技术领域technical field
本公开涉及人员定位技术领域，具体地，涉及一种室内外判别及定位方法、装置、存储介质及电子设备。The present disclosure relates to the technical field of personnel positioning, and in particular, to an indoor and outdoor discrimination and positioning method, device, storage medium, and electronic equipment.
背景技术Background technique
现有技术中，企业对厂内人员的安全监管主要依赖于制度、人工和传统安保系统，智能定位系统是集人员考勤、跟踪定位、应急管理等一体的综合性运用系统，是企业智能安全管理系统的重要组成部分，目前的智能定位方法中在企业的厂房或者设备比较复杂的区域，存在人员在室外误判至室内的可能，当前智能定位系统误判人员的位置信息是目前亟需解决的问题。In the existing technology, the enterprise's safety supervision of personnel in the factory mainly depends on the system, labor and traditional security system. The intelligent positioning system is a comprehensive application system integrating personnel attendance, tracking and positioning, emergency management, etc., and is an enterprise intelligent security management system. It is an important part of the system. In the current intelligent positioning method, in the complex area of the enterprise's factory building or equipment, there is a possibility that the personnel may be misjudged from the outside to the indoor. The current intelligent positioning system misjudged the location information of the personnel is an urgent need to solve question.
发明内容Contents of the invention
为克服相关技术中存在的问题，本公开提供一种室内外判别及定位方法、装置、存储介质及电子设备。In order to overcome the problems existing in the related technologies, the present disclosure provides an indoor and outdoor discrimination and positioning method, device, storage medium and electronic equipment.
根据本公开实施例的第一方面，提供一种室内外判别及定位方法，应用于终端设备，包括：According to the first aspect of the embodiments of the present disclosure, an indoor and outdoor discrimination and positioning method is provided, which is applied to a terminal device, including:
获取基站的无线信号强度信息；Obtain the wireless signal strength information of the base station;
当所述无线信号强度信息小于第一预设阈值时，获取卫星高度角及信噪比；When the wireless signal strength information is less than a first preset threshold, acquire satellite elevation angle and signal-to-noise ratio;
根据所述卫星高度角及所述信噪比获取判定指标数据；Acquiring determination index data according to the satellite elevation angle and the signal-to-noise ratio;
当所述判定指标数据大于第二预设阈值时，确定所述终端设备对应的人员位于室外；When the determination index data is greater than a second preset threshold, it is determined that the person corresponding to the terminal device is located outdoors;
根据所述终端设备采集的运动传感器数据和卫星定位数据确定所述人员在室外的位置信息。The outdoor position information of the person is determined according to the motion sensor data and satellite positioning data collected by the terminal device.
可选地，所述根据所述卫星高度角及所述信噪比数据获取判定指标数据，包括：Optionally, the acquiring determination index data according to the satellite elevation angle and the signal-to-noise ratio data includes:
获取当前接收到的所有卫星的卫星数据，每个所述卫星数据包括采集所述卫星数据时的高度角和所述高度角对应的信噪比；Acquiring satellite data of all satellites currently received, each of the satellite data includes an altitude angle when the satellite data is collected and a signal-to-noise ratio corresponding to the altitude angle;
在所述所有卫星的卫星数据中，确定高度角在设定的高度角范围内的一个或多个卫星数据，得到卫星数据集合；Among the satellite data of all satellites, determine one or more satellite data whose elevation angle is within a set elevation angle range to obtain a satellite data set;
获取所述卫星数据集合中各个所述卫星数据的信噪比的均值；Obtaining the mean value of the signal-to-noise ratio of each of the satellite data in the satellite data set;
根据所述信噪比的均值、所述卫星数据集合中的卫星数据的数量，以及所述所有卫星的卫星数据总数目，获取所述判定指标数据。The determination index data is obtained according to the mean value of the signal-to-noise ratio, the quantity of satellite data in the satellite data set, and the total number of satellite data of all satellites.
可选地，所述卫星定位数据为所述终端设备通过卫星定位得到的所述终端设备的球面坐标下的多个经纬度，所述根据所述终端设备采集的运动传感器数据和卫星位置信息确定所述人员在室外的位置信息，包括：Optionally, the satellite positioning data is a plurality of longitudes and latitudes under the spherical coordinates of the terminal device obtained by the terminal device through satellite positioning, and the determined according to the motion sensor data and satellite position information collected by the terminal device The outdoor location information of the above-mentioned personnel, including:
根据所述运动传感器数据，确定所述人员的步态信息和第一航向信息，所述运动传感器数据包括加速度和角速度；Determining the gait information and first heading information of the person according to the motion sensor data, the motion sensor data including acceleration and angular velocity;
根据所述球面坐标下的多个经纬度，确定对应的多个大地高斯坐标；Determining a plurality of corresponding earth Gaussian coordinates according to the plurality of latitudes and longitudes under the spherical coordinates;
根据所述多个大地高斯坐标确定对应的多个平面坐标；Determining a plurality of corresponding plane coordinates according to the plurality of earth Gaussian coordinates;
根据所述判定指标数据、所述多个平面坐标对所述航向信息进行修正，得到修正后的航向信息；Correcting the heading information according to the determination index data and the plurality of plane coordinates to obtain corrected heading information;
根据所述步态信息、所述修正后的航向信息、所述多个平面坐标对所述终端设备进行定位跟踪，以得到所述人员在室外的位置信息。Positioning and tracking the terminal device is performed according to the gait information, the corrected heading information, and the plurality of plane coordinates, so as to obtain the outdoor position information of the person.
可选地，所述根据所述步态信息、所述修正后的航向信息、所述多个平面坐标对所述终端设备进行定位跟踪，以得到所述人员在室外的位置信息，包括：Optionally, the positioning and tracking of the terminal device according to the gait information, the corrected heading information, and the plurality of plane coordinates to obtain the outdoor position information of the person includes:
在所述终端设备扫描到蓝牙基站广播的蓝牙信号，且所述蓝牙信号的信号强度大于预设阈值时，基于所述蓝牙信号、预先存储的蓝牙数据库数据、所述步态信息、所述修正后的航向信息、所述多个平面坐标对所述终端设备进行定位跟踪，以得到所述人员在室外的位置信息。When the terminal device scans the Bluetooth signal broadcast by the Bluetooth base station, and the signal strength of the Bluetooth signal is greater than a preset threshold, based on the Bluetooth signal, the pre-stored Bluetooth database data, the gait information, the correction The final heading information and the plurality of plane coordinates are used to locate and track the terminal device, so as to obtain the outdoor position information of the person.
可选地，所述根据所述判定指标数据、所述多个平面坐标对所述航向信息进行修正，得到修正后的航向信息，包括：Optionally, the correcting the heading information according to the determination index data and the plurality of plane coordinates to obtain the corrected heading information includes:
当所述判定指标数据大于第三预设阈值时，通过历史PDR数据确定所述人员是否为直线行走；When the determination index data is greater than the third preset threshold, determine whether the person is walking in a straight line through historical PDR data;
当所述人员为直线行走时，通过所述多个平面坐标计算航向修正量，以根据所述航向修正量对所述航向信息进行PDR修正，得到所述修正后的航向信息。When the person is walking in a straight line, a heading correction amount is calculated by using the plurality of plane coordinates, so as to perform PDR correction on the heading information according to the heading correction amount to obtain the corrected heading information.
可选地，所述通过历史PDR数据确定所述人员是否为直线行走，包括：Optionally, the determining whether the person walks in a straight line through historical PDR data includes:
获取预设轨迹长度的历史PDR数据，所述历史PDR数据包括在所述预设轨迹长度下的多个历史航向信息；Acquiring historical PDR data of a preset track length, the historical PDR data including a plurality of historical heading information under the preset track length;
当所述多个历史航向信息中的最大值与最小值的差值小于第四预设阈值时，确定所述人员为直线行走。When the difference between the maximum value and the minimum value in the pieces of historical heading information is smaller than a fourth preset threshold, it is determined that the person is walking in a straight line.
可选地，所述通过所述多个平面坐标计算航向修正量，以根据所述航向修正量对所述航向信息进行PDR修正，得到所述修正后的航向信息，包括：Optionally, the calculating the heading correction amount by using the plurality of plane coordinates, so as to perform PDR correction on the heading information according to the heading correction amount, and obtain the corrected heading information, including:
通过所述多个大地高斯坐标，以及所述多个平面坐标与对应的大地高斯坐标之间的偏置，确定线性方程组；Determining a system of linear equations through the plurality of earth Gauss coordinates and the offset between the plurality of plane coordinates and the corresponding earth Gauss coordinates;
基于最小二乘法确定所述线性方程组中指定参数的参数值；determining parameter values for specified parameters in the system of linear equations based on a least squares method;
基于所述参数信息，确定所述人员的基于卫星定位数据的第二航向信息；Based on the parameter information, determine the second heading information of the person based on satellite positioning data;
通过所述第二航向信息，和所述多个历史航向信息的平均值，确定所述航向修正量；determining the course correction amount by using the second course information and the average value of the plurality of historical course information;
通过所述航向修正量对所述第一航向信息进行修正，确定所述修正后的航向信息。The first course information is corrected by the course correction amount, and the corrected course information is determined.
