CN112269159A - Indoor positioning method and device, server and readable storage medium - Google Patents
Indoor positioning method and device, server and readable storage mediumDownload PDFInfo
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- CN112269159A CN112269159ACN202011346147.8ACN202011346147ACN112269159ACN 112269159 ACN112269159 ACN 112269159ACN 202011346147 ACN202011346147 ACN 202011346147ACN 112269159 ACN112269159 ACN 112269159A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to an indoor positioning method and apparatus, a server, and a readable storage medium.
Background
With the rapid development of positioning technology on electronic devices, people increasingly rely on positioning technology on electronic devices in daily life.
In a conventional Positioning technology for electronic devices, Positioning is generally implemented by using a Global Positioning System (GPS), and a Positioning result obtained by using the GPS to perform Positioning in an outdoor scene is relatively accurate, but a Positioning result obtained by using the GPS to perform Positioning in an indoor scene is relatively low in accuracy. For example, in a large mall or a large indoor parking lot, the accuracy of the positioning result obtained by positioning using the GPS is very low. In order to solve the problem of low accuracy of a positioning result of an electronic device in an indoor scene, an indoor positioning method with high accuracy needs to be provided urgently.
Disclosure of Invention
The embodiment of the application provides an indoor positioning method and device, a server and a readable storage medium, and can improve the accuracy of indoor positioning.
A method of indoor positioning, the method comprising:
determining a cell in which an electronic device is located in an indoor space through base stations, wherein the number of the base stations is at least three;
configuring a target visible light lamp group for the electronic equipment from the visible light lamps in the cell;
and determining the position of the electronic equipment in the cell through the target visible light lamp group.
An indoor positioning device, the device comprising:
the device comprises a cell determining module, a cell determining module and a cell determining module, wherein the cell determining module is used for determining a cell in which an electronic device is located in an indoor space through base stations, and the number of the base stations is at least three;
the target visible light lamp group configuration module is used for configuring a target visible light lamp group for the electronic equipment from the visible light lamps in the cell;
and the position determining module is used for determining the position of the electronic equipment in the cell through the target visible light lamp group.
A server comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the indoor positioning method as described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the indoor positioning method as described above.
According to the indoor positioning method and device, the server and the computer readable storage medium, the cell in which the electronic equipment is located in the indoor space is determined through the base stations, and the number of the base stations is at least three. And configuring a target visible light lamp group for the electronic equipment from the visible light lamps in the cell, and determining the position of the electronic equipment in the cell through the target visible light lamp group. The electronic equipment is roughly positioned in the indoor space through the base station, and the electronic equipment is positioned to a cell in the indoor space. And then, accurately positioning the electronic equipment in the cell by adopting a target visible light lamp group in the cell. Therefore, the electronic equipment is accurately positioned in the indoor space, and the accuracy of indoor positioning is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a diagram illustrating an exemplary indoor positioning method;
FIG. 2 is a flow chart of an indoor positioning method in one embodiment;
fig. 3 is a flow chart of a method of building a cell information database of an indoor space in one embodiment;
fig. 4 is a schematic diagram of a cell obtained after a cell division is performed on an indoor space in one embodiment;
fig. 5 is a flow chart of a method of building a cell information database of an indoor space in one embodiment;
FIG. 6 is a diagram illustrating a standard cell and an actual cell in one embodiment;
FIG. 7A is a diagram illustrating an embodiment of an electronic device when the electronic device is currently in an overlap area of two actual cells;
FIG. 7B is a diagram illustrating an embodiment of an electronic device when the electronic device is currently in an overlap area of four physical cells;
FIG. 8 is a flow chart of an indoor positioning method in an exemplary embodiment;
FIG. 9 is a block diagram of an indoor positioning unit according to an embodiment;
fig. 10 is a schematic diagram of an internal configuration of a server in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Fig. 1 is a diagram illustrating an application scenario of an indoor positioning method according to an embodiment. As shown in fig. 1, the application environment includes abase station 120, anelectronic device 140, a visible light lamp set 160, and aserver 180. Thebase station 120 is connected to theelectronic device 140 through a network, and theelectronic device 140 is connected to the visible light lamp set 160 through a network. Theelectronic device 140 and theserver 180 are also connected via a network. Theserver 180 determines the cell in which the electronic device is located in the indoor space through base stations, wherein the number of the base stations is at least three; configuring a target visible light lamp group for the electronic equipment from visible light lamps in a cell; and determining the position of the electronic equipment in the cell through the target visible light lamp group. Here, theelectronic device 140 may be any terminal device such as a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), and a wearable device.
