Disclosure of Invention
The embodiment of the application discloses an indoor positioning method, an indoor positioning device, an indoor positioning system, electronic equipment and a storage medium, and provides a mechanism for efficiently switching between pseudolites for an indoor positioning technology.
The embodiment of the application discloses an indoor positioning method which is applied to a receiver and comprises the following steps:
measuring the signal-to-noise ratio of each first pseudolite in a plurality of first pseudolites currently tracked by a receiver, and determining a target pseudolite with the highest signal-to-noise ratio from the plurality of first pseudolites currently tracked;
Acquiring a neighbor list broadcasted by the target pseudolite with the highest signal-to-noise ratio, wherein the neighbor list comprises satellite information of each neighbor pseudolite of the target pseudolite;
and selecting a second pseudolite from all the neighbor pseudolites included in the neighbor satellite list according to the satellite information, and controlling the receiver to switch and track the second pseudolite so as to position the receiver by tracking the second pseudolite.
As an optional implementation manner, the selecting a second pseudolite from the neighboring pseudolites included in the neighboring satellite list according to the satellite information includes:
And selecting a second pseudolite which is not tracked currently and has a signal to noise ratio higher than a first threshold value from all the neighbor pseudolites included in the neighbor list according to the satellite information.
As an optional implementation manner, the determining the target pseudolite with the highest signal-to-noise ratio from the first pseudolites currently tracked includes:
and when detecting that the fault pseudolite with the signal-to-noise ratio lower than a second threshold value exists in the plurality of first pseudolites, determining the target pseudolite with the highest signal-to-noise ratio from the plurality of first pseudolites which are currently tracked.
As an optional implementation manner, when detecting that a faulty pseudolite with a signal-to-noise ratio lower than a second threshold exists in the plurality of first pseudolites, determining the target pseudolite with the highest signal-to-noise ratio from the plurality of first pseudolites currently tracked includes:
Recording the duration time that the signal-to-noise ratio of the fault pseudolite is lower than a second threshold value when the fault pseudolite of which the signal-to-noise ratio is lower than the second threshold value is detected to exist in the plurality of first pseudolites;
and when the duration exceeds a duration threshold, determining the target pseudolite with the highest signal-to-noise ratio from a plurality of first pseudolites which are currently tracked.
As an alternative implementation mode, the satellite information of the neighbor pseudolite comprises the neighbor satellite number of the neighbor pseudolite, and the control of the receiver to switch and track the second pseudolite comprises the following steps:
Acquiring the adjacent satellite number of the second pseudolite from the adjacent satellite list, and converting the adjacent satellite number of the second pseudolite into a pseudocode sequence of the second pseudolite;
And capturing the second pseudolite according to the pseudocode sequence of the second pseudolite, and locking and tracking the second pseudolite.
The embodiment of the application discloses another indoor positioning method which is applied to a first pseudolite, and comprises the following steps:
Broadcasting a neighbor list so that a receiver can select a second pseudolite from the neighbor list broadcasted by a target pseudolite, and controlling the receiver to switch and track the second pseudolite so as to position the receiver by tracking the second pseudolite, wherein the target pseudolite is the first pseudolite with the highest signal-to-noise ratio in a plurality of first pseudolites currently tracked by the receiver, and the neighbor list broadcasted by the target pseudolite comprises satellite information of each neighbor pseudolite of the target pseudolite.
As an alternative implementation, the neighbor list includes a first number of neighbor pseudolites, the first number being the sum of a number of currently located pseudolites and a number of next located pseudolites, the number of currently located pseudolites being the number of first pseudolites currently tracked by the receiver, and the number of next located pseudolites being the minimum number of pseudolites required for the next location.