根据本公开实施例的第二方面，提供一种室内外判别及定位装置，包括：According to the second aspect of the embodiments of the present disclosure, an indoor and outdoor discrimination and positioning device is provided, including:
信号检测模块，用于获取基站的无线信号强度信息；The signal detection module is used to obtain the wireless signal strength information of the base station;
数据获取模块，用于当所述无线信号强度信息小于第一预设阈值时，获取卫星高度角及信噪比；A data acquisition module, configured to acquire a satellite elevation angle and a signal-to-noise ratio when the wireless signal strength information is less than a first preset threshold;
指标获取模块，用于根据所述卫星高度角及所述信噪比获取判定指标数据；An index acquisition module, configured to acquire judgment index data according to the satellite elevation angle and the signal-to-noise ratio;
位置确定模块，用于当所述判定指标数据大于第二预设阈值时，确定所述终端设备对应的人员位于室外；A location determination module, configured to determine that the person corresponding to the terminal device is located outdoors when the determination index data is greater than a second preset threshold;
定位模块，用于根据所述终端设备采集的运动传感器数据和卫星定位数据确定所述人员在室外的位置信息。The positioning module is configured to determine the outdoor position information of the person according to the motion sensor data and satellite positioning data collected by the terminal device.
根据本公开实施例的第三方面，提供一种非临时性计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本公开第一方面所提供的室内外判别及定位方法的步骤。According to the third aspect of the embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the indoor and outdoor discrimination and positioning provided by the first aspect of the present disclosure are realized. method steps.
根据本公开实施例的第四方面，提供一种电子设备，包括：According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic device, including:
存储器，其上存储有计算机程序；a memory on which a computer program is stored;
处理器，用于执行所述存储器中的所述计算机程序，以实现本公开第一方面所提供的室内外判别及定位方法的步骤。A processor, configured to execute the computer program in the memory, so as to implement the steps of the indoor and outdoor discrimination and positioning method provided in the first aspect of the present disclosure.
本公开的实施例提供的技术方案可以包括以下有益效果：The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:
在上述技术方案中，获取基站的无线信号强度信息；当所述无线信号强度信息小于第一预设阈值时，获取卫星高度角及信噪比；根据所述卫星高度角及所述信噪比获取判定指标数据；当所述判定指标数据大于第二预设阈值时，确定所述终端设备对应的人员位于室外；根据所述终端设备采集的运动传感器数据和卫星定位数据确定所述人员在室外的位置信息。通过上述方案，能够根据终端设备采集的卫星高度角及信噪比确定人员是否位于室外，并在确定人员处于室外的情况下，基于终端设备采集的运动传感器数据和卫星定位数据获取人员在室外的位置信息，上述方法能够适用于厂房或者设备复杂区域，实现室内外判别以及室外的高精度定位。In the above technical solution, the wireless signal strength information of the base station is obtained; when the wireless signal strength information is less than the first preset threshold, the satellite elevation angle and signal-to-noise ratio are obtained; according to the satellite elevation angle and the signal-to-noise ratio Acquire determination index data; when the determination index data is greater than a second preset threshold, determine that the person corresponding to the terminal device is located outdoors; determine that the person is outdoors according to the motion sensor data and satellite positioning data collected by the terminal device location information. Through the above scheme, it can be determined whether the person is located outdoors according to the satellite elevation angle and signal-to-noise ratio collected by the terminal device, and when it is determined that the person is outdoors, based on the motion sensor data and satellite positioning data collected by the terminal device, the location of the person outdoors can be obtained. Location information, the above method can be applied to complex areas of factory buildings or equipment, to achieve indoor and outdoor discrimination and outdoor high-precision positioning.
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。Other features and advantages of the present disclosure will be described in detail in the detailed description that follows.
附图说明Description of drawings
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the description, together with the following specific embodiments, are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the attached picture:
图1是根据一示例性实施例示出的一种室内外判别及定位方法的流程图。Fig. 1 is a flow chart of an indoor and outdoor discrimination and positioning method according to an exemplary embodiment.
图2是根据一示例性实施例示出的另一种室内外判别及定位方法的流程图。Fig. 2 is a flow chart of another indoor and outdoor discrimination and positioning method according to an exemplary embodiment.
图3是根据一示例性实施例示出的另一种室内外判别及定位方法的流程图。Fig. 3 is a flow chart of another indoor and outdoor discrimination and positioning method according to an exemplary embodiment.
图4是根据一示例性实施例示出的又一种室内外判别及定位方法的流程图。Fig. 4 is a flow chart showing another indoor and outdoor discrimination and positioning method according to an exemplary embodiment.
图5是根据一示例性实施例示出的又一种室内外判别及定位方法的流程图。Fig. 5 is a flow chart showing another indoor and outdoor discrimination and positioning method according to an exemplary embodiment.
图6是根据一示例性实施例示出的又一种室内外判别及定位方法的流程图。Fig. 6 is a flow chart showing another indoor and outdoor discrimination and positioning method according to an exemplary embodiment.
图7是根据一示例性实施例示出的一种室内外判别及定位装置700的框图。Fig. 7 is a block diagram of an indoor and outdoor discrimination and positioning device 700 according to an exemplary embodiment.
图8是根据一示例性实施例示出的一种电子设备800的框图。Fig. 8 is a block diagram of an electronic device 800 according to an exemplary embodiment.
图9是根据一示例性实施例示出的一种电子设备900的框图。Fig. 9 is a block diagram of an electronic device 900 according to an exemplary embodiment.
具体实施方式Detailed ways
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.
可以理解的是，本公开中的术语“第一”、“第二”等用于描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开，并不表示特定的顺序或者重要程度。It can be understood that the terms "first", "second", etc. in the present disclosure are used to describe various information, but the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another, and do not imply a specific order or degree of importance.
进一步可以理解的是，本公开实施例中尽管在附图中以特定的顺序描述操作，但是不应将其理解为要求按照所示的特定顺序或是串行顺序来执行这些操作，或是要求执行全部所示的操作以得到期望的结果。在特定环境中，多任务和并行处理可能是有利的。It can be further understood that although operations are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood as requiring that these operations be performed in the specific order shown or in a serial order, or that Do all of the operations shown to get the desired result. In certain circumstances, multitasking and parallel processing may be advantageous.
需要说明的是，本公开中所有获取信号、信息或数据的动作都是在遵照所在地国家相应的数据保护法规政策的前提下，并获得由相应装置所有者给予授权的情况下进行的。It should be noted that all the actions of obtaining signals, information or data in this disclosure are carried out under the premise of complying with the corresponding data protection laws and policies of the country where the location is located, and with the authorization given by the corresponding device owner.
在目前的相关技术中，人员在室内时，通常是基于惯导定位、无线定位、磁场定位以及地图约束的组合定位方式实现，或者是基于UWB(Ultra-Wideband，超宽带)、惯导定位、磁力计测向的组合定位方式；对于人员处于室外时，是基于卫星定位、惯导定位以及磁场定位的组合定位方式实现，或者基于室外基于惯导、磁力计测量、RTK(Real-time kinematic，实时动态)的组合定位方式。In the current related technology, when people are indoors, it is usually realized based on the combination of inertial navigation positioning, wireless positioning, magnetic field positioning and map constraints, or based on UWB (Ultra-Wideband, ultra-wideband), inertial navigation positioning, The combined positioning method of magnetometer direction finding; for people outdoors, it is realized based on the combined positioning method of satellite positioning, inertial navigation positioning and magnetic field positioning, or based on outdoor positioning based on inertial navigation, magnetometer measurement, RTK (Real-time kinematic, real-time dynamic) combined positioning method.