Fig. 2 is a flowchart of an indoor positioning method according to an embodiment. The indoor positioning method in this embodiment is described by taking the indoor positioning method running on theserver 180 in fig. 1 as an example. As shown in fig. 2, the indoor positioning method includessteps 220 to 260. Wherein,
andstep 220, determining the cell in which the electronic equipment is located in the indoor space through the base stations, wherein the number of the base stations is at least three.
Specifically, the base station may directly adopt an existing base station disposed outside the indoor space, or may be disposed indoors, and the number of the base stations is at least three, and the base stations are disposed in different directions. The base station transmits signals outwards, and the electronic equipment can receive the signals transmitted by the base station. The electronic device may then transmit the received signal to a server, which may determine a cell in which the electronic device is located in the indoor space based on the received signal. For example, assuming that the number of base stations is three, the three signals are transmitted to the server based on the electronic device receiving the signals transmitted by the three base stations at a certain position in the indoor space. The server determines the cell in which the electronic equipment is located in the indoor space according to the characteristics of the three signals.
The indoor space is divided into different cells in advance based on the characteristics of signals received by the electronic equipment at different positions in the indoor space, and the signals of each cell have common characteristics.
And 240, configuring a target visible light lamp group for the electronic equipment from the visible light lamps in the cell.
A plurality of visible light lamps are disposed in the indoor space, for example, the lamps used for illumination in the indoor space are the visible light lamps. Therefore, the existing visible light lamp in the indoor space can be directly utilized for indoor positioning, and no additional equipment is needed.
After the cell in which the electronic device is located in the indoor space is determined through the above steps, the target visible light lamp group is further configured for the electronic device from the visible light lamps in the cell. Since there may be multiple visible lights in a cell, only a certain number of visible lights meeting certain conditions need to be selected from the visible lights and configured as a target visible light set of the electronic device.
And step 260, determining the position of the electronic equipment in the cell through the target visible light lamp group.
After the target set of visible light lamps is configured for the electronic device, the position of the electronic device within the cell can be determined by the target set of visible light lamps. Specifically, the electronic device receives an optical signal emitted by the target visible light lamp group, and calculates the position of the electronic device in the cell according to the optical signal characteristics of the visible light lamp group.
In the embodiment of the application, the base station determines the cell in which the electronic device is located in the indoor space, and the number of the base stations is at least three. And configuring a target visible light lamp group for the electronic equipment from the visible light lamps in the cell, and determining the position of the electronic equipment in the cell through the target visible light lamp group. The electronic equipment is roughly positioned in the indoor space through the base station, and the electronic equipment is positioned to a cell in the indoor space. And then, accurately positioning the electronic equipment in the cell by adopting a target visible light lamp group in the cell. Therefore, the electronic equipment is accurately positioned in the indoor space, and the accuracy of indoor positioning is greatly improved.
In one embodiment, as shown in fig. 3, there is provided an indoor positioning method, further comprising:
for each position of the indoor space, signal characteristics of the signals transmitted by the base station received by the electronic equipment at each position are obtained,step 320.
For each position of the indoor space, an electronic device is placed at each position in advance, and a signal transmitted from the base station is received. Then, the electronic device sends the received signal to a server, and the server analyzes and obtains the signal characteristics of the signal. The signal characteristics are self attribute information carried in the signal, such as power attenuation, signal delay, and the like, which is not limited in this application. The signal delay refers to a delay generated in a signal transmission process. Power attenuation refers to the power attenuation of a signal during transmission.
