阅读说明：本技术 一种室内外统一定位方法及系统 (Indoor and outdoor unified positioning method and system ) 是由 崔亮 韩为志 赵�权 于 2021-03-20 设计创作，主要内容包括：本发明涉及室内定位领域,公开了一种室内外统一定位方法及系统,通过对室内待定位终端的无线信号RSSI值进行室内位置计算,以获得待定位终端的平面地图坐标；根据楼层间RSSI值衰落情况,确定待定位终端所处楼层；获取建筑物1楼地面中心处大地坐标；根据待定位终端的平面地图坐标、楼层信息及建筑物1楼地面中心处大地坐标,解算获得待定位终端的大地坐标。实现了室内平面坐标与室外大地坐标的融合,室内外地理环境有效关联起来,提高了室内定位的用户体验。(The invention relates to the field of indoor positioning, and discloses an indoor and outdoor unified positioning method and system, wherein indoor position calculation is carried out on a wireless signal RSSI value of an indoor terminal to be positioned so as to obtain a plane map coordinate of the terminal to be positioned; determining the floor where the terminal to be positioned is located according to the fading condition of the RSSI value between floors; acquiring geodetic coordinates of the ground center of the building 1 floor; and resolving to obtain the geodetic coordinates of the terminal to be positioned according to the plane map coordinates and the floor information of the terminal to be positioned and the geodetic coordinates of the ground center of the floor 1 of the building. The fusion of the indoor plane coordinate and the outdoor geodetic coordinate is realized, the indoor and outdoor geographic environments are effectively associated, and the user experience of indoor positioning is improved.)

1. An indoor and outdoor unified positioning method is characterized by comprising the following steps:

indoor position calculation is carried out on the RSSI value of the wireless signal of the indoor terminal to be positioned so as to obtain a plane map coordinate of the terminal to be positioned;

determining the floor where the terminal to be positioned is located according to the fading condition of the RSSI value between floors;

acquiring geodetic coordinates of the ground center of the building 1 floor;

and resolving to obtain the geodetic coordinates of the terminal to be positioned according to the plane map coordinates and the floor information of the terminal to be positioned and the geodetic coordinates of the ground center of the floor 1 of the building.

2. The indoor and outdoor unified positioning method according to claim 1, wherein the step of performing indoor position calculation on the RSSI value of the wireless signal of the indoor terminal to be positioned to obtain the plane map coordinates of the terminal to be positioned comprises:

acquiring the distance between the terminal to be positioned and at least two positioning devices according to the RSSI value;

and calculating the plane map coordinate of the terminal to be positioned according to the plane map coordinate of the positioning equipment and the distance between the terminal to be positioned and the at least two positioning equipments.

3. The indoor and outdoor unified positioning method according to claim 1, wherein the step of obtaining the geodetic coordinates of the terminal to be positioned by resolving according to the plane map coordinates of the terminal to be positioned, the floor information and the geodetic coordinates of the ground center of the floor 1 of the building comprises the steps of:

calculating the relative position of the terminal to be positioned and the ground center of the building 1 floor according to the plane map coordinates and the floor information of the terminal to be positioned;

and calculating the geodetic coordinates of the terminal to be positioned according to the relative position and the geodetic coordinates of the ground center of the building 1 floor.

4. The indoor and outdoor unified positioning method according to claim 1, wherein the determining the floor where the terminal to be positioned is located according to the fading condition of the RSSI value between floors comprises:

acquiring wireless signal RSSI values of at least three positioning devices and MAC addresses of the positioning devices;

and selecting the MAC address corresponding to the positioning equipment with the RSSI value larger than the preset threshold value, and acquiring the floor with the concentrated MAC address as the floor where the terminal to be positioned is located according to the floor corresponding to the corresponding MAC address.

5. The indoor and outdoor unified positioning method according to claim 1, wherein before the step of calculating the indoor position of the wireless signal RSSI value of the indoor terminal to be positioned to obtain the plane map coordinates of the terminal to be positioned, the method comprises:

and dividing grids on the indoor floor plane, sampling the RSSI value of each grid, corresponding the RSSI value sampling value to the grids, and generating a mapping relation between the RSSI value and grid coordinates, wherein the RSSI value is the RSSI value of the first three positioning devices with the strongest signals.