申请人发现，上述技术存在以下问题，首先对于人员处于室内还是室外的定位不够准确；其次，目前对于人员在室外的定位方法存在以下问题：(1)通过磁场、磁力计计算航向不准的问题，由于航向计算时采用的是地球磁场，但是在工业场景，由于大量的铁磁性材料存在，传感器测量数据中不仅包含了地球磁场，更多的是铁磁性材料产生的干扰场，从而严重影响磁力计方向测量的准确性；(2)在金属建筑物或者设备附近，由于信号的遮挡、反射、衍射等，导致普通卫星定位或者RTK定位精度极度下降而无法满足要求。由于存在以上问题，因此导致目前的相关技术中对于室外人员的定位存在精度不高的问题。为了解决上述问题，本公开实施例提出一种室内外判别及定位方法，下面对该方法进行说明。The applicant found that the above-mentioned technology has the following problems. First, the positioning of personnel is not accurate enough whether it is indoors or outdoors; secondly, the current positioning method for personnel outdoors has the following problems: (1) The problem of inaccurate course calculation by magnetic field and magnetometer , because the earth’s magnetic field is used for heading calculation, but in industrial scenarios, due to the existence of a large number of ferromagnetic materials, the sensor measurement data not only includes the earth’s magnetic field, but also the interference field generated by ferromagnetic materials, which seriously affects the magnetic force. (2) In the vicinity of metal buildings or equipment, due to signal occlusion, reflection, diffraction, etc., the accuracy of ordinary satellite positioning or RTK positioning is extremely reduced and cannot meet the requirements. Due to the above problems, there is a problem of low precision in the positioning of outdoor personnel in the current related technology. In order to solve the above problems, an embodiment of the present disclosure proposes an indoor and outdoor discrimination and positioning method, which will be described below.
图1是根据一示例性实施例示出的一种室内外判别及定位方法的流程图，如图1所示，应用于终端设备，该方法包括以下步骤：Fig. 1 is a flow chart of an indoor and outdoor discrimination and positioning method according to an exemplary embodiment. As shown in Fig. 1, it is applied to a terminal device, and the method includes the following steps:
在步骤S11中，获取基站的无线信号强度信息。In step S11, the wireless signal strength information of the base station is acquired.
在步骤S12中，当该无线信号强度信息小于第一预设阈值时，获取卫星高度角及信噪比。In step S12, when the wireless signal strength information is less than a first preset threshold, the satellite elevation angle and signal-to-noise ratio are obtained.
示例性地，通过终端设备进行信号扫描获取基站发出的无线信号的强度信息，该基站可以是4G/5G基站、蓝牙基站，wifi接入点中的一种或多种，该无线信号包括ibeacon、wifi、蓝牙信号等信号中的一种或多种，可以将该无线信号的信号强度与该第一预设阈值进行对比，该第一预设阈值可以是预设的一个信号强度阈值，当该无线信号强度信息小于该第一预设阈值时，获取该终端设备所属人员的卫星高度角和信噪比数据，该终端设备可以是手机、平板电脑、智能手表等人员可携带的智能设备。Exemplarily, the terminal device performs signal scanning to obtain the strength information of the wireless signal sent by the base station. The base station can be one or more of a 4G/5G base station, a Bluetooth base station, and a wifi access point. The wireless signal includes ibeacon, One or more of wifi, bluetooth signals and other signals, the signal strength of the wireless signal can be compared with the first preset threshold, the first preset threshold can be a preset signal strength threshold, when the When the wireless signal strength information is less than the first preset threshold, the satellite elevation angle and signal-to-noise ratio data of the person to whom the terminal device belongs is obtained. The terminal device can be a smart device such as a mobile phone, a tablet computer, and a smart watch that can be carried by the person.
在步骤S13中，根据该卫星高度角及该信噪比获取判定指标数据。In step S13, judging index data is acquired according to the satellite elevation angle and the signal-to-noise ratio.
在步骤S14中，当该判定指标数据大于第二预设阈值时，确定该终端设备对应的人员位于室外。In step S14, when the determination index data is greater than the second preset threshold, it is determined that the person corresponding to the terminal device is located outdoors.
示例性地，该判定指标数据可以记为sig，通过获取到的该卫星高度角以及该信噪比，计算该判别指标数据sig，并将该判定指标数据sig与第二预设阈值进行对比，当该判定指标数据sig大于第二预设阈值时，可以确定该终端设备所属人员的位置信息位于室外。Exemplarily, the determination index data may be recorded as sig, and the determination index data sig is calculated through the obtained satellite elevation angle and the signal-to-noise ratio, and the determination index data sig is compared with a second preset threshold, When the determination index data sig is greater than the second preset threshold, it can be determined that the location information of the person to whom the terminal device belongs is located outdoors.
例如：当需要获取该携带智能设备的人员的定位信息时，获取该人员所在视距范围内的至少四颗卫星的信号，通过该至少四颗卫星信号的高度角和信噪比数据(SNR)，计算该判定指标数据sig，在该判定指标数据大于该第二预设阈值的情况下可以确定该终端设备所属人员的位置信息位于室外，其中该第二预设阈值的具体数值可以依据现场实测数据进行设置。For example: when it is necessary to obtain the positioning information of the person carrying the smart device, obtain the signals of at least four satellites within the line-of-sight range of the person, and pass the altitude angle and signal-to-noise ratio data (SNR) of the at least four satellite signals , calculate the determination index data sig, and in the case that the determination index data is greater than the second preset threshold, it can be determined that the location information of the person to whom the terminal device belongs is located outdoors, wherein the specific value of the second preset threshold can be based on field measurements data to set.
在步骤S15中，根据该终端设备采集的运动传感器数据和卫星定位数据确定该人员在室外的位置信息。In step S15, the outdoor location information of the person is determined according to the motion sensor data and satellite positioning data collected by the terminal device.
示例性地，该卫星定位数据可以为该人员所持终端设备的卫星经纬度数据，该运动传感器数据可以包括终端设备采集的加速度、角速度等数据，其中加速度可以用于进行该人员的步态计算，可以用于估计人员的步长，角速度可以用于进行姿态解算，从而确定该终端设备的航向(也即该人员的航向)，从而基于步长和航向即可实现定位跟踪。Exemplarily, the satellite positioning data may be the satellite longitude and latitude data of the terminal device held by the person, and the motion sensor data may include data such as acceleration and angular velocity collected by the terminal device, where the acceleration may be used to calculate the gait of the person, and may be It is used to estimate the step length of the person, and the angular velocity can be used for attitude calculation to determine the heading of the terminal device (that is, the heading of the person), so that positioning and tracking can be realized based on the step length and heading.
从而，通过该智能设备采集的该人员的运动传感器数据和卫星经纬度数据，可以计算该人员在室外所处的位置信息。Therefore, through the motion sensor data and satellite latitude and longitude data of the person collected by the smart device, the location information of the person outdoors can be calculated.
通过上述方案，通过将无线信号强度与第一预设阈值进行对比以及将卫星高度角和信噪比与第二预设阈值进行对比，当获取到的终端设备无线信号强度信息小于第一预设阈值时，通过获取到的卫星高度角和信噪比得到判定指标数据，将该判定指标数据与第二预设阈值对比，确定该判定指标数据大于第二预设阈值时，对该人员的位置信息进行判断，确定该人员位置信息处于室外，从而提高了人员位置信息定位的准确度。Through the above solution, by comparing the wireless signal strength with the first preset threshold and comparing the satellite elevation angle and signal-to-noise ratio with the second preset threshold, when the acquired wireless signal strength information of the terminal device is less than the first preset threshold When the threshold is reached, the judgment index data is obtained through the obtained satellite altitude angle and signal-to-noise ratio, and the judgment index data is compared with the second preset threshold, and when the judgment index data is greater than the second preset threshold, the position of the person The information is judged to determine that the person's location information is outdoors, thereby improving the accuracy of the location of the person's location information.
图2是根据一示例性实施例示出的另一种室内外判别及定位方法的流程图，如图2所示，该步骤S13中，包括以下步骤：Fig. 2 is a flowchart of another indoor and outdoor discrimination and positioning method according to an exemplary embodiment. As shown in Fig. 2, the step S13 includes the following steps:
在步骤S131中，获取当前接收到的所有卫星的卫星数据，每个该卫星数据包括采集该卫星数据时的高度角和该高度角对应的信噪比。In step S131, satellite data of all currently received satellites are acquired, and each satellite data includes an altitude angle when the satellite data is collected and a signal-to-noise ratio corresponding to the altitude angle.
示例性地，一般情况下需要在视距范围内采集至少四颗卫星的信号，卫星信号具有两个比较典型的信号指标：高度角和信噪比(SNR)，高度角即卫星与地球椭球面切面的夹角；信噪比(SNR)，即当前接收到的某颗卫星的信号质量。获取四颗卫星的卫星数据，即需要获取四颗卫星的高度角以及该高度角对应的信噪比。As an example, under normal circumstances, it is necessary to collect signals from at least four satellites within the line-of-sight range. Satellite signals have two typical signal indicators: altitude angle and signal-to-noise ratio (SNR). The included angle of the cut plane; the signal-to-noise ratio (SNR), that is, the signal quality of a certain satellite currently received. To obtain the satellite data of four satellites, it is necessary to obtain the altitude angle of the four satellites and the signal-to-noise ratio corresponding to the altitude angle.