Then, the server divides the indoor space into different cells according to the signal characteristics. Specifically, after the server receives the signal sent by the electronic device at each position in the indoor space, the signal may be classified according to different signal characteristics of the signal, so that a value corresponding to the signal characteristic of each cell falls within different preset intervals. For example, assuming that the signal characteristic is signal delay, the cells are divided according to the signal delay, so that the signal delay of each cell falls within different preset intervals. As shown in fig. 4, a schematic diagram of a cell obtained after dividing an indoor space into cells is shown. The shape of thecell 1 is rectangular, the length is L, the width is W, and the position information is the 1 st divided cell. Suppose that the electronic device receives the signal delay of base station B incell 1 within the range of [0.01ms, 0.02ms), the signal delay of base station C within the range of [0.04ms, 0.05ms), and the signal delay of base station a within the range of [0.04ms, 0.05 ms). And the shape of thecell 2 is rectangular, the length is L, the width is W, and the position information is the 2 nd cell divided. Suppose that the electronic device receives the signal delay of base station B incell 2 within the range of [0.02ms, 0.03ms), the signal delay of base station C within the range of [0.03ms, 0.04ms), and the signal delay of base station a within the range of [0.35ms, 0.04 ms). I.e. the signal delays of different cells fall within different preset intervals.
And step 360, acquiring the shape and size information of the cell and the position information of the cell in the indoor space.
And 380, establishing a cell information database of the indoor space based on the shape and size information of the cell, the position information of the cell in the indoor space and the signal characteristics corresponding to the cell.
After the cell division, shape and size information of the cell and position information of the cell in an indoor space are acquired. As shown in fig. 4, a schematic diagram of a cell obtained after dividing an indoor space into cells is shown. The largest rectangle frame is arectangle 420 corresponding to the indoor space, andcell 1 is an area indicated by 422. In fig. 4, the indoor space is divided into cells uniformly, that is, each cell is rectangular, and the length and width of the rectangle are equal, that is, the area of each cell is also equal. Of course, in other embodiments, the cells obtained after the indoor space is divided into the cells may not be uniform, that is, the shapes and the areas may not be the same, which is not limited in this application.
And then, establishing a cell information database of the indoor space based on the shape and size information of the cell, the position information of the cell in the indoor space and the signal characteristics corresponding to the cell. For example, for thecell 1, based on the shape of thecell 1 being a rectangle, the length being L and the width being W, the location information being the 1 st divided cell, and the signal characteristics of thecell 1 being such that the signal delay of the electronic device receiving the signal of the base station B in thecell 1 is in the range of [0.01ms, 0.02ms ], the signal delay of the electronic device receiving the signal of the base station C is in the range of [0.04ms, 0.05ms ], and the signal delay of the base station a is in the range of [0.04ms, 0.05ms), the information database of thecell 1 in the indoor space is established. Similarly, an information database of other cells of the indoor space is established.
In the embodiment of the application, the indoor space is divided into different cells in advance based on the difference of the signal characteristics of the base station received by the electronic device at each position in the indoor space, and the numerical value corresponding to the signal characteristic of each cell falls in different preset intervals. And establishing a cell information database of the indoor space based on the shape and size information of the cell, the position information of the cell in the indoor space and the signal characteristics corresponding to the cell. So that the server can perform coarse positioning on the electronic equipment in the indoor space according to the base station signal received by the electronic equipment.
In one embodiment, determining, by a base station, a cell in which an electronic device is located in an indoor space includes:
acquiring signal characteristics of a signal transmitted by a base station received by electronic equipment at a current position;
and determining the cell in which the electronic equipment is currently located from the cell information database according to the signal characteristics.
After a cell information database of an indoor space is established in advance based on shape and size information of a cell, position information of the cell in the indoor space and signal characteristics corresponding to the cell, indoor positioning can be directly performed according to the cell information database when electronic equipment is actually positioned in the indoor space.
Specifically, first, the electronic device receives a signal transmitted by a base station at a current position; secondly, the electronic equipment sends the received signals transmitted by the base station to a server, and the server acquires the signal characteristics of the signals transmitted by the base station received by the electronic equipment at the current position; and finally, the server determines the cell where the electronic equipment is located currently from the cell information database according to the signal characteristics.
Assuming that the signal characteristic is a signal delay, for example, the electronic device receives a signal transmitted by a base station at a current location. Then, the electronic device sends the received signal transmitted by the base station to the server, and the server analyzes that the signal characteristics of the signal transmitted by the base station received by the electronic device at the current position are as follows: the time delay of the electronic device receiving the signal of the base station B at the current position is 0.01ms, the time delay of the electronic device receiving the signal of the base station C is 0.04ms, and the time delay of the electronic device receiving the signal of the base station a is 0.04 ms. Then, it is determined from the cell information database that the signal characteristics fall within the preset interval of the signal characteristics of thecell 1, and it is determined that the electronic device is currently located in thecell 1.