The embodiment of the application discloses an indoor positioning system, which comprises a plurality of pseudolites and a receiver, wherein the pseudolites comprise a first pseudolite tracked by the receiver currently;
the plurality of pseudolites are used for broadcasting a neighbor list;
The receiver is used for measuring the signal-to-noise ratio of each first pseudolite in the plurality of first pseudolites currently tracked by the receiver, and determining the target pseudolite with the highest signal-to-noise ratio from the plurality of first pseudolites currently tracked;
the receiver is used for acquiring a neighbor list broadcasted by the target pseudolite with the highest signal-to-noise ratio, wherein the neighbor list comprises satellite information of each neighbor pseudolite of the target pseudolite;
And the receiver is used for selecting a second pseudolite from all the neighbor pseudolites included in the neighbor satellite list according to the satellite information, and controlling the receiver to switch and track the second pseudolite so as to position the receiver by tracking the second pseudolite.
The embodiment of the application discloses an indoor positioning device, which is applied to a receiver and comprises:
The determining module is used for measuring the signal-to-noise ratio of each first pseudolite in the plurality of first pseudolites currently tracked by the receiver and determining the target pseudolite with the highest signal-to-noise ratio from the plurality of first pseudolites currently tracked;
The acquisition module is used for acquiring a neighbor list broadcasted by the target pseudolite with the highest signal-to-noise ratio, wherein the neighbor list comprises satellite information of each neighbor pseudolite of the target pseudolite;
And the switching module is used for selecting a second pseudolite from all the neighbor pseudolites included in the neighbor satellite list according to the satellite information, and controlling the receiver to switch and track the second pseudolite so as to position the receiver by tracking the second pseudolite.
The embodiment of the application discloses an indoor positioning device, which is applied to a first pseudolite and comprises:
the broadcasting module is used for broadcasting a neighbor list so that a receiver can select a second pseudolite from the neighbor list broadcasted by a target pseudolite and control the receiver to switch and track the second pseudolite so as to position the receiver by tracking the second pseudolite, the target pseudolite is the first pseudolite with the highest signal-to-noise ratio in a plurality of first pseudolites currently tracked by the receiver, and the neighbor list broadcasted by the target pseudolite comprises satellite information of each neighbor pseudolite of the target pseudolite.
The embodiment of the application discloses an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor realizes any indoor positioning method applied to a receiver.
The embodiment of the application discloses electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor realizes any indoor positioning method applied to a first pseudolite.
The embodiment of the application discloses a computer readable storage medium which stores a computer program, wherein the computer program enables a computer to execute any indoor positioning method applied to a receiver.
The embodiment of the application discloses a computer readable storage medium which stores a computer program, wherein the computer program enables a computer to execute any indoor positioning method applied to a first pseudolite.
Compared with the related art, the embodiment of the application has the following beneficial effects:
in the embodiment of the application, the signal-to-noise ratio of each first pseudolite in a plurality of first pseudolites tracked currently by a measuring receiver can be obtained, the target pseudolite with the highest signal-to-noise ratio is selected from the first pseudolites, the adjacent satellite list broadcasted by the target pseudolite with the highest signal-to-noise ratio is obtained, the adjacent satellite list comprises satellite information of all the adjacent pseudolites of the target pseudolites, the receiver is switched to track a second pseudolite, the second pseudolite is selected from all the adjacent pseudolites included in the adjacent satellite list according to the satellite information, and the positioning of the receiver can be realized by tracking the second pseudolite.
Therefore, by acquiring the adjacent satellite list broadcasted by the target pseudolite with the highest signal-to-noise ratio, the receiver can directly realize switching and tracking among the adjacent satellites of the target pseudolite without detecting all pseudolites in the whole space again for switching. The efficient switching mechanism effectively improves the indoor positioning efficiency, accelerates the capturing and tracking of pseudolites, and solves the problems of insensitive positioning and the like caused by low switching frequency in the past indoor positioning.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The embodiment of the application discloses an indoor positioning method, an indoor positioning device, an indoor positioning system, electronic equipment and a storage medium, which can provide an efficient indoor pseudo satellite switching mechanism, so that the indoor positioning efficiency is improved. The following will describe in detail.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an indoor positioning system according to an embodiment of the application. As shown in fig. 1, the indoor positioning system may include a receiver 10, a first pseudolite 20.
