CN-122028173-A - Indoor positioning method and device and electronic equipment

CN122028173ACN 122028173 ACN122028173 ACN 122028173ACN-122028173-A

Abstract

The embodiment of the application provides an indoor positioning method, an indoor positioning device and electronic equipment, wherein the method comprises the steps of obtaining target reference terminal information in a target preset time period from a space-time database, wherein the space-time database is used for recording reference terminal information of a reference terminal which is positioned in an indoor area and in each preset time period in a group of preset time periods, the reference terminal information comprises reference communication information and reference position information, determining preliminary positioning information of a terminal to be tested based on appointed communication information and target reference terminal information, and determining a fusion position obtained by fusing the preliminary positioning information and a predicted position of the terminal to be tested as a positioning result of the terminal to be tested. The application solves the problem of low positioning precision of the indoor positioning method in the related technology and improves the effect of indoor positioning precision.

Inventors

LI JIANFANG
WANG ZHAOHUI
ZHENG JUNYI
ZHANG SHIWEI
Bu Xusong
LI JING
LI NING

Assignees

中国星网数字科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260204

Claims (10)

1. An indoor positioning method, comprising: receiving observation data of a terminal to be detected in an indoor area, wherein the observation data comprises appointed communication information; Acquiring target reference terminal information in target preset time periods from a space-time database, wherein the space-time database is used for recording reference terminal information of a reference terminal in each preset time period in a group of preset time periods, the target preset time period is a preset time period corresponding to a timestamp of the observed data, and the reference terminal information comprises reference communication information and reference position information; Predicting the position of the terminal to be detected based on the historical position information of the terminal to be detected to obtain a predicted position of the terminal to be detected; And determining preliminary positioning information of the terminal to be detected based on the appointed communication information and the target reference terminal information, and determining a fusion position obtained by fusing the preliminary positioning information and the predicted position of the terminal to be detected as a positioning result of the terminal to be detected.
2. The method according to claim 1, wherein the historical location information of the terminal to be measured includes at least two first historical locations, and the predicting the location of the terminal to be measured based on the historical location information of the terminal to be measured, to obtain the predicted location of the terminal to be measured includes: Determining specified weight values corresponding to the at least two first historical positions, wherein the specified weight values are determined based on specified time differences or historical communication information corresponding to the first historical positions, the specified time differences are time differences between time stamp information of the first historical positions and time stamp information of the observed data, and the specified weight values are inversely related to the specified time differences; and carrying out weighted summation on the at least two first historical positions by using the appointed weight value to obtain a first predicted position, wherein the predicted position comprises the first predicted position.
3. The method according to claim 1, wherein the historical position information of the terminal to be measured includes at least two second historical positions, the at least two second historical positions including a designated position, the designated position being a position of the terminal to be measured in a detection frame preceding a first designated detection frame, the first designated detection frame being a detection frame corresponding to the observation data; the predicting the position of the terminal to be detected based on the historical position information of the terminal to be detected to obtain the predicted position of the terminal to be detected includes: Constructing a transfer matrix corresponding to the at least two second historical positions based on the at least two second historical positions; Determining a state probability distribution vector corresponding to the first specified detection frame based on the transition matrix and a state probability distribution vector of a detection frame preceding the first specified detection frame; and determining a position corresponding to a state with the highest probability in the state probability distribution vector corresponding to the first appointed detection frame as a second prediction position, wherein the prediction position comprises the second prediction position.
4. The method of claim 1, wherein the observation data further comprises inertial navigation data, the inertial navigation data comprising acceleration data and angular velocity data, the historical location information of the terminal under test comprising a third historical location, the third historical location being a location of the terminal under test in a previous detection frame of a second specified detection frame, the second specified detection frame being a detection frame corresponding to the observation data; the predicting the position of the terminal to be detected based on the historical position information of the terminal to be detected to obtain the predicted position of the terminal to be detected includes: determining an adjustment step length based on a difference between an acceleration peak value and an acceleration valley value indicated by the acceleration data; Determining a heading angle corresponding to the second specified detection frame based on the heading angle corresponding to the previous detection frame and the angular velocity data; And predicting the third historical position by using the course angle corresponding to the second specified detection frame and the adjustment step length to obtain a third predicted position, wherein the predicted position comprises the third predicted position.
5. The method of claim 1, wherein the target reference terminal information comprises a set of target information pairs, each target information pair of the set of target information pairs comprising target reference communication information and target reference location information; The determining preliminary positioning information of the terminal to be detected based on the specified communication information and the target reference terminal information includes: Performing matching processing on a group of target information pairs based on the appointed communication information and the target reference communication information in the group of target information pairs to obtain a group of matching information pairs and a group of matching degrees corresponding to the group of matching information pairs; And carrying out weighted summation on the target reference position information in the set of matching information pairs based on the set of matching degrees to obtain the preliminary positioning information of the terminal to be detected.
6. The method of claim 5, wherein the matching a set of target information pairs based on the specified communication information and the target reference communication information in the set of target information pairs to obtain a set of matching information pairs and a set of matching degrees corresponding to the set of matching information pairs, comprises: Determining a set of similarities based on the specified communication and the target reference communication in the set of target information pairs, wherein the set of similarities includes a similarity between the specified communication and each target historical communication in the set of target information pairs; and determining the set of matching information pairs from the set of target information pairs based on the set of similarities, wherein the set of matching is a similarity between the specified communication information and target reference communication information in the set of matching information pairs.
7. The method according to any one of claims 1 to 6, further comprising: acquiring map data corresponding to the indoor area, wherein the map data are used for indicating a passable area of the indoor area and an unviewable area of the indoor area; Calculating a group of distance information in response to the indication of the positioning result of the terminal to be tested being in the non-passable area, wherein the distance information in the group of distance information is the distance between the positioning point indicated by the positioning result of the terminal to be tested and the boundary point of the passable area; And updating the positioning result of the terminal to be detected by using a designated boundary point, wherein the designated boundary point is the boundary point of the passable area corresponding to the minimum value in the group of distance information.
8. The method of any one of claims 1 to 6, wherein the indoor area comprises at least one sub-area, the method further comprising: Determining a group of specified information pairs from the space-time database according to the positioning result of the terminal to be detected and the timestamp information corresponding to the observed data, wherein each specified information pair in the group of specified information pairs comprises specified reference communication information and specified reference position information, the specified reference position information in each specified information pair and the positioning result indication of the terminal to be detected are in the same subarea, and the timestamp information indicated by each specified information pair in the group of specified information pairs and the timestamp information indication corresponding to the observed data are in the same preset time period; Calculating a set of deviation indexes according to the specified reference communication information and the specified communication information in the set of specified information pairs; Under the condition that the number of deviation indexes in the same subarea is larger than the preset number, the deviation indexes in the same subarea are subjected to aggregation treatment to obtain a deviation statistical value; and under the condition that the difference value between the deviation statistical value and the historical deviation statistical value is larger than a preset difference value, determining the subarea where the positioning result of the terminal to be tested is positioned as a data area to be updated, triggering a sampling instruction of the data area to be updated, and updating the reference terminal information indicated by the data area to be updated in the space-time database.
9. An indoor positioning device, comprising: A receiving unit, configured to receive observation data of a terminal to be detected in an indoor area, where the observation data includes specified communication information; A first obtaining unit, configured to obtain target reference terminal information in a target preset time period from a spatiotemporal database, where the spatiotemporal database is configured to record reference terminal information of a reference terminal located in the indoor area and in each preset time period in a set of preset time periods, and the target preset time period is a preset time period corresponding to a timestamp of the observation data, and the reference terminal information includes reference communication information and reference location information; The prediction unit is used for predicting the position of the terminal to be detected based on the historical position information of the terminal to be detected to obtain the predicted position of the terminal to be detected; The first determining unit is configured to determine preliminary positioning information of the terminal to be tested based on the specified communication information and the target reference terminal information, and determine a fusion position obtained by fusing the preliminary positioning information and a predicted position of the terminal to be tested as a positioning result of the terminal to be tested.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any one of claims 1 to 8 when the computer program is executed.