In the embodiment of the application, the signal characteristics of the signals transmitted by the base station and received by the electronic equipment at the current position are obtained, and the cell where the electronic equipment is located at present is determined from the cell information database according to the signal characteristics. Because the cell information database of the indoor space is established on the server in advance based on the shape and size information of the cell, the position information of the cell in the indoor space and the corresponding signal characteristics of the cell. Therefore, when the signal characteristics of the signals transmitted by the base station and received by the electronic equipment at the current position are obtained in real time, the cell information database can be inquired, the cell where the electronic equipment is located can be accurately determined, and the specific position information of the cell can be further determined. By adopting the mode of inquiring the cell information database, the cell where the electronic equipment is positioned can be determined very quickly and conveniently.
In one embodiment, configuring a target set of visible light lamps for an electronic device from among visible light lamps in a cell includes:
and at least three visible light lamps with the numerical values corresponding to the light signal characteristics larger than a first preset threshold value are obtained from the visible light lamps in the cell to form a target visible light lamp group of the electronic equipment.
The optical signal refers to a signal corresponding to light emitted by the visible light lamp, and the optical signal characteristic refers to self attribute information carried in the optical signal, such as Identity Information (ID) of the visible light lamp, power attenuation, signal delay, and the like, which is not limited in the present application.
After the cell in which the electronic device is located in the indoor space is determined, the visible light lamp in the cell can be determined. The visible light lamp can send the light signal characteristics of the visible light lamp to the electronic equipment, and the electronic equipment forwards the light signal characteristics of the visible light lamp to the server, so that the server can receive the light signal characteristics of the visible light lamp in the community. Then, the server acquires at least three visible light lamps of which the numerical values corresponding to the light signal characteristics are greater than a first preset threshold value from the visible light lamps in the cell to form a target visible light lamp group of the electronic device.
Optical power is the work that light does per unit time. Optical power units are often expressed in milliwatts (mw) and decibel milliwatts (dBm). Here, assuming that the optical signal is characterized by optical power attenuation, the first preset threshold may be set to 2 dBm. Then, at least three visible light lamps with the numerical value corresponding to the optical power attenuation larger than the first preset threshold value of 2dBm are obtained from the visible light lamps in the cell to form a target visible light lamp set of the electronic equipment.
In the embodiment of the application, because the cell divided by the indoor space may be large, the light signal of the visible light lamp far away from the electronic device in the cell is weak, and therefore, the visible light lamp with a strong light signal and capable of being used for determining the specific position of the electronic device needs to be screened out from the visible light lamps in the cell to serve as the target visible light lamp group. Specifically, the visible light lamps with stronger light signals, which can be used to determine the specific location of the electronic device, can be screened from the visible light lamps in the cell through the light signal characteristics. At least three visible light lamps with the numerical value corresponding to the light signal characteristics larger than a first preset threshold value are obtained to form a target visible light lamp set of the electronic equipment. Therefore, because the light signals of the visible light lamps forming the target visible light lamp group are strong, the specific position of the electronic equipment can be conveniently determined based on the light signal characteristics carried in the light signals.
In one embodiment, as shown in fig. 5, the obtaining, from the visible light lamps in the cell, at least three visible light lamps having a light signal characteristic corresponding to a value greater than a first preset threshold value form a target visible light lamp set of the electronic device, including:
and step 520, establishing communication connection between the electronic equipment and any at least three visible light lamps in the cell, so that the visible light lamps send the optical signal characteristics to the electronic equipment through the communication connection.
At least three visible light lamps are selected from all the visible light lamps in the cell, and then the electronic equipment establishes communication connection with the selected at least three visible light lamps. The visible light lamp is provided with the communication module, and the visible light lamp can be in communication connection with the electronic equipment through the communication module. For example, the communication connection established between the visible light lamp and the electronic device is not limited to the communication connection based on CDMA, LTE, GSM, or the like, or the short-distance communication connection based on bluetooth, Zigbee, WIFI, or the like, nor is the communication connection based on 2G, 3G, 4G, 5G (Sub-6G or millimeter wave).