The receiver 10 is an apparatus for receiving satellite signals and determining a ground space position, and may include, but is not limited to, a mobile terminal such as a cellular phone. The operating system of the mobile terminal may include, but is not limited to, an Android operating system, an IOS operating system, a Symbian operating system, a Black Berry operating system, a Windows Phone8 operating system, and the like, which are not limited to embodiments of the present application.
The first pseudolite 20 is any one of a plurality of pseudolites that the receiver is currently tracking.
In addition to the first pseudolite 20 currently tracked by the receiver, other pseudolites may be present throughout the system. Other pseudolites include pseudolites that the receiver is currently tracking, and a second pseudolite that needs to be tracked for the next positioning may be included in the pseudolites that the receiver is currently tracking.
The indoor positioning technology utilized by the present example is a pseudolite positioning technology. The current mainstream indoor positioning technology can be divided into Wi-Fi positioning, bluetooth positioning, ultra Wideband (UWB) positioning, pseudolite positioning and the like according to signal sources used for positioning. Pseudolites are transmitters deployed on the ground that transmit signals similar to navigation satellites. The pseudolite transmitter transmits signals compatible with or similar to the GNSS satellite signals that may be acquired and decoded by a user receiver. Therefore, the pseudolite can enhance the positioning performance of the GPS (Global Positioning System, GPS) under the blocking, shielding, underground and indoor environments, and realize the real-time seamless positioning of the pseudolite and the GPS system indoors and outdoors.
Therefore, compared with indoor positioning technologies such as Wi-Fi positioning, bluetooth positioning, UWB positioning and the like, the pseudo satellite positioning does not need to design a new positioning chip on a mobile terminal such as a mobile phone and the like. As long as the pseudolites are reasonably distributed indoors, the GPS satellite positioning system on the mobile terminals such as mobile phones and the like can be optimized, so that accurate indoor positioning is realized.
Referring to fig. 2, fig. 2 is a flow chart of an indoor positioning method according to an embodiment of the application.
As shown in fig. 2, the indoor positioning method, applied to a receiver, may include the steps of:
201. The signal-to-noise ratio of each first pseudolite in the plurality of first pseudolites currently tracked by the receiver is measured, and the target pseudolite with the highest signal-to-noise ratio is determined from the plurality of first pseudolites currently tracked.
The signal-to-noise ratio is the ratio between the signal power and the noise power and is typically used to measure the quality of the signal. The higher the signal-to-noise ratio, the better the signal quality. The signal-to-noise ratio affects the signal acquisition and tracking performance of the receiver. Therefore, the target pseudolite with the highest signal-to-noise ratio is determined from the first pseudolites tracked currently, and the target pseudolite with the best signal quality tracked by the receiver can be screened in advance so as to prepare for subsequent quick-switching pseudolites.
202. And acquiring a neighbor list of the target pseudolite broadcast with the highest signal-to-noise ratio.
The neighbor list includes satellite information for each neighbor pseudolite of the target pseudolite. The neighbor list is an ephemeris parameter added by a pseudolite, and the maximum length N and the default length M of the ephemeris parameter can be set manually and are in units of bits. The default length M specifies the number of neighbor pseudolites broadcast by the pseudolites and is an important parameter for the neighbor list. By way of example, N may be set to 80 bits and m may be set to 48 bits.
The purpose of creating the neighbor list is to number M neighbor pseudolites that are adjacent to the target pseudolite, the numbers being stored in the list. The number may be used to indicate M neighbor pseudolites, simplifying the subsequent process of capturing the next neighbor pseudolite, and facilitating management of M neighbor pseudolites that are adjacent to the target pseudolite. Illustratively, each number occupies K bits, then the target pseudolite broadcasts floor (N/K) at most neighbor pseudolites, i.e., maximum length N may be (N/K).
The neighbor pseudolite may be a plurality of pseudolites that are closely spaced from the target pseudolite.
The satellite information may be data associated with pseudolites and may include, but is not limited to, adjacent satellite codes and/or pseudocode sequences.
