target location of the network access device is obtained by performing a location fusion calculation between the device's location and the mobile target location calculated based on the sensor signal data.

2. The method according to claim 1, characterized in that, The step of performing a location fusion calculation by combining the device's location with the mobile target location calculated based on sensor signal data to obtain the target location of the network access device includes: Calculate the positional distance between each moving target location and the device positioning location, and perform position binding based on the positional distance; The device locations at each time point are sorted in chronological order. Based on the sorting results, a reference device location and a corrected device location are determined. The reference device location is then corrected based on the corrected device location to obtain the target location. The corrected device location includes device locations other than the reference device location among the device locations at each time point.

3. The method according to claim 2, characterized in that, The location binding based on the location distance includes: Calculate the average distance and distance dispersion index of each location, and perform a weighted calculation on the average distance and distance dispersion index to obtain the binding detection threshold; If the minimum position distance among the various position distances is less than the binding detection threshold, then the moving target position corresponding to the minimum position distance is bound to the device positioning position.

4. The method according to claim 2, characterized in that, The step of correcting the position of the reference device based on the position of the correcting device to obtain the target positioning position includes: The repair speed, position variance, and speed variance are calculated based on time and the position of the correction device. The predicted device position is calculated based on the corrected device position, speed, and time; The prediction variance is calculated based on the velocity variance, the position variance, and the time. The target positioning position is calculated based on the reference device position, the position variance of the reference device position, the predicted device position, and the prediction variance.

5. The method according to claim 1, characterized in that, The deployment location of the signal transceiver in the indoor space is determined in the following manner: Transmit sensing signals at each candidate deployment location, calculate the area of ​​the direct-light area and the area of ​​the reflected area based on the transmitted sensing signals; Based on the direct radiation area and the reflection area of ​​each candidate deployment location, the target deployment location of the signal transceiver is determined among the candidate deployment locations.

6. The method according to claim 1, characterized in that, If the result of the operation to detect whether a moving target exists in the indoor space based on the echo signal of the sensing signal is no, the following operation is performed: Detect whether the static target has enabled base station positioning function; If not enabled, detect whether there is a historical positioning target whose last positioning location was in the indoor space and which failed to be positioned; if so, perform sensor signal positioning and / or detection signal positioning on the historical positioning target based on the last positioning location until the historical positioning target is detected.

7. The method according to claim 6, characterized in that, If the result of the operation to detect whether the static target has enabled base station positioning function is yes, the following operation is performed: The system transmits and receives detection signals into the indoor space, and calculates the target location of the static device based on the detection signal data.

8. A positioning device based on an indoor distribution system, characterized in that, include: The signal transceiver module is used to transmit sensing signals through the signal transceiver device and detect whether there is a moving target in the indoor space based on the echo signal of the sensing signal. If it exists, execute the data analysis module; The data analysis module is used to calculate the regional location of each moving target based on the transmitted sensing signal and the echo signal, and to detect whether the moving target has enabled the base station positioning function. If enabled, the device positioning module is executed; the device positioning module is used to transmit and receive detection signals to the area location, and calculate the device positioning location based on the detection signal data. The fusion computing module is used to perform location fusion calculations on the device's location and the location of the moving target obtained from the sensor signal data to obtain the target location of the network access device.

9. An electronic device, characterized in that, The method includes a memory and a processor, wherein the memory stores computer-executable instructions that, when executed on the processor, implement the method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions that, when executed by a processor, implement the method described in any one of claims 1-7.

11. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-7.

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