After the communication connection between the visible light lamp and the electronic device is established, the visible light lamp transmits the light signal characteristics to the electronic device through the communication connection. The optical signal characteristic refers to self attribute information carried in the optical signal, such as Identity Information (ID) of a visible light lamp, power attenuation, signal delay, and the like, which is not limited in the present application. Therefore, the visible light lamp can transmit the visible light lamp ID, power attenuation, signal delay and the like to the electronic equipment through the communication connection.
And step 540, receiving the light signal characteristics of the visible light lamp forwarded by the electronic equipment.
After receiving the light signal characteristics sent by the visible light lamp, the electronic equipment forwards the light signal characteristics to the server, and the server receives the light signal characteristics of the visible light lamp forwarded by the electronic equipment. And the server analyzes the received light signal characteristics of the visible light lamp.
And 560, acquiring the visible light lamps of which the numerical values corresponding to the optical signal characteristics are greater than a first preset threshold, wherein the visible light lamps of which the numerical values corresponding to the optical signal characteristics are greater than the first preset threshold form a target visible light lamp group of the electronic device.
The server judges whether the numerical value corresponding to the light signal characteristic is larger than a first preset threshold value or not from the received light signal characteristic of the visible light lamp. If yes, obtaining the visible light lamps corresponding to the light signal characteristics larger than the first preset threshold, and forming a target visible light lamp group of the electronic equipment by the visible light lamps meeting the conditions. Since the target set of visible light lamps includes at least three visible light lamps, when the number of the visible light lamps meeting the condition is less than three, the establishment of the communication connection between the electronic device and other visible light lamps in the cell needs to be performed cyclically, so that the visible light lamps send the light signal characteristics to the electronic device through the communication connection. And receiving the light signal characteristics of the visible light lamp forwarded by the electronic equipment. And acquiring the visible light lamps of which the numerical values corresponding to the optical signal characteristics are greater than a first preset threshold value, wherein the visible light lamps of which the numerical values corresponding to the optical signal characteristics are greater than the first preset threshold value form a target visible light lamp set of the electronic equipment, and the target visible light lamp set can not be formed by at least three visible light lamps.
In the embodiment of the application, the communication connection between the electronic equipment and any at least three visible light lamps in the cell is established, so that the electronic equipment can receive the light signal characteristics sent by the visible light lamps and transmit the light signal characteristics to the server. The server can obtain the visible light lamps of which the numerical values corresponding to the optical signal characteristics are larger than a first preset threshold value based on the optical signal characteristics, and the visible light lamps of which the numerical values corresponding to the optical signal characteristics are larger than the first preset threshold value form a target visible light lamp group of the electronic equipment. The visible light lamps with the light signal characteristics meeting the conditions are screened from the visible light lamps in the community to form the target visible light lamp group, and the accuracy of accurate positioning of the electronic equipment in the community subsequently is improved.
In one embodiment, if it is determined that the electronic device is currently located in an overlapping area of at least two cells;
from among the visible light lamps in the district, for electronic equipment configuration target visible light lamp group includes:
and acquiring the visible light lamps with the numerical value corresponding to the light signal characteristics larger than a first preset threshold value from the visible light lamps in the overlapping area of the at least two cells to form a target visible light lamp group of the electronic equipment.
As shown in fig. 6, arectangle 620 in fig. 6 is a range of thestandard cell 1, but in practice, due to an error in the signal transmission process, when the cell information database is established, when the electronic device moves in the standard cell, a range of the actual cell in which a value corresponding to the obtained signal characteristic falls within a preset interval is shown as arectangle 640. That is, when the cell information database is established, the obtained actual cell range is larger than the standard cell range.
Therefore, when the electronic device is currently located in an overlapping area of at least two actual cells, it is determined that the electronic device is located in bothcell 1 and an adjacent cell (e.g., may be located in 1 other adjacent cell or may be located in 3 other adjacent cells) based on the signal characteristics of the base station received by the electronic device at this time.
As shown in fig. 7A, when theelectronic device 140 is currently located in an overlapping area of two actual cells, it is determined that the electronic device is located in both cell 1(640) and adjacent cell 2(650) based on the signal characteristics of the base station received by the electronic device at this time. As shown in fig. 7B, when theelectronic device 140 is in the overlapping area of the four actual cells, it is determined that the electronic device is located in cell 1(640), and in the adjacent cells 2(650), 3(660), and 4(670) based on the signal characteristics of the base station received by the electronic device at this time.