Each pseudolite in the entire positioning system will broadcast a neighbor list, as will the first pseudolite currently tracked. Thus, the receiver can capture the broadcast data of these pseudolites to obtain a list of neighbors of the target pseudolites broadcast having the highest signal-to-noise ratios among the first plurality of pseudolites.
203. And selecting a second pseudolite from all the neighbor pseudolites included in the neighbor satellite list according to the satellite information, and controlling the receiver to switch and track the second pseudolite so as to position the receiver by tracking the second pseudolite.
The second pseudolite is a neighbor pseudolite selected from the list of neighbors for the next position fix.
Illustratively, the selection policy for the second pseudolite may include a random selection, selecting a pseudolite with a highest signal-to-noise ratio, selecting a pseudolite with a signal-to-noise ratio higher than a first threshold, and the like. The method for randomly selecting the pseudolites in the whole positioning system can randomly select each pseudolite in the whole positioning system, if the signal-to-noise ratio of the selected pseudolites is not higher than a first threshold value, the next pseudolites are searched again until the pseudolites which can normally provide positioning service are captured, the method for selecting the pseudolites with the highest signal-to-noise ratio can directly select the pseudolites with the highest signal-to-noise ratio after the signal-to-noise ratio of the pseudolites in the whole positioning system is detected, and the method for selecting the pseudolites with the signal-to-noise ratio higher than the first threshold value can select the pseudolites with the lowest signal-to-noise ratio meeting the positioning requirement.
In some embodiments, the number of second pseudolites selected is the minimum number required to be able to meet the next position fix. The minimum number of pseudolites required for the next positioning is chosen because broadcasting too many neighbor pseudolites can not achieve the goal of fast screening pseudolites, while broadcasting too few neighbor pseudolites can not achieve the minimum pseudolites required for positioning, and the pseudolites must be searched again, both of which can lead to a decrease in positioning efficiency.
In some embodiments, the neighbor list includes a first number of neighbor pseudolites. The first number is the sum of the number of pseudolites currently located, which is the number of first pseudolites currently tracked by the receiver, and the number of pseudolites next located, which is the minimum number of pseudolites required for the next location.
By way of example, the number of satellites currently positioned may be set to 3, the number of satellites next positioned may be set to 3, and the first number obtained by adding the two is 6. That is, the receiver performs positioning by the 3 first pseudolites currently tracked while taking the 3 pseudolites as pseudolites required for the next positioning.
Therefore, the number of the proper neighbor pseudolites is preset in the neighbor list, so that the receiver can be facilitated to quickly screen out the second pseudolites and lock and track the second pseudolites, and the switching efficiency among the pseudolites is effectively improved.
Referring to fig. 3, fig. 3 is a flow chart of another indoor positioning method according to an embodiment of the application. As shown in fig. 3, the indoor positioning method, applied to a receiver, may include the steps of:
301. and measuring the signal-to-noise ratio of each first pseudolite in the plurality of first pseudolites currently tracked by the receiver, and recording the duration that the signal-to-noise ratio of the fault pseudolite is lower than a second threshold value when the fault pseudolite of which the signal-to-noise ratio is lower than the second threshold value is detected in the plurality of first pseudolites.
The second threshold value refers to an important technical index of the receiver, and the level of the second threshold value represents the performance of the receiver, that is, the lower the second threshold value of the receiver is, the higher the receiving sensitivity is, and vice versa. Illustratively, when the second threshold of the receiver is low, this means that the receiver can still acquire pseudolites that are currently tracking even though their signal-to-noise ratio is low. The second threshold represents the lowest signal-to-noise ratio at which pseudolites can normally provide positioning services. If the signal-to-noise ratio of the currently tracked pseudolite is below the second threshold, the receiver will not be able to acquire the pseudolite any more.
302. And when the duration exceeds the duration threshold, determining the target pseudolite with the highest signal-to-noise ratio from the first pseudolites tracked currently.