6. An indoor and outdoor unified positioning system, comprising:

the positioning module is used for calculating the indoor position of the wireless signal RSSI value of the indoor terminal to be positioned so as to obtain the plane map coordinate of the terminal to be positioned;

the floor calculation module is used for determining the floor where the terminal to be positioned is located according to the fading condition of the RSSI value between floors;

the acquisition module is used for acquiring geodetic coordinates at the ground center of the building 1 floor;

and the fusion positioning module is used for resolving and obtaining the geodetic coordinates of the terminal to be positioned according to the plane map coordinates and the floor information of the terminal to be positioned and the geodetic coordinates of the ground center of the floor 1 of the building.

7. An indoor and outdoor unified location system according to claim 6, wherein said location module comprises:

the distance calculation unit is used for acquiring the distance between the terminal to be positioned and at least two positioning devices according to the RSSI value;

and the coordinate calculation unit is used for calculating the plane map coordinate of the terminal to be positioned according to the plane map coordinate of the positioning equipment and the distance between the terminal to be positioned and the at least two positioning equipment.

8. An indoor and outdoor unified localization system according to claim 6, wherein said fusion localization module comprises:

the position calculation unit is used for calculating the relative position of the terminal to be positioned and the ground center of the building 1 floor according to the plane map coordinates and the floor information of the terminal to be positioned;

and the outdoor positioning unit is used for calculating the geodetic coordinates of the terminal to be positioned according to the relative position and the geodetic coordinates of the ground center of the building 1 floor.

9. An indoor and outdoor unified location system according to claim 6, wherein the floor calculation module comprises:

the acquisition unit is used for acquiring the RSSI values of the wireless signals of at least three positioning devices and the MAC addresses of the positioning devices;

and the judging unit is used for selecting the MAC address corresponding to the positioning equipment with the RSSI value larger than the preset threshold value, and acquiring the floor with the MAC address set as the floor where the terminal to be positioned is located according to the floor corresponding to the corresponding MAC address.

10. An indoor and outdoor unified positioning system according to claim 6, further comprising:

and the grid mapping module is used for dividing grids on the plane of an indoor floor before the positioning module carries out indoor position calculation on the RSSI value of the wireless signal of the indoor terminal to be positioned so as to obtain the plane map coordinates of the terminal to be positioned, sampling the RSSI value of each grid, corresponding the sampling value of the RSSI value to the grids, and generating the mapping relation between the RSSI value and the grid coordinates, wherein the RSSI value is the RSSI value of the first three positioning devices with strongest signals.

Technical Field

The invention relates to the field of indoor positioning, in particular to a unified indoor and outdoor positioning method and system.

Background

The traditional positioning technology is mainly suitable for outdoor open and non-blocking positions, and positioning is carried out by utilizing a positioning system established by a synchronous satellite, such as a Global Positioning System (GPS), a Beidou system and the like. Although the transmission positioning technology does not need to arrange the positioning coordinate base station equipment for the area needing positioning. But under the shielding environment, the positioning signal and the positioning precision are poor; inside the building, the positioning signal is lost, and indoor positioning cannot be realized. For indoor positioning, technologies included in the indoor positioning generally include WIFI technology, Zigbee technology, bluetooth technology, RFID technology, ultrasonic technology, geomagnetic technology, inertial navigation technology, computer vision technology, and the like. In the prior art, indoor and outdoor positioning is not unified, and a user cannot acquire geographic coordinates of the user in the indoor positioning process and cannot effectively associate indoor and outdoor geographic environments.

Disclosure of Invention

The invention provides a method and a system for unified indoor and outdoor positioning, which solve the technical problems that indoor and outdoor positioning is not unified, a user cannot acquire own geographic coordinates in an indoor positioning process, and indoor and outdoor geographic environments cannot be effectively associated in the prior art.