At this time, since it cannot be accurately determined in which specific cell the electronic device is located at this time, it is necessary to simultaneously acquire, from the visible light lamps in the overlapping area of at least two cells, the visible light lamps whose light signal characteristics correspond to a value greater than the first preset threshold value to form the target visible light lamp set of the electronic device. And then the position of the electronic equipment in the cell is determined through the target visible light lamp group.
In this embodiment of the application, when the electronic device is currently located in an overlapping area of at least two cells, because it cannot be accurately determined in which specific cell the electronic device is located at this time, it is necessary to obtain, from the visible light lamps in the overlapping area of the at least two cells, a visible light lamp whose value corresponding to the light signal characteristic is greater than a first preset threshold value at the same time to form a target visible light lamp group of the electronic device. Therefore, the deviation caused by the fact that the position of the electronic equipment is determined only according to the visible light lamps in one cell under the condition that the electronic equipment is currently located in the overlapping area of at least two cells is avoided. The accuracy of indoor positioning when the electronic equipment is currently in the overlapping area of at least two cells is improved.
In one embodiment, determining the location of the electronic device within the cell by the target set of visible light lamps comprises:
receiving the light signal characteristics of the visible light lamps in the target visible light lamp group;
and calculating the position of the electronic equipment in the cell according to the light signal characteristics of the visible light lamp.
The optical signal characteristics refer to self attribute information carried in the optical signal, such as visible light lamp identity Information (ID), power attenuation, signal delay, and the like, which is not limited in the present application. Therefore, after the target visible light lamp group of the electronic device is determined and the server receives the light signal characteristics of the visible light lamps in the target visible light lamp group, the server can calculate the position of the electronic device in the cell according to the light signal characteristics of the visible light lamps.
For example, the server may calculate the distance from the electronic device to each visible light lamp by receiving the signal delay of each visible light lamp in the target visible light lamp set and combining the transmission speed of the electromagnetic wave. The target visible light lamp set comprises at least three visible light lamps, and the position of the electronic equipment in the cell can be accurately obtained by integrating the distances from the electronic equipment to the at least three visible light lamps.
In the embodiment of the application, after the target visible light lamp set of the electronic device is determined, the server receives the light signal characteristics of at least three visible light lamps in the target visible light lamp set, and then the position of the electronic device in the cell can be calculated according to the light signal characteristics of the visible light lamps. Because the visible light lamps are distributed uniformly and in a large number in the cell, the electronic equipment can be accurately positioned indoors based on the light signal characteristics of the visible light lamps in the target visible light lamp group.
In one embodiment, the signal characteristic comprises a signal delay or a power attenuation.
In the embodiment of the present application, the signal delay refers to a delay generated in a transmission process of a signal. Power attenuation refers to the power attenuation of a signal during transmission. Based on signal delay or power attenuation, a cell where the electronic equipment is located can be determined in an indoor space, and the electronic equipment is roughly positioned. The method is convenient for accurate positioning by using the visible light lamp in a smaller range subsequently, reduces the calculated amount and improves the calculation efficiency.
In a specific embodiment, as shown in fig. 8, there is provided an indoor positioning method, including:
808, establishing communication connection between the electronic equipment and any at least three visible light lamps in the cell so that the visible light lamps can send the optical signal characteristics to the electronic equipment through the communication connection;
and 814, calculating the position of the electronic equipment in the cell according to the light signal characteristics of the visible light lamp.
In the embodiment of the application, the indoor space is divided into different cells in advance based on the difference of the signal characteristics of the base station received by the electronic device at each position in the indoor space, and the numerical value corresponding to the signal characteristic of each cell falls within a first preset interval. And establishing a cell information database of the indoor space based on the shape and size information of the cell, the position information of the cell in the indoor space and the signal characteristics corresponding to the cell. The server can perform coarse positioning on the electronic equipment in the indoor space according to the base station signal received by the electronic equipment, and the electronic equipment can be positioned to the cell in the indoor space. And then, accurately positioning the electronic equipment in the cell by adopting a target visible light lamp group in the cell. Therefore, the electronic equipment is accurately positioned in the indoor space, and the accuracy of indoor positioning is greatly improved.