The duration threshold is set to exclude situations where the signal-to-noise ratio of the first pseudolite is occasionally below the second threshold due to signal drift. The signal-to-noise ratio of the first pseudolite may sometimes be suddenly reduced due to various influences such as time, place, weather, etc., so that the satellite signal is unstable or the signal is weakened, that is, the signal drift phenomenon. In this case, a decrease in the signal-to-noise ratio of the first pseudolite does not represent that the first pseudolite is a malfunctioning pseudolite, and therefore a duration threshold needs to be set to avoid this.
303. And acquiring a neighbor list of the target pseudolite broadcast with the highest signal-to-noise ratio.
The neighbor list comprises satellite information of each neighbor pseudolite of the target pseudolite, and the satellite information of the neighbor pseudolite comprises neighbor serial numbers of the neighbor pseudolite. It should be noted that, the satellite information of the neighbor pseudolite includes not only the neighbor number of the neighbor pseudolite, but also the pseudocode sequence of the neighbor pseudolite. The target pseudolite can directly broadcast the adjacent satellite numbers of the adjacent pseudolites, the receiver generates a one-to-one pseudo code sequence according to the adjacent satellite numbers, and then captures and tracks the second pseudolites according to the pseudo code sequence. In some embodiments, the target pseudolite may also broadcast the pseudolite sequence of the neighbor pseudolite directly, and the receiver may acquire and track the second pseudolite directly from the broadcasted pseudolite sequence.
304. And selecting a second pseudolite which is not tracked currently and has a signal to noise ratio higher than a first threshold value from all the neighbor pseudolites included in the neighbor list according to the satellite information.
The receiver can exclude the adjacent satellite number of the first pseudolite which is being tracked from the adjacent satellite list of the target pseudolite with the highest signal-to-noise ratio, and determine the adjacent pseudolite corresponding to the adjacent satellite number remained in the adjacent satellite list as the second pseudolite required for the next positioning. The second pseudolite is a pseudolite that is not currently tracked by the receiver and has a signal to noise ratio that is higher than a first threshold.
The first threshold value in step 204 may be the same as or different from the second threshold value in step 201, and is not specifically limited.
Because the first threshold represents the lowest signal-to-noise ratio of the pseudolite capable of meeting the positioning requirement, optionally, the value of the first threshold can be higher than the second threshold, so that accurate positioning service can be provided for the user when the receiver is switched to track the second pseudolite positioned next time. Because the working state of the pseudolite when the signal to noise ratio of the pseudolite is near the second threshold value is not ideal, if the first threshold value is the same as the second threshold value, the second pseudolite after switching can not meet the positioning requirement. Therefore, the first threshold value is set to be higher than the second threshold value, and re-searching of satellites can be avoided.
305. And acquiring the adjacent satellite number of the second pseudolite from the adjacent satellite list, and converting the adjacent satellite number of the second pseudolite into a pseudocode sequence of the second pseudolite.
The pseudo code sequence refers to a pseudo random code fixed on each satellite for identifying the respective satellite. The pseudolite is designed according to a widely used L1 signal by referring to a GPS signal format in the signal structure design, and can be designed according to different system structures of the pseudolite signal according to different requirements, such as Beidou B1 signals, B2 signals and the like, and the method is not particularly limited.
Illustratively, the C/A code may be a pseudo-random code of a pseudolite, the C/A code being a ranging code modulated only on the L1 (1575.42 MHz) carrier. The receiver carries out correlation operation on the pseudo-random code received from the satellite and the local C/A code to obtain a correlation peak value, further obtains the code phase of the C/A code, and calculates the pseudo-range between the satellite and the receiver. The receiver may identify each of the different pseudolites by pseudorange.
In the present example, the neighbor number of a neighbor pseudolite is used to indicate the pseudocode sequence of the neighbor pseudolite. In general, the pseudo code sequence is composed of a plurality of digits, and the sequence is long, so that the pseudo code sequence is denoted by the adjacent star number and is stored in the adjacent star list, and the satellite positioning process can be simplified. And after the receiver acquires the adjacent satellite number of the second pseudolite from the adjacent satellite list, generating a corresponding pseudocode sequence of the second pseudolite according to the adjacent satellite number.