The purpose of the invention is realized by the following technical scheme:

an indoor and outdoor unified positioning method comprises the following steps:

indoor position calculation is carried out on the RSSI value of the wireless signal of the indoor terminal to be positioned so as to obtain a plane map coordinate of the terminal to be positioned;

determining the floor where the terminal to be positioned is located according to the fading condition of the RSSI value between floors;

acquiring geodetic coordinates of the ground center of the building 1 floor;

and resolving to obtain the geodetic coordinates of the terminal to be positioned according to the plane map coordinates and the floor information of the terminal to be positioned and the geodetic coordinates of the ground center of the floor 1 of the building.

An indoor and outdoor unified positioning system, comprising:

the positioning module is used for calculating the indoor position of the wireless signal RSSI value of the indoor terminal to be positioned so as to obtain the plane map coordinate of the terminal to be positioned;

the floor calculation module is used for determining the floor where the terminal to be positioned is located according to the fading condition of the RSSI value between floors;

the acquisition module is used for acquiring geodetic coordinates at the ground center of the building 1 floor;

and the fusion positioning module is used for resolving and obtaining the geodetic coordinates of the terminal to be positioned according to the plane map coordinates and the floor information of the terminal to be positioned and the geodetic coordinates of the ground center of the floor 1 of the building.

The invention provides a unified indoor and outdoor positioning method and a system, which are characterized in that indoor position calculation is carried out on a wireless signal RSSI value of an indoor terminal to be positioned so as to obtain a plane map coordinate of the terminal to be positioned; determining the floor where the terminal to be positioned is located according to the fading condition of the RSSI value between floors; acquiring geodetic coordinates of the ground center of the building 1 floor; and resolving to obtain the geodetic coordinates of the terminal to be positioned according to the plane map coordinates and the floor information of the terminal to be positioned and the geodetic coordinates of the ground center of the floor 1 of the building. The fusion of the indoor plane coordinate and the outdoor geodetic coordinate is realized, the indoor and outdoor geographic environments are effectively associated, and the user experience of indoor positioning is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

Fig. 1 is a flowchart of an indoor and outdoor unified positioning method according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an indoor and outdoor unified positioning system according to an embodiment of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1, a method for unified indoor and outdoor positioning provided in an embodiment of the present invention includes:

step 101, calculating the indoor position of a wireless signal RSSI value of an indoor terminal to be positioned to obtain a plane map coordinate of the terminal to be positioned;

step 102, determining the floor where the terminal to be positioned is located according to the fading condition of the RSSI value between floors;

103, acquiring geodetic coordinates of the ground center of the building 1 floor;

the system comprises a geodetic coordinate system WGS84, a Beidou geodetic coordinate system BDCS and a Chinese geodetic coordinate system CGCS 2000.

And step 104, resolving to obtain the geodetic coordinates of the terminal to be positioned according to the plane map coordinates and the floor information of the terminal to be positioned and the geodetic coordinates of the ground center of the floor 1 of the building.

Wherein, step 101 may specifically include:

step 101-1, acquiring the distance between a terminal to be positioned and at least two positioning devices according to the RSSI value;

the positioning device may be a wireless AP, a Zigbee base station, a beacon base station, or the like.

Step 101-2, calculating the plane map coordinate of the terminal to be positioned according to the plane map coordinate of the positioning equipment and the distance between the terminal to be positioned and at least two positioning equipments.

Step 104 may specifically include:

104-1, calculating the relative position of the terminal to be positioned and the ground center of the building 1 floor according to the plane map coordinates and the floor information of the terminal to be positioned;

and step 104-2, calculating the geodetic coordinates of the terminal to be positioned according to the relative position and the geodetic coordinates of the ground center of the building 1 floor.

Step 102 may specifically include:

102-1, collecting wireless signal RSSI values of at least three positioning devices and MAC addresses of the positioning devices;

and 102-2, selecting the MAC address corresponding to the positioning equipment with the RSSI value larger than the preset threshold value, and acquiring the floor in the MAC address set as the floor where the terminal to be positioned is located according to the floor corresponding to the corresponding MAC address.