在步骤S132中，在该所有卫星的卫星数据中，确定高度角在设定的高度角范围内的一个或多个卫星数据，得到卫星数据集合。In step S132, among the satellite data of all the satellites, one or more satellite data whose elevation angle is within a set altitude range is determined to obtain a satellite data set.
在步骤S133中，获取该卫星数据集合中各个该卫星数据的信噪比的均值。In step S133, the average value of the signal-to-noise ratio of each satellite data in the satellite data set is obtained.
在步骤S134中，根据该信噪比的均值、该卫星数据集合中的卫星数据的数量，以及该所有卫星的卫星数据总数目，获取该判定指标数据。In step S134, the determination index data is obtained according to the mean value of the signal-to-noise ratio, the quantity of satellite data in the satellite data set, and the total number of satellite data of all satellites.
示例性地，在获取到的所有卫星的卫星数据中，将高度角在设定的高度角范围内的一个或多个卫星数据集合起来得到卫星数据集合，并获取该卫星数据集合中各个该卫星数据的信噪比的均值，再通过获取到的该信噪比的均值、该卫星数据集合中的卫星数据的数量，以及该所有卫星的卫星数据总数目，获取该判定指标数据sig。Exemplarily, among the obtained satellite data of all satellites, one or more satellite data whose elevation angle is within the set elevation angle range are combined to obtain a satellite data set, and each satellite in the satellite data set is obtained The mean value of the signal-to-noise ratio of the data, and then the determination index data sig is obtained by obtaining the mean value of the signal-to-noise ratio, the number of satellite data in the satellite data set, and the total number of satellite data of all satellites.
例如，可以通过以下公式来计算sig：For example, sig can be calculated by the following formula:
其中，set表示高度角处于[50,90]区间的卫星数据集合；SNRset表示该卫星数据集合中卫星数据的信噪比值；N(set)表示卫星数据集合中的元素数目，也即卫星数据集合中的卫星数据的数目；numEffective表示本次扫描到的卫星数据的总数目；mean(SNRset)表示该卫星数据集合中的信噪比值的均值。Among them, set represents the satellite data set whose altitude angle is in the interval [50,90]; SNRset represents the signal-to-noise ratio value of the satellite data in the satellite data set; N(set) represents the number of elements in the satellite data set, that is, the satellite The number of satellite data in the data set; numEffective indicates the total number of satellite data scanned this time; mean(SNRset ) indicates the mean value of the signal-to-noise ratio in the satellite data set.
上述的第二预设阈值可以经过多次实测得出，例如第二预设阈值可以在15～25db范围内选择，具体依据现场实测数据进行具体的确定。The above-mentioned second preset threshold can be obtained through multiple actual measurements. For example, the second preset threshold can be selected in the range of 15-25db, and specifically determined according to field measured data.
图3是根据一示例性实施例示出的另一种室内外判别及定位方法的流程图，如图3所示，该卫星定位数据包括该终端设备通过卫星定位得到的该终端设备的球面坐标下的多个经纬度，该步骤S15中，包括以下步骤：Fig. 3 is a flowchart of another indoor and outdoor discrimination and positioning method according to an exemplary embodiment. As shown in Fig. 3, the satellite positioning data includes the spherical coordinates of the terminal device obtained by the terminal device through satellite positioning multiple longitudes and latitudes, the step S15 includes the following steps:
在步骤S151中，根据该运动传感器数据，确定该人员的步态信息和第一航向信息，该运动传感器数据包括加速度和角速度。In step S151, the gait information and the first heading information of the person are determined according to the motion sensor data, the motion sensor data including acceleration and angular velocity.
示例性地，该终端设备可以根据该运动传感器数据确定该人员的步态信息和第一航向信息，该步态信息包含加速度和角速度。Exemplarily, the terminal device may determine gait information and first heading information of the person according to the motion sensor data, where the gait information includes acceleration and angular velocity.
例如：检测人员的步态信息，通过以下公式计算:For example: to detect the gait information of a person, calculated by the following formula:
其中，len_step表示步长，作为上述步态信息，fs表示惯导传感器采集频率，fs_step表示当前一步持续的时长，其中上述公式中的0.15和0.3为示例性的；并且，可以根据以下公式判断行人是否前进一步：Among them, len_step represents the step length, as the above gait information, fs represents the acquisition frequency of the inertial navigation sensor, and fs_step represents the duration of the current step, wherein 0.15 and 0.3 in the above formula are exemplary; and, pedestrians can be judged according to the following formula Whether to move forward:
其中，Var表示方差，Acc表示合加速度，throld1_acc表示合加速度阈值，Acc_max表示设定周期内合加速度的最大值，Acc_min表示设定周期内合加速度的最小值，throld2_acc：表示设定周期内合加速度峰峰值阈值。Among them, Var represents the variance, Acc represents the combined acceleration, throld1_acc represents the combined acceleration threshold, Acc_max represents the maximum value of the combined acceleration within the set period, Acc_min represents the minimum value of the combined acceleration within the set period, throld2_acc: indicates the combined acceleration within the set period Peak-to-peak threshold.
根据len_step，计算当前航向yaw，可以参照以下步骤。According to len_step, calculate the current heading yaw, you can refer to the following steps.
在步骤S152中，根据该球面坐标下的多个经纬度，确定对应的多个大地高斯坐标。In step S152, according to the multiple latitudes and longitudes under the spherical coordinates, a plurality of corresponding earth Gaussian coordinates are determined.
在步骤S153中，根据该多个大地高斯坐标确定对应的多个平面坐标。In step S153, a plurality of corresponding plane coordinates are determined according to the plurality of geodetic Gaussian coordinates.
示例性地，由于终端设备采集到的卫星定位数据为球面坐标下的经纬度，而实际的定位是在平面坐标下进行，因此需要将卫星定位数据中的球面坐标下的多个经纬度，转换成对应的多个大地高斯坐标，然后基于该多个大地高斯坐标转换到局部平面坐标中。For example, since the satellite positioning data collected by the terminal device is latitude and longitude in spherical coordinates, and the actual positioning is performed in plane coordinates, it is necessary to convert multiple latitudes and longitudes in spherical coordinates in the satellite positioning data into corresponding multiple earth Gaussian coordinates, and then transform into local plane coordinates based on the multiple earth Gaussian coordinates.
例如：通常终端设备采集到的经纬度为WGS84经纬度坐标，可以基于公知的转换方法，将测量到的WGS84经纬度坐标(lat,lon)转换到大地高斯坐标(GSX,GSY)，然后基于下述公式将大地高斯坐标转换到定位解算的局部平面坐标：For example: usually the longitude and latitude collected by the terminal equipment are WGS84 longitude and latitude coordinates, based on the known conversion method, the measured WGS84 longitude and latitude coordinates (lat, lon) can be converted to the earth Gaussian coordinates (GSX, GSY), and then based on the following formula Geodetic Gaussian coordinates are converted to local plane coordinates for positioning calculations:
式中：(ΔX,ΔY)为局部平面坐标和大地高斯坐标之间的偏置，该值的计算方式为：In the formula: (ΔX, ΔY) is the offset between the local plane coordinates and the Gaussian coordinates of the earth, and the calculation method of this value is:
即离线情况下，可以在现场选取N个点，分别获取其大地高斯坐标以及局部平面坐标下的坐标值，然后分别计算偏差，再求平均值。That is to say, in the offline situation, N points can be selected on the spot, and the coordinate values under the Gaussian coordinates of the earth and the local plane coordinates are respectively obtained, and then the deviations are calculated respectively, and then the average value is calculated.
在步骤S154中，根据该判定指标数据、该多个平面坐标对该航向信息进行修正，得到修正后的航向信息。In step S154, the heading information is corrected according to the determination index data and the plurality of plane coordinates to obtain corrected heading information.
示例性地，通过该判定指标数据sig以及多个平面坐标数据确定该航向信息的修正，当判定指标数据sig大于预设阈值时，且通过历史PDR数据确定该人员为直线行走时，通过多个平面坐标计算航向修正量，并根据该航向修正量对该航向信息进行PDR修正，得到修正后的航向信息。Exemplarily, the correction of the heading information is determined through the determination index data sig and a plurality of plane coordinate data. When the determination index data sig is greater than a preset threshold and the person is determined to be walking in a straight line through the historical PDR data, through multiple The course correction amount is calculated by the plane coordinates, and the course information is corrected by PDR according to the course correction amount to obtain the corrected course information.