In some possible embodiments, the satellite information broadcast by the pseudolite includes pseudolites, and accordingly, the receiver may switch tracking the corresponding pseudolite directly from pseudolites without performing the step of converting the neighbor number into a pseudolite sequence as in step 305.
306. The second pseudolite is captured according to its pseudocode sequence and locked for tracking to locate the receiver by tracking the second pseudolite.
Therefore, the indoor positioning method disclosed by the embodiment is beneficial to the rapid switching tracking of the receiver among the pseudolites, improves the positioning efficiency and reduces the complexity of the positioning process.
Referring to fig. 4, fig. 4 is a schematic structural diagram of another indoor positioning system according to an embodiment of the application. As shown in fig. 4, the indoor positioning device 400 may include a receiver 410, a first pseudolite 420.
A first pseudolite 420 for broadcasting a list of neighbors;
A receiver 410, configured to measure a signal-to-noise ratio of each of a plurality of first pseudolites currently tracked by the receiver, and determine a target pseudolite with a highest signal-to-noise ratio from the plurality of first pseudolites currently tracked;
A receiver 410, configured to obtain a neighbor list broadcasted by a target pseudolite with a highest signal-to-noise ratio, where the neighbor list includes satellite information of each neighbor pseudolite of the target pseudolite;
And the receiver 410 is configured to select a second pseudolite from the neighboring pseudolites included in the neighboring pseudolites list broadcasted by the target pseudolite according to the satellite information, and control the receiver to switch tracking of the second pseudolite so as to locate the receiver by tracking the second pseudolite.
In one embodiment, the receiver 410 is further configured to select, from among the neighboring pseudolites included in the neighbor list, a second pseudolite that is currently untracked and has a signal-to-noise ratio that is higher than the first threshold based on the satellite information.
In one embodiment, the receiver 410 is further configured to determine, when a faulty pseudolite whose signal-to-noise ratio is lower than the second threshold value is detected among the plurality of first pseudolites, a target pseudolite having a highest signal-to-noise ratio from among the plurality of first pseudolites currently tracked.
In one embodiment, the receiver 410 is further configured to record a duration that the signal-to-noise ratio of the failed pseudolite is lower than the second threshold when the failed pseudolite having the signal-to-noise ratio lower than the second threshold is detected in the plurality of first pseudolites, and determine a target pseudolite with the highest signal-to-noise ratio from the plurality of first pseudolites currently tracked when the duration exceeds the duration threshold.
In one embodiment, the receiver 410 is further configured to obtain the adjacent satellite number of the second pseudolite from the adjacent satellite list, convert the adjacent satellite number of the second pseudolite into a pseudocode sequence of the second pseudolite, capture the second pseudolite according to the pseudocode sequence of the second pseudolite, and lock-track the second pseudolite.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an indoor positioning device according to an embodiment of the present application, which is applicable to the receiver of the foregoing embodiment. As shown in fig. 5, the indoor positioning device 500 may include a determining module 501, an acquiring module 502, and a switching module 503.
A determining module 501, configured to measure a signal-to-noise ratio of each first pseudolite in the plurality of first pseudolites currently tracked by the receiver, and determine a target pseudolite with a highest signal-to-noise ratio from the plurality of first pseudolites currently tracked;
The acquisition module 502 is configured to acquire a neighbor list broadcasted by a target pseudolite with a highest signal-to-noise ratio, where the neighbor list includes satellite information of each neighbor pseudolite of the target pseudolite;
And a switching module 503, configured to select a second pseudolite from the neighboring pseudolites included in the neighboring satellite list according to the satellite information, and control the receiver to switch and track the second pseudolite, so as to position the receiver by tracking the second pseudolite.
In one embodiment, the switching module 503 may be configured to select, according to the satellite information, a second pseudolite that is not currently tracked and has a signal to noise ratio higher than the first threshold value from the neighboring pseudolites included in the neighboring satellite list.
In one embodiment, the determining module 501 is configured to determine, when a faulty pseudolite whose signal-to-noise ratio is lower than a second threshold value is detected in the first pseudolites, a target pseudolite with the highest signal-to-noise ratio from the first pseudolites currently tracked.
