阅读说明：本技术 一种基于矩阵变换的室内定位方法及系统 (Indoor positioning method and system based on matrix transformation ) 是由 崔亮 韩为志 赵�权 刘庆 于 2020-11-19 设计创作，主要内容包括：本发明涉及室内定位技术领域,具体为一种基于矩阵变换的室内定位方法及系统,在服务器端的室内地图上设定若干个位置的标记点；采集智能设备定位信息,将智能设备内的惯性导航设备的坐标系上传服务器端,服务器端通过矩阵变换将惯性导航设备的坐标系转换为地图坐标系,并根据地图坐标系在室内地图上标注惯性导航定位点；通过室内设置的若干蓝牙信标检测智能设备是否位于标记点,对惯性导航进行标记点修正；若检测到智能设备在室内定点位置进行充电,并检测到用户操作智能设备,则判断惯性导航定位点与室内充电的定点位置是否一致,若不一致,则将惯性导航定位点修正为室内充电的定点位置。本方案解决了室内环境下卫星信号弱,定位精度低的问题。(The invention relates to the technical field of indoor positioning, in particular to an indoor positioning method and system based on matrix transformation, wherein mark points of a plurality of positions are set on an indoor map of a server; acquiring positioning information of intelligent equipment, uploading a coordinate system of inertial navigation equipment in the intelligent equipment to a server side, converting the coordinate system of the inertial navigation equipment into a map coordinate system by the server side through matrix transformation, and marking an inertial navigation positioning point on an indoor map according to the map coordinate system; detecting whether the