In order to speed up the positioning process, the grid for positioning may be directly determined through the RSSI signal, and fast positioning is implemented through the grid, and a mapping table may be generated according to the signal values of the grid and the RSSI and the signal distribution of the positioning device, where before step 101, the method includes:

and dividing grids on the indoor floor plane, sampling the RSSI value of each grid, corresponding the RSSI value sampling value to the grids, and generating a mapping relation between the RSSI value and grid coordinates, wherein the RSSI value is the RSSI value of the first three positioning devices with the strongest signals.

The embodiment of the invention provides an indoor and outdoor unified positioning method, which comprises the steps of carrying out indoor position calculation on a wireless signal RSSI value of an indoor terminal to be positioned so as to obtain a plane map coordinate of the terminal to be positioned; determining the floor where the terminal to be positioned is located according to the fading condition of the RSSI value between floors; acquiring geodetic coordinates of the ground center of the building 1 floor; and resolving to obtain the geodetic coordinates of the terminal to be positioned according to the plane map coordinates and the floor information of the terminal to be positioned and the geodetic coordinates of the ground center of the floor 1 of the building. The fusion of the indoor plane coordinate and the outdoor geodetic coordinate is realized, the indoor and outdoor geographic environments are effectively associated, and the user experience of indoor positioning is improved.

An embodiment of the present invention further provides an indoor and outdoor unified positioning system, as shown in fig. 2, including:

the positioning module 210 is configured to perform indoor position calculation on a wireless signal RSSI value of an indoor terminal to be positioned, so as to obtain a plane map coordinate of the terminal to be positioned;

the floor calculation module 220 is used for determining the floor where the terminal to be positioned is located according to the fading condition of the RSSI value between floors;

an obtaining module 230, configured to obtain geodetic coordinates of the ground center of the building 1;

and the fusion positioning module 240 is used for resolving and obtaining the geodetic coordinates of the terminal to be positioned according to the plane map coordinates and the floor information of the terminal to be positioned and the geodetic coordinates of the ground center of the floor 1 of the building.

Wherein the positioning module 210 comprises:

a distance calculating unit 211, configured to obtain, according to the RSSI value, a distance between the terminal to be positioned and the at least two positioning devices;

and the coordinate calculation unit 212 is configured to calculate a plane map coordinate of the terminal to be positioned according to the plane map coordinate of the positioning device and the distance between the terminal to be positioned and the at least two positioning devices.

The fusion localization module 240 includes:

the position calculating unit 241 is configured to calculate a relative position between the terminal to be positioned and the ground center of the building 1 according to the plane map coordinates and the floor information of the terminal to be positioned;

and the outdoor positioning unit 242 calculates the geodetic coordinates of the terminal to be positioned according to the relative position and the geodetic coordinates of the ground center of the building 1 floor.

The floor calculation module 220 includes:

the acquisition unit 221 is configured to acquire the RSSI values of the wireless signals of the at least three positioning devices and the MAC addresses of the positioning devices;

the determining unit 222 is configured to select a MAC address corresponding to the positioning device with the RSSI value greater than the preset threshold, and obtain, according to a floor corresponding to the corresponding MAC address, a floor in which the MAC address is concentrated as a floor where the terminal to be positioned is located.

The system further comprises:

the grid mapping module 250 is configured to divide grids for an indoor floor plane before the positioning module performs indoor position calculation on the RSSI value of the wireless signal of the indoor terminal to be positioned to obtain a plane map coordinate of the terminal to be positioned, sample the RSSI value of each grid, correspond the RSSI value sampling value to the grid, and generate a mapping relationship between the RSSI value and the grid coordinate, where the RSSI value is the RSSI value of the first three positioning devices with strongest signals.

Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus a necessary hardware platform, and certainly may be implemented by hardware, but in many cases, the former is a better embodiment. With this understanding in mind, all or part of the technical solutions of the present invention that contribute to the background can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods according to the embodiments or some parts of the embodiments of the present invention.

The present invention has been described in detail, and the principle and embodiments of the present invention are explained herein by using specific examples, which are only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.