在步骤S155中，根据该步态信息、该修正后的航向信息、该多个平面坐标对该终端设备进行定位跟踪，以得到该人员在室外的位置信息。In step S155, the terminal device is positioned and tracked according to the gait information, the corrected heading information, and the plurality of plane coordinates, so as to obtain the outdoor location information of the person.
可选的，该步骤S155中，还可以基于场景中的蓝牙信号共同进行人员在室外的定位，可以包括以下步骤：Optionally, in this step S155, the location of the person outdoors can also be jointly performed based on the Bluetooth signal in the scene, which may include the following steps:
在该终端设备扫描到蓝牙基站广播的蓝牙信号，且该蓝牙信号的信号强度大于预设阈值时，基于该蓝牙信号、预先存储的蓝牙数据库数据、该步态信息、该修正后的航向信息、该多个平面坐标对该终端设备进行定位跟踪，以得到该人员在室外的位置信息。When the terminal device scans the Bluetooth signal broadcast by the Bluetooth base station, and the signal strength of the Bluetooth signal is greater than the preset threshold, based on the Bluetooth signal, the pre-stored Bluetooth database data, the gait information, the corrected heading information, Positioning and tracking of the terminal device is performed on the plurality of plane coordinates, so as to obtain the outdoor position information of the person.
其中，离线存储的蓝牙数据库数据，可以在厂房附近以及多设备区等卫星定位不准的区域，安装蓝牙基站，并将蓝牙基站的mac、Major、Minor以及位置存储在数据库中，具体的存储格式例如可以为：[Pxi，Pyi，Majori,Minori]，i＝1,…,M，M为室外场景安装的蓝牙基站总数目。该终端设备扫描蓝牙数据时，主要获取蓝牙基站发出的广播信息，获取其mac地址、Major、Minor字段以及信号强度。从而，根据终端设备获取的mac地址、Major、Minor字段以及信号强度，以及离线存储的蓝牙数据库数据中记录的[Pxi，Pyi，Majori,Minori]数据，即可实现基于蓝牙的辅助定位。Among them, the Bluetooth database data stored offline can install Bluetooth base stations in areas where satellite positioning is not accurate, such as near the factory building and multi-device areas, and store the mac, Major, Minor and location of the Bluetooth base station in the database. The specific storage format For example, it may be: [Pxi , Pyi , Majori , Minori ], i=1,...,M, where M is the total number of Bluetooth base stations installed in the outdoor scene. When the terminal device scans the Bluetooth data, it mainly obtains the broadcast information sent by the Bluetooth base station, and obtains its mac address, Major and Minor fields, and signal strength. Therefore, according to the mac address, Major, Minor fields and signal strength acquired by the terminal device, and the [Pxi, Pyi , Majori , Minori ] data recorded in the offline Bluetooth database data, Bluetooth-based auxiliary position.
例如，本公开实施例中，定位跟踪可以采用一种松耦合的扩展卡尔曼滤波定位的方式，其分为初始化以及滤波定位过程。在基于室外判别方法，判断到人员从室内行至室外或者室外开机，可以认为是首次判断到人员在室外的时候，即进行解算参数初始化。For example, in the embodiments of the present disclosure, a loosely coupled extended Kalman filter positioning method may be used for positioning tracking, which is divided into initialization and filtering positioning processes. Based on the outdoor discrimination method, it is judged that the person is walking from the indoor to the outdoor or the outdoor is turned on, which can be considered as the first time that the person is judged to be outdoors, and the calculation parameters are initialized.
初始化位置可以表示如下：The initialization position can be expressed as follows:
其中(GSX0,GSY0)为智能终端采集到的最近时刻的经纬度转换得到的高斯坐标；Where (GSX0 , GSY0 ) is the Gaussian coordinate obtained by converting the latitude and longitude at the latest moment collected by the smart terminal;
滤波过程的动态噪声矩阵可以表示为：The dynamic noise matrix of the filtering process can be expressed as:
观测噪声矩阵可以表示为：The observation noise matrix can be expressed as:
上式中，sig0为最近时刻的判定指标数据，其计算方法可以参照上文所述的sig的计算方法，不再赘述。In the above formula, sig0 is the judgment index data at the latest moment, and its calculation method can refer to the calculation method of sig described above, and will not be repeated here.
估计误差矩阵可以为：The estimated error matrix can be:
在滤波定位过程，当人员完成第k+1步后，执行以下计算：In the process of filtering and positioning, when the person completes step k+1, the following calculations are performed:
对当前位置预测可以通过以下公式：The current location prediction can be made by the following formula:
式中：k表示人员的第k步，k+1表示人员的第k+1步，为上次的最优估计位置，lenstepk+1为当前步的步长，yawk+1为当前步的方向。其中，关于yaw的确定方法可以见下文图4实施例所述。In the formula: k represents the kth step of the personnel, k+1 represents the k+1th step of the personnel, is the last optimal estimated position, lenstepk+1 is the step size of the current step, and yawk+1 is the direction of the current step. Wherein, the method for determining yaw can be referred to in the embodiment in FIG. 4 below.
估计误差预测可以通过以下公式：The estimated error prediction can be given by the following formula:
增益可以表示为：Gain can be expressed as:
式中，sigk+1为最近时刻的判定指标数据。In the formula, sigk+1 is the judgment index data at the latest moment.
当前的最优估计可以表示为：The current best estimate can be expressed as:
估计误差阵更新：Estimated error matrix update:
最后输出的人员位置为：The final output of the personnel position is:
若在人员的行走过程中，终端设备扫描到包含在蓝牙数据库中的蓝牙信号，且信号强度大于一定阈值，例如大于-70dB，则在当前的滤波定位过程中，可将上述的最优估计更新为：If the terminal device scans the Bluetooth signal included in the Bluetooth database during the walking process of the person, and the signal strength is greater than a certain threshold, such as greater than -70dB, then in the current filtering and positioning process, the above-mentioned optimal estimate can be updated for:
式中：(Pxi，Pyi)为当前检测到的蓝牙i对应的位置，示例的，ω在0.5～0.9范围内取值。In the formula: (Pxi , Pyi ) is the position corresponding to the currently detected bluetooth i, for example, ω takes a value in the range of 0.5-0.9.
下面对上文所述的航向yaw的确定方法进行说明，图4是根据一示例性实施例示出的又一种室内外判别及定位方法的流程图，如图4所示，该步骤S154中，包括以下步骤：The method for determining the heading yaw described above will be described below. FIG. 4 is a flowchart of another indoor and outdoor discrimination and positioning method according to an exemplary embodiment. As shown in FIG. 4 , in step S154 , including the following steps:
在步骤S1541中，当该判定指标数据大于第三预设阈值时，通过历史PDR数据确定该人员是否为直线行走。In step S1541, when the determination index data is greater than the third preset threshold, it is determined whether the person is walking in a straight line based on historical PDR data.
示例性地，当该判定指标数据sig大于第三预设阈值时，获取该人员所处环境中的预设轨迹长度的历史PDR(Pedestrian Dead Reckoning，步行者航位推算)数据，该历史PDR数据包括在该预设轨迹长度下的多个历史航向信息，当该多个历史航向信息中的最大值与最小值的差值小于第四预设阈值时，确定该人员为直线行走。可以表示为以下公式：Exemplarily, when the determination index data sig is greater than the third preset threshold, the historical PDR (Pedestrian Dead Reckoning, pedestrian dead reckoning) data of the preset trajectory length in the environment where the person is located is acquired, the historical PDR data A plurality of historical heading information under the preset track length is included, and when the difference between the maximum value and the minimum value in the multiple historical heading information is smaller than a fourth preset threshold, it is determined that the person is walking in a straight line. Can be expressed as the following formula:
max(Yaw)-min(Yaw)<throld4max(Yaw)-min(Yaw)<throld4
即在设定长度的历史轨迹中，其航向的极差小于阈值则确定该人员为直线行走。示例性的，throld3的取值范围为5～15度，具体依据终端携带方式的不同而不同，比如手持平端时可取小值，与身体固连时可取中间值，口袋中携带时，可取大值。这里Yaw＝{yaw1,yaw2,…,yawN}，为最近的基于PDR推断的人员轨迹的航向数据。That is, in the historical trajectory of the set length, if the extreme difference of the course is smaller than the threshold, it is determined that the person is walking in a straight line. Exemplarily, the value range of throld3 is 5 to 15 degrees, which varies depending on the carrying mode of the terminal. For example, a small value can be taken when holding a flat end, an intermediate value can be taken when it is fixed to the body, and a large value can be taken when carrying it in a pocket . Here Yaw={yaw1 , yaw2 ,...,yawN }, which is the latest heading data of the person trajectory based on PDR inference.