In one embodiment, as shown in fig. 9, an indoor positioning device 900 includes:
acell determining module 920, configured to determine, through base stations, a cell in which the electronic device is located in an indoor space, where the number of the base stations is at least three;
a target visible light lamp set configuringmodule 940, configured to configure a target visible light lamp set for the electronic device from the visible light lamps in the cell;
alocation determining module 960, configured to determine the location of the electronic device in the cell through the target set of visible light lamps.
In one embodiment, an indoor positioning device 900 is provided, further comprising:
a cell information database establishing module 980, configured to acquire, for each location in the indoor space, a signal characteristic of a signal transmitted by a base station received by the electronic device at each location; dividing the indoor space into different cells according to the signal characteristics, wherein the numerical value corresponding to the signal characteristics of each cell falls in different preset intervals; acquiring shape and size information of a cell and position information of the cell in an indoor space; and establishing a cell information database of the indoor space based on the shape and size information of the cell, the position information of the cell in the indoor space and the signal characteristics corresponding to the cell.
In one embodiment, thecell determining module 920 is further configured to obtain a signal characteristic of a signal transmitted by a base station received by the electronic device at the current location; and determining the cell in which the electronic equipment is currently located from the cell information database according to the signal characteristics.
In an embodiment, the target visible light set configuringmodule 940 is further configured to acquire at least three visible light lamps from the visible light lamps in the cell, where a value corresponding to the light signal characteristic is greater than a first preset threshold, to form the target visible light set of the electronic device.
In one embodiment, the target visible light lamp set configuringmodule 940 is further configured to establish a communication connection between the electronic device and any at least three visible light lamps in the cell, so that the visible light lamps send the light signal characteristics to the electronic device through the communication connection; receiving the light signal characteristics of the visible light lamp forwarded by the electronic equipment; and acquiring a visible light lamp with a numerical value corresponding to the optical signal characteristics larger than a first preset threshold, and forming a target visible light lamp group of the electronic equipment by the visible light lamp with the numerical value corresponding to the optical signal characteristics larger than the first preset threshold.
In one embodiment, if it is determined that the electronic device is currently located in an overlapping area of at least two cells; the target visible light setconfiguration module 940 is further configured to obtain, from the visible light lamps in the overlapping area of the at least two cells, a visible light lamp with a numerical value corresponding to the light signal characteristic greater than a first preset threshold value to form a target visible light set of the electronic device.
In one embodiment, theposition determining module 960 is configured to receive light signal characteristics of visible light lamps in the target set of visible light lamps; and calculating the position of the electronic equipment in the cell according to the light signal characteristics of the visible light lamp.
In one embodiment, the target set of visible light lamps includes at least three visible light lamps.
In one embodiment, the signal characteristic comprises a signal delay or a power attenuation.
In one embodiment, the optical signal characteristic comprises an optical signal time delay.
It should be understood that, although the steps in the flowcharts in the above-described figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in the above figures may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
The division of each module in the indoor positioning device is only used for illustration, and in other embodiments, the indoor positioning device may be divided into different modules as needed to complete all or part of the functions of the indoor positioning device.
For specific definition of the indoor positioning device, reference may be made to the definition of the indoor positioning method above, and details are not described here. The modules in the indoor positioning device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a server is further provided, which includes a memory and a processor, where the memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to perform the steps of the indoor positioning method provided in the foregoing embodiments.
Fig. 10 is a schematic diagram of an internal configuration of a server in one embodiment. As shown in fig. 10, the server includes a processor and a memory connected by a system bus. Wherein, the processor is used for providing calculation and control capability and supporting the operation of the whole server. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by a processor for implementing an indoor positioning method provided by the above embodiments. The internal memory provides a cached execution environment for the operating system computer programs in the non-volatile storage medium. The server may be any terminal device such as a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), a POS (Point of Sales), a vehicle-mounted computer, and a wearable device.
The implementation of each module in the indoor positioning device provided in the embodiments of the present application may be in the form of a computer program. The computer program may be run on a server or servers. The computer program may constitute program modules that are stored on the server or on a memory of the server. Which when executed by a processor, performs the steps of the method described in the embodiments of the present application.