In one embodiment, the determining module 501 is further configured to record a duration of time that the signal-to-noise ratio of the failed pseudolite is below the second threshold when a failed pseudolite having a signal-to-noise ratio below the second threshold is detected among the plurality of first pseudolites;
and when the duration exceeds a duration threshold, determining the target pseudolite with the highest signal-to-noise ratio from a plurality of first pseudolites which are currently tracked.
In one embodiment, the satellite information of the neighbor pseudolite comprises the neighbor satellite number of the neighbor pseudolite, and the switching module 503 can comprise a conversion unit and a capturing unit;
the conversion unit can be used for acquiring the adjacent satellite number of the second pseudolite from the adjacent satellite list and converting the adjacent satellite number of the second pseudolite into a pseudocode sequence of the second pseudolite;
And the capturing unit is used for capturing the second pseudolite according to the pseudocode sequence of the second pseudolite and locking and tracking the second pseudolite.
In one embodiment, referring to fig. 6, fig. 6 is a schematic structural diagram of another indoor positioning device according to an embodiment of the present application. The indoor positioning apparatus 600 shown in fig. 6 can be applied to the first pseudolite of the foregoing embodiment.
As shown in fig. 6, the indoor positioning device 600 may include a broadcasting module 601.
The broadcasting module is used for broadcasting a neighbor list so that a receiver can select a second pseudolite from the neighbor list broadcasted by a target pseudolite and control the receiver to switch and track the second pseudolite so as to position the receiver by tracking the second pseudolite, the target pseudolite is the first pseudolite with the highest signal-to-noise ratio in a plurality of first pseudolites currently tracked by the receiver, and the neighbor list broadcasted by the target pseudolite comprises satellite information of each neighbor pseudolite of the target pseudolite.
In one embodiment, the neighbor list includes a first number of neighbor pseudolites. The first number is the sum of the number of pseudolites currently located, which is the number of first pseudolites currently tracked by the receiver, and the number of pseudolites next located, which is the minimum number of pseudolites required for the next location.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the application. The electronic device may be a receiver in the foregoing embodiment, as shown in fig. 7, the electronic device 700 may include:
A memory 710 storing executable program code;
a processor 720 coupled to the memory 710;
The processor 720 invokes the executable program code stored in the memory 710 to perform any of the indoor positioning methods disclosed in the embodiments of the present application applied to the receiver.
The embodiment of the application discloses another electronic device which can be the pseudolite in the previous embodiment. The electronic equipment comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor realizes any indoor positioning method applied to pseudolites disclosed by the embodiment of the application. The structure may be as shown in fig. 7. When the processor calls executable program codes stored in the memory, any indoor positioning method applied to pseudolites disclosed by the embodiment of the application is executed.
The embodiment of the application discloses a computer readable storage medium storing a computer program, wherein the computer program enables a computer to execute any indoor positioning method applied to a receiver.
The embodiment of the application discloses a computer readable storage medium storing a computer program, wherein the computer program enables a computer to execute any indoor positioning method applied to pseudolites.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are alternative embodiments and that the acts and modules referred to are not necessarily required for the present application.
In various embodiments of the present application, it should be understood that the sequence numbers of the foregoing processes do not imply that the execution sequences of the processes should be determined by the functions and internal logic of the processes, and should not be construed as limiting the implementation of the embodiments of the present application.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present application, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, comprising several requests for a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a processor in a computer device) to execute some or all of the steps of the above-mentioned method of the various embodiments of the present application.
Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the above embodiments may be implemented by a program that instructs associated hardware, the program may be stored in a computer readable storage medium including Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium that can be used for carrying or storing data.
The indoor positioning method, the indoor positioning device, the indoor positioning system, the electronic equipment and the storage medium disclosed by the embodiment of the application are described in detail, and specific examples are applied to illustrate the principle and the implementation mode of the application, and the description of the above embodiments is only used for helping to understand the method and the core idea of the application. Meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.