Description

Indoor positioning method and device and electronic equipment Technical Field The embodiment of the application relates to the technical field of indoor positioning, in particular to an indoor positioning method, an indoor positioning device and electronic equipment. Background Indoor positioning technology plays an increasingly important role in daily life and industrial applications, especially in the field of personnel and asset management in complex environments such as business centers, hospitals, large warehouses, and office buildings. With the popularity of mobile devices, wi-Fi signal strength (RSSI) fingerprinting is the preferred method in indoor positioning due to its low cost and easy deployment. Specifically, in the related art, a difference mode between the signal strength of the terminal device and the signal based on the preset location point (such as the RSSI value of the Wi-Fi signal) is mainly used to derive the location of the terminal device. However, although RSSI fingerprinting provides a relatively simple positioning solution, the RSSI values are highly susceptible to indoor environmental factors (e.g., personnel flow, equipment occlusion, electromagnetic interference, etc.), resulting in low accuracy of positioning. Therefore, the indoor positioning method in the related art has a technical problem of low positioning accuracy. Disclosure of Invention The embodiment of the application provides an indoor positioning method, an indoor positioning device and electronic equipment, which are used for at least solving the technical problem that the indoor positioning method in the related technology has low positioning precision. According to one aspect of the embodiment of the application, an indoor positioning method is provided, which comprises the steps of receiving observation data of a terminal to be detected in an indoor area, wherein the observation data comprise appointed communication information, acquiring target reference terminal information in target preset time periods from a space-time database, wherein the space-time database is used for recording reference terminal information of the reference terminal in each preset time period in the indoor area in a group of preset time periods, the target preset time period is a preset time period corresponding to a time stamp of the observation data, the reference terminal information comprises reference communication information and reference position information, predicting the position of the terminal to be detected based on historical position information of the terminal to be detected to obtain the predicted position of the terminal to be detected, determining primary positioning information of the terminal to be detected based on the appointed communication information and the target reference terminal information, and determining a fusion position obtained by fusing the primary positioning information and the predicted position of the terminal to be detected as a positioning result of the terminal to be detected. According to another aspect of the embodiment of the application, an indoor positioning device is provided, which comprises a receiving unit, a first obtaining unit and a first determining unit, wherein the receiving unit is used for receiving observation data of a terminal to be detected in an indoor area, the observation data comprise appointed communication information, the first obtaining unit is used for obtaining target reference terminal information in a target preset time period from a space-time database, the space-time database is used for recording reference terminal information of a reference terminal in the indoor area in each preset time period in a set of preset time periods, the target preset time period is a preset time period corresponding to a time stamp of the observation data, the reference terminal information comprises reference communication information and reference position information, the predicting unit is used for predicting the position of the terminal to be detected based on the historical position information of the terminal to be detected to obtain the predicted position of the terminal to be detected, and the first determining unit is used for determining primary positioning information of the terminal to be detected, and the primary positioning information and the predicted position of the terminal to be detected are fused to obtain the fusion position of the terminal to be detected. In an exemplary embodiment, the historical location information of the terminal under test includes at least two first historical locations. The prediction unit comprises a first determination module and a first prediction module, wherein the first determination module is used for determining specified weight values corresponding to at least two first historical positions, the specified weight values are determined based on specified time differences or historical communication information corresponding