The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the steps of the indoor positioning method.
A computer program product comprising instructions which, when run on a computer, cause the computer to perform an indoor positioning method.
Any reference to memory, storage, database, or other medium used by embodiments of the present application may include non-volatile and/or volatile memory. Suitable non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).
The above indoor positioning examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. An indoor positioning method, characterized in that the method comprises:
determining a cell in which an electronic device is located in an indoor space through base stations, wherein the number of the base stations is at least three;
configuring a target visible light lamp group for the electronic equipment from the visible light lamps in the cell;
and determining the position of the electronic equipment in the cell through the target visible light lamp group.
2. The method of claim 1, further comprising:
for each position of the indoor space, acquiring signal characteristics of signals transmitted by the base station and received by the electronic equipment at each position;
dividing the indoor space into different cells according to the signal characteristics, wherein the numerical value corresponding to the signal characteristics of each cell falls in different preset intervals;
acquiring shape and size information of the cell and position information of the cell in an indoor space;
and establishing a cell information database of the indoor space based on the shape and size information of the cell, the position information of the cell in the indoor space and the signal characteristics corresponding to the cell.
3. The method of claim 2, wherein determining, by the base station, the cell in which the electronic device is located in the indoor space comprises:
acquiring signal characteristics of a signal transmitted by the base station and received by the electronic equipment at the current position;
and determining the cell where the electronic equipment is currently located from the cell information database according to the signal characteristics.
4. The method according to any one of claims 1 to 3, wherein the configuring the target set of visible light lamps for the electronic device from among the visible light lamps in the cell comprises:
and acquiring at least three visible light lamps of which the numerical values corresponding to the optical signal characteristics are greater than a first preset threshold value from the visible light lamps in the cell to form a target visible light lamp group of the electronic equipment.
5. The method according to claim 4, wherein the obtaining of the at least three visible light lamps from the visible light lamps in the cell, the values of which correspond to the light signal characteristics being greater than the first preset threshold value, constitutes a target set of visible light lamps of the electronic device, and includes:
establishing a communication connection between the electronic equipment and any at least three visible light lamps in the cell, so that the visible light lamps send optical signal characteristics to the electronic equipment through the communication connection;
receiving the light signal characteristics of the visible light lamp forwarded by the electronic equipment;
and acquiring a visible light lamp with a numerical value corresponding to the optical signal characteristics larger than a first preset threshold, and forming a target visible light lamp group of the electronic equipment by the visible light lamp with the numerical value corresponding to the optical signal characteristics larger than the first preset threshold.
6. The method of claim 4, wherein if it is determined that the electronic device is currently located in an overlapping area of at least two cells;
configuring a target visible light lamp group for the electronic device from the visible light lamps in the cell, including:
and acquiring the visible light lamps with the numerical value corresponding to the light signal characteristics larger than a first preset threshold value from the visible light lamps in the overlapping area of the at least two cells to form a target visible light lamp group of the electronic equipment.
7. The method of claim 4, wherein the determining the location of the electronic device within the cell by the target set of visible light comprises:
receiving the light signal characteristics of the visible light lamps in the target visible light lamp group;
and calculating the position of the electronic equipment in the cell according to the light signal characteristics of the visible light lamp.
8. The method of claim 1, wherein the target set of visible light lamps comprises at least three visible light lamps.
9. The method of claim 2, wherein the signal characteristic comprises a signal delay or a power attenuation.
10. The method of claim 4, wherein the optical signal characteristic comprises an optical signal time delay.
11. An indoor positioning device, the device comprising:
the device comprises a cell determining module, a cell determining module and a cell determining module, wherein the cell determining module is used for determining a cell in which an electronic device is located in an indoor space through base stations, and the number of the base stations is at least three;
the target visible light lamp group configuration module is used for configuring a target visible light lamp group for the electronic equipment from the visible light lamps in the cell;
and the position determining module is used for determining the position of the electronic equipment in the cell through the target visible light lamp group.
12. A server comprising a memory and a processor, the memory having stored thereon a computer program, wherein the computer program, when executed by the processor, causes the processor to perform the steps of the indoor positioning method as claimed in any one of claims 1 to 10.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the indoor positioning method according to any one of claims 1 to 10.
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