在步骤S1542中，当该人员为直线行走时，通过该多个平面坐标计算航向修正量，以根据该航向修正量对该航向信息进行PDR修正，得到该修正后的航向信息。In step S1542, when the person is walking in a straight line, a heading correction is calculated from the plurality of plane coordinates, so as to perform PDR correction on the heading information according to the heading correction, and obtain the corrected heading information.
图5是根据一示例性实施例示出的又一种室内外判别及定位方法的流程图，如图5所示，该步骤S1541中，可以包括以下步骤：Fig. 5 is a flowchart of another indoor and outdoor discrimination and positioning method according to an exemplary embodiment. As shown in Fig. 5, the step S1541 may include the following steps:
在步骤S15411中，获取预设轨迹长度的历史PDR数据，该历史PDR数据包括在该预设轨迹长度下的多个历史航向信息。In step S15411, historical PDR data of a preset track length is acquired, and the historical PDR data includes a plurality of historical heading information under the preset track length.
在步骤S15412中，当该多个历史航向信息中的最大值与最小值的差值小于第四预设阈值时，确定该人员为直线行走。In step S15412, when the difference between the maximum value and the minimum value in the plurality of historical heading information is less than a fourth preset threshold, it is determined that the person is walking in a straight line.
例如：在PDR的航向修正模块中，首先基于上式：For example: in the course correction module of PDR, first based on the above formula:
计算当前卫星信号数据的判定指标数据sig，如判定指标数据sig大于第三预设阈值，则进一步基于一定长度的人员历史轨迹是否为直线，示例的，这里的第三预设阈值可以在25～35dB范围内取值，这里的一定长度可以不小于5米。Calculate the judgment index data sig of the current satellite signal data. If the judgment index data sig is greater than the third preset threshold, it is further based on whether a certain length of personnel historical trajectory is a straight line. For example, the third preset threshold here can be 25～ The value is selected within the range of 35dB, and the certain length here may not be less than 5 meters.
在获取该多个历史航向信息Yaw＝{yaw1,yaw2,…,yawN}后，基于上述的max(Yaw)-min(Yaw)<throld4公式即可确定该人员是否直线行走。在满足该式的情况下，说明在设定长度的历史轨迹中，其航向的极差小于阈值，则可以判定该人员为直线行走。After obtaining the plurality of historical heading information Yaw={yaw1 , yaw2 ,...,yawN }, it can be determined whether the person walks in a straight line based on the above formula of max(Yaw)-min(Yaw)<throld4. In the case of satisfying this formula, it means that in the historical trajectory of the set length, the extreme difference of its heading is less than the threshold, and it can be determined that the person is walking in a straight line.
图6是根据一示例性实施例示出的又一种室内外判别及定位方法的流程图，如图6所示，该步骤S1542中，包括以下步骤：Fig. 6 is a flowchart of another indoor and outdoor discrimination and positioning method according to an exemplary embodiment. As shown in Fig. 6, the step S1542 includes the following steps:
在步骤S15421中，通过该多个大地高斯坐标，以及该多个平面坐标数据与对应的大地高斯坐标之间的偏置，确定线性方程组。In step S15421, a system of linear equations is determined through the plurality of earth-Gauss coordinates and the offset between the plurality of plane coordinate data and the corresponding earth-Gauss coordinates.
在步骤S15422中，基于最小二乘法确定该线性方程组中指定参数的参数值。In step S15422, the parameter values of the specified parameters in the linear equation system are determined based on the least square method.
在步骤S15423中，基于该参数信息，确定该人员的基于卫星定位数据的第二航向信息。In step S15423, based on the parameter information, the second heading information of the person based on satellite positioning data is determined.
在步骤S15424中，通过该第二航向信息，和该多个历史航向信息的平均值，确定该航向修正量。In step S15424, the course correction amount is determined according to the second course information and the average value of the plurality of historical course information.
在步骤S15425中，通过该航向修正量对该第一航向信息进行修正，确定该修正后的航向信息。In step S15425, the first heading information is corrected according to the heading correction amount, and the corrected heading information is determined.
示例性地，建立的线性方程组可以表示为：Exemplarily, the established linear equation system can be expressed as:
其中：in:
M表示一定长度历史轨迹中包含的点的个数，GSY1…GSYM表示M个点的大地高斯坐标的Y坐标，GSX1…GSXM表示M个点的大地高斯坐标的X坐标，ΔX和ΔY表示平面坐标数据与对应的大地高斯坐标之间的偏置。 M represents the number of points contained in a certain length of historical trajectory, GSY1 ... GSYM represents the Y coordinate of the earth Gauss coordinates of M points, GSX1 ... GSXM represents the X coordinates of the earth Gauss coordinates of M points, ΔX and ΔY represents the offset between the plane coordinate data and the corresponding earth Gauss coordinates.
然后基于最小二乘方法求解参数则基于卫星定位数据得到的人员航向，即上述的第二航向可以表示为：Then solve the parameters based on the least squares method Then the course of the personnel obtained based on the satellite positioning data, that is, the above-mentioned second course can be expressed as:
yawgnss＝90-arctank×180÷πyawgnss ＝90-arctank×180÷π
其中，gnss表示卫星全球导航卫星系统。Among them, gnss means satellite global navigation satellite system.
计算航向修正量：Calculate the heading correction:
Δyaw＝yawgnss-mean(Yaw)Δyaw＝yawgnss -mean(Yaw)
其中，mean(Yaw)表示该多个历史航向信息的平均值。如果多个历史航向信息表示为Yaw＝{yaw1,yaw2,…,yawN}，则mean(Yaw)为yaw1,yaw2,…,yawN的平均值。Wherein, mean(Yaw) represents the average value of the multiple historical course information. If multiple pieces of historical heading information are expressed as Yaw={yaw1 , yaw2 ,...,yawN }, then mean(Yaw) is the average value of yaw1 , yaw2 ,...,yawN.
进行PDR的航向修正：ΔYaw＝Yaw+ΔyawPerform PDR heading correction: ΔYaw=Yaw+Δyaw
在得到该修正后的航向之后，即可根据上述步骤S155所示的方法来进行跟踪定位，从而得到该人员在室外的位置信息。After the corrected heading is obtained, tracking and positioning can be performed according to the method shown in step S155 above, so as to obtain the outdoor position information of the person.
通过上述方案，能够根据终端设备采集的卫星高度角及信噪比确定人员是否位于室外，并在确定人员处于室外的情况下，基于终端设备采集的运动传感器数据和卫星定位数据获取人员在室外的位置信息，上述方法能够避免设备的磁场干扰，以及避免在金属建筑物或者设备附近由于信号的遮挡、反射、衍射等带来的干扰问题，从而适用于厂房或者设备复杂区域，实现室内外判别以及室外的高精度定位。Through the above scheme, it can be determined whether the person is located outdoors according to the satellite elevation angle and signal-to-noise ratio collected by the terminal device, and when it is determined that the person is outdoors, based on the motion sensor data and satellite positioning data collected by the terminal device, the location of the person outdoors can be obtained. Location information, the above method can avoid the magnetic field interference of the equipment, and avoid the interference problems caused by signal occlusion, reflection, diffraction, etc. near metal buildings or equipment, so it is suitable for complex areas of factories or equipment to realize indoor and outdoor discrimination and Outdoor high-precision positioning.
图7是根据一示例性实施例示出的一种室内外判别及定位装置700的框图，如图7所示，该室内外判别及定位装置700包括信号检测模块701、数据获取模块702、指标获取模块703、位置确定模块704和定位模块705。Fig. 7 is a block diagram of an indoor and outdoor discrimination and positioning device 700 according to an exemplary embodiment. As shown in Fig. 7, the indoor and outdoor discrimination and positioning device 700 includes a signal detection module 701, a data acquisition module 702, an index acquisition module 703 , location determination module 704 and positioning module 705 .
信号检测模块701，用于获取基站的无线信号强度信息；A signal detection module 701, configured to obtain wireless signal strength information of the base station;
数据获取模块702，用于当该无线信号强度信息小于第一预设阈值时，获取卫星高度角及信噪比；A data acquisition module 702, configured to acquire a satellite elevation angle and a signal-to-noise ratio when the wireless signal strength information is less than a first preset threshold;
指标获取模块703，用于根据该卫星高度角及该信噪比获取判定指标数据；An index acquisition module 703, configured to acquire judgment index data according to the satellite elevation angle and the signal-to-noise ratio;
位置确定模块704，用于当该判定指标数据大于第二预设阈值时，确定该终端设备对应的人员位于室外；A location determination module 704, configured to determine that the person corresponding to the terminal device is located outdoors when the determination index data is greater than a second preset threshold;
定位模块705，用于根据该终端设备采集的运动传感器数据和卫星定位数据确定该人员在室外的位置信息。The positioning module 705 is configured to determine the outdoor position information of the person according to the motion sensor data and satellite positioning data collected by the terminal device.
可选地，该指标获取模块703，包括：卫星数据获取子模块、卫星数据确定子模块、均值获取子模块和指标获取子模块。Optionally, the indicator acquisition module 703 includes: a satellite data acquisition submodule, a satellite data determination submodule, an average value acquisition submodule, and an indicator acquisition submodule.
卫星数据获取子模块，用于获取当前接收到的所有卫星的卫星数据，每个该卫星数据包括采集该卫星数据时的高度角和该高度角对应的信噪比；The satellite data acquisition sub-module is used to acquire satellite data of all satellites currently received, and each satellite data includes an altitude angle and a signal-to-noise ratio corresponding to the altitude angle when acquiring the satellite data;
卫星数据确定子模块，用于在该所有卫星的卫星数据中，确定高度角在设定的高度角范围内的一个或多个卫星数据，得到卫星数据集合；The satellite data determination submodule is used to determine one or more satellite data whose elevation angle is within the set elevation angle range among the satellite data of all satellites, and obtain the satellite data set;
均值获取子模块，用于获取该卫星数据集合中各个该卫星数据的信噪比的均值；The mean value acquisition sub-module is used to obtain the mean value of the signal-to-noise ratio of each satellite data in the satellite data set;
指标获取子模块，用于根据该信噪比的均值、该卫星数据集合中的卫星数据的数量，以及该所有卫星的卫星数据总数目，获取该判定指标数据。The index obtaining sub-module is used to obtain the determination index data according to the mean value of the signal-to-noise ratio, the quantity of satellite data in the satellite data set, and the total number of satellite data of all satellites.
可选地，该卫星定位数据为该终端设备通过卫星定位得到的该终端设备的球面坐标下的多个经纬度，该定位模块705，包括：姿态识别子模块、高斯坐标确定子模块、平面坐标确定子模块、修正子模块和位置确定子模块。Optionally, the satellite positioning data is a plurality of longitudes and latitudes under the spherical coordinates of the terminal device obtained by the terminal device through satellite positioning. The positioning module 705 includes: a gesture recognition submodule, a Gaussian coordinate determination submodule, and a plane coordinate determination submodules, fix submodules, and location determination submodules.
姿态识别子模块，用于根据该运动传感器数据，确定该人员的步态信息和第一航向信息，该运动传感器数据包括加速度和角速度；The attitude recognition sub-module is used to determine the gait information and the first course information of the person according to the motion sensor data, the motion sensor data including acceleration and angular velocity;
高斯坐标确定子模块，用于根据该球面坐标下的多个经纬度，确定对应的多个大地高斯坐标；The Gaussian coordinate determination submodule is used to determine a plurality of corresponding earth Gaussian coordinates according to the plurality of latitude and longitude under the spherical coordinates;
平面坐标确定子模块，用于根据该多个大地高斯坐标确定对应的多个平面坐标；The plane coordinate determination submodule is used to determine a plurality of corresponding plane coordinates according to the plurality of earth Gaussian coordinates;
航向信息确定子模块，用于根据该判定指标数据、该多个平面坐标对该航向信息进行修正，得到修正后的航向信息；The heading information determination submodule is used to correct the heading information according to the judgment index data and the plurality of plane coordinates, and obtain the corrected heading information;
位置确定子模块，用于根据该步态信息、该修正后的航向信息、该多个平面坐标对该终端设备进行定位跟踪，以得到该人员在室外的位置信息。The position determination sub-module is used to perform positioning and tracking on the terminal device according to the gait information, the corrected heading information, and the plurality of plane coordinates, so as to obtain the outdoor position information of the person.
可选地，该位置信息确定子模块，还用于：Optionally, the location information determines the submodule, and is also used for:
在该终端设备扫描到蓝牙基站广播的蓝牙信号，且该蓝牙信号的信号强度大于预设阈值时，基于该蓝牙信号、预先存储的蓝牙数据库数据、该步态信息、该修正后的航向信息、该多个平面坐标对该终端设备进行定位跟踪，以得到该人员在室外的位置信息。When the terminal device scans the Bluetooth signal broadcast by the Bluetooth base station, and the signal strength of the Bluetooth signal is greater than the preset threshold, based on the Bluetooth signal, the pre-stored Bluetooth database data, the gait information, the corrected heading information, Positioning and tracking of the terminal device is performed on the plurality of plane coordinates, so as to obtain the outdoor position information of the person.
可选地，该修正子模块，包括：行走方向确定子模块和PDR修正子模块。Optionally, the correction submodule includes: a walking direction determination submodule and a PDR correction submodule.
行走方向确定子模块，用于当该判定指标数据大于第三预设阈值时，通过历史PDR数据确定该人员是否为直线行走；The walking direction determination submodule is used to determine whether the person is walking in a straight line through historical PDR data when the determination index data is greater than the third preset threshold;
PDR修正子模块，用于当该人员为直线行走时，通过该多个平面坐标计算航向修正量，以根据该航向修正量对该航向信息进行PDR修正，得到该修正后的航向信息。The PDR correction sub-module is used to calculate the course correction amount through the plurality of plane coordinates when the person is walking in a straight line, so as to perform PDR correction on the course information according to the course correction amount, and obtain the corrected course information.
可选地，该行走方向确定子模块，用于：Optionally, the walking direction determining submodule is used for:
获取预设轨迹长度的历史PDR数据，该历史PDR数据包括在该预设轨迹长度下的多个历史航向信息；Acquiring historical PDR data of a preset track length, where the historical PDR data includes a plurality of historical heading information under the preset track length;
当该多个历史航向信息中的最大值与最小值的差值小于第四预设阈值时，确定该人员为直线行走。When the difference between the maximum value and the minimum value in the pieces of historical heading information is smaller than a fourth preset threshold, it is determined that the person is walking in a straight line.
可选地，该PDR修正子模块，用于：Optionally, the PDR correction submodule is used for:
通过该多个大地高斯坐标，以及该多个平面坐标与对应的大地高斯坐标之间的偏置，确定线性方程组；Determining a system of linear equations through the plurality of earth Gauss coordinates and the offset between the plurality of plane coordinates and the corresponding earth Gauss coordinates;
基于最小二乘法确定该线性方程组中指定参数的参数值；determine the parameter values of the specified parameters in the system of linear equations based on the method of least squares;
基于该参数信息，确定该人员的基于卫星定位数据的第二航向信息；Based on the parameter information, determine the second heading information of the person based on satellite positioning data;
通过该第二航向信息，和该多个历史航向信息的平均值，确定该航向修正量；Determine the course correction amount by using the second course information and the average value of the plurality of historical course information;
通过该航向修正量对该第一航向信息进行修正，确定该修正后的航向信息。The first heading information is corrected by the heading correction amount, and the corrected heading information is determined.
通过上述方案，能够根据终端设备采集的卫星高度角及信噪比确定人员是否位于室外，并在确定人员处于室外的情况下，基于终端设备采集的运动传感器数据和卫星定位数据获取人员在室外的位置信息，上述方法能够避免设备的磁场干扰，以及避免在金属建筑物或者设备附近由于信号的遮挡、反射、衍射等带来的干扰问题，从而适用于厂房或者设备复杂区域，实现室内外判别以及室外的高精度定位。Through the above scheme, it can be determined whether the person is located outdoors according to the satellite elevation angle and signal-to-noise ratio collected by the terminal device, and when it is determined that the person is outdoors, based on the motion sensor data and satellite positioning data collected by the terminal device, the location of the person outdoors can be obtained. Location information, the above method can avoid the magnetic field interference of the equipment, and avoid the interference problems caused by signal occlusion, reflection, diffraction, etc. near metal buildings or equipment, so it is suitable for complex areas of factories or equipment to realize indoor and outdoor discrimination and Outdoor high-precision positioning.
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。Regarding the apparatus in the foregoing embodiments, the specific manner in which each module executes operations has been described in detail in the embodiments related to the method, and will not be described in detail here.
图8是根据一示例性实施例示出的一种电子设备800的框图。如图8所示，该电子设备800可以包括：处理器801，存储器802。该电子设备800还可以包括多媒体组件803，输入/输出(I/O)接口804，以及通信组件805中的一者或多者。Fig. 8 is a block diagram of an electronic device 800 according to an exemplary embodiment. As shown in FIG. 8 , the electronic device 800 may include: a processor 801 and a memory 802 . The electronic device 800 may also include one or more of a multimedia component 803 , an input/output (I/O) interface 804 , and a communication component 805 .
其中，处理器801用于控制该电子设备800的整体操作，以完成上述的室内外判别及定位方法中的全部或部分步骤。存储器802用于存储各种类型的数据以支持在该电子设备800的操作，这些数据例如可以包括用于在该电子设备800上操作的任何应用程序或方法的指令，以及应用程序相关的数据，例如联系人数据、收发的消息、图片、音频、视频等等。该存储器802可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，例如静态随机存取存储器(Static Random Access Memory，简称SRAM)，电可擦除可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，简称EEPROM)，可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，简称EPROM)，可编程只读存储器(Programmable Read-Only Memory，简称PROM)，只读存储器(Read-Only Memory，简称ROM)，磁存储器，快闪存储器，磁盘或光盘。多媒体组件803可以包括屏幕和音频组件。其中屏幕例如可以是触摸屏，音频组件用于输出和/或输入音频信号。例如，音频组件可以包括一个麦克风，麦克风用于接收外部音频信号。所接收的音频信号可以被进一步存储在存储器802或通过通信组件805发送。音频组件还包括至少一个扬声器，用于输出音频信号。I/O接口804为处理器801和其他接口模块之间提供接口，上述其他接口模块可以是键盘，鼠标，按钮等。这些按钮可以是虚拟按钮或者实体按钮。通信组件805用于该电子设备800与其他设备之间进行有线或无线通信。无线通信，例如Wi-Fi，蓝牙，近场通信(Near FieldCommunication，简称NFC)，2G、3G、4G、NB-IOT、eMTC、或其他5G等等，或它们中的一种或几种的组合，在此不做限定。因此相应的该通信组件805可以包括：Wi-Fi模块，蓝牙模块，NFC模块等等。Wherein, the processor 801 is used to control the overall operation of the electronic device 800, so as to complete all or part of the steps in the above-mentioned indoor/outdoor discrimination and positioning method. The memory 802 is used to store various types of data to support the operation of the electronic device 800, for example, these data may include instructions for any application or method operating on the electronic device 800, and application-related data, Such as contact data, sent and received messages, pictures, audio, video, etc. The memory 802 can be implemented by any type of volatile or non-volatile storage device or their combination, such as Static Random Access Memory (Static Random Access Memory, SRAM for short), Electrically Erasable Programmable Read-Only Memory (EPROM) Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), Erasable Programmable Read-Only Memory (Erasable Programmable Read-Only Memory, referred to as EPROM), Programmable Read-Only Memory (Programmable Read-Only Memory, referred to as PROM), read-only Memory (Read-Only Memory, ROM for short), magnetic memory, flash memory, magnetic disk or optical disk. Multimedia components 803 may include screen and audio components. The screen can be, for example, a touch screen, and the audio component is used for outputting and/or inputting audio signals. For example, an audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 802 or sent through the communication component 805 . The audio component also includes at least one speaker for outputting audio signals. The I/O interface 804 provides an interface between the processor 801 and other interface modules, which may be a keyboard, a mouse, buttons, and the like. These buttons can be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the electronic device 800 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or a combination of them , is not limited here. Therefore, the corresponding communication component 805 may include: a Wi-Fi module, a Bluetooth module, an NFC module and the like.
在一示例性实施例中，电子设备800可以被一个或多个应用专用集成电路(Application Specific Integrated Circuit，简称ASIC)、数字信号处理器(DigitalSignal Processor，简称DSP)、数字信号处理设备(Digital Signal Processing Device，简称DSPD)、可编程逻辑器件(Programmable Logic Device，简称PLD)、现场可编程门阵列(Field Programmable Gate Array，简称FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述的室内外判别及定位方法。In an exemplary embodiment, the electronic device 800 may be implemented by one or more application-specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), digital signal processors (Digital Signal Processor, DSP for short), digital signal processing devices (Digital Signal Processing Device, referred to as DSPD), programmable logic device (Programmable Logic Device, referred to as PLD), field programmable gate array (Field Programmable Gate Array, referred to as FPGA), controller, microcontroller, microprocessor or other electronic components to achieve , which is used to implement the above-mentioned indoor and outdoor discrimination and positioning method.
在另一示例性实施例中，还提供了一种包括程序指令的计算机可读存储介质，该程序指令被处理器执行时实现上述的室内外判别及定位方法的步骤。例如，该计算机可读存储介质可以为上述包括程序指令的存储器802，上述程序指令可由电子设备800的处理器801执行以完成上述的室内外判别及定位方法。In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the above-mentioned steps of the indoor and outdoor discrimination and positioning method are implemented. For example, the computer-readable storage medium may be the above-mentioned memory 802 including program instructions, and the above-mentioned program instructions can be executed by the processor 801 of the electronic device 800 to complete the above-mentioned indoor and outdoor discrimination and positioning methods.
图9是根据一示例性实施例示出的一种电子设备900的框图。例如，电子设备900可以被提供为一服务器。参照图9，电子设备900包括处理器922，其数量可以为一个或多个，以及存储器932，用于存储可由处理器922执行的计算机程序。存储器932中存储的计算机程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理器922可以用于执行该计算机程序，以执行上述的室内外判别及定位方法。Fig. 9 is a block diagram of an electronic device 900 according to an exemplary embodiment. For example, the electronic device 900 may be provided as a server. Referring to FIG. 9 , an electronic device 900 includes a processor 922 , the number of which may be one or more, and a memory 932 for storing computer programs executable by the processor 922 . A computer program stored in memory 932 may include one or more modules each corresponding to a set of instructions. In addition, the processor 922 may be used to execute the computer program, so as to execute the above-mentioned indoor and outdoor discrimination and positioning methods.
另外，电子设备900还可以包括电源组件926和通信组件950，该电源组件926可以用于执行电子设备900的电源管理，该通信组件950可以用于实现电子设备900的通信，例如，有线或无线通信。此外，该电子设备900还可以包括输入/输出(I/O)接口958。电子设备900可以操作基于存储在存储器932的操作系统。In addition, the electronic device 900 can also include a power supply component 926 and a communication component 950, the power supply component 926 can be used to perform power management of the electronic device 900, and the communication component 950 can be used to realize the communication of the electronic device 900, for example, wired or wireless communication. In addition, the electronic device 900 may further include an input/output (I/O) interface 958 . The electronic device 900 may operate based on an operating system stored in the memory 932 .
在另一示例性实施例中，还提供了一种包括程序指令的计算机可读存储介质，该程序指令被处理器执行时实现上述的室内外判别及定位方法的步骤。例如，该非临时性计算机可读存储介质可以为上述包括程序指令的存储器932，上述程序指令可由电子设备900的处理器922执行以完成上述的室内外判别及定位方法。In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the above-mentioned steps of the indoor and outdoor discrimination and positioning method are implemented. For example, the non-transitory computer-readable storage medium can be the above-mentioned memory 932 including program instructions, and the above-mentioned program instructions can be executed by the processor 922 of the electronic device 900 to complete the above-mentioned indoor and outdoor discrimination and positioning methods.
在另一示例性实施例中，还提供一种计算机程序产品，该计算机程序产品包含能够由可编程的装置执行的计算机程序，该计算机程序具有当由该可编程的装置执行时用于执行上述的室内外判别及定位方法的代码部分。In another exemplary embodiment, there is also provided a computer program product comprising a computer program executable by a programmable device, the computer program having a function for performing the above-mentioned The code part of the indoor and outdoor discrimination and positioning method.
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。The preferred embodiments of the present disclosure have been described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure. These simple modifications all belong to the protection scope of the present disclosure.
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。In addition, it should be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner if there is no contradiction. The combination method will not be described separately.
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。In addition, various implementations of the present disclosure can be combined arbitrarily, as long as they do not violate the idea of the present disclosure, they should also be regarded as the content disclosed in the present disclosure.
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| CN202310436581.2ACN116634373A (en) | 2023-04-21 | 2023-04-21 | Indoor and outdoor distinguishing and positioning method and device, storage medium and electronic equipment |
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| CN202310436581.2ACN116634373A (en) | 2023-04-21 | 2023-04-21 | Indoor and outdoor distinguishing and positioning method and device, storage medium and electronic equipment |
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| CN116634373Atrue CN116634373A (en) | 2023-08-22 |
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| CN202310436581.2APendingCN116634373A (en) | 2023-04-21 | 2023-04-21 | Indoor and outdoor distinguishing and positioning method and device, storage medium and electronic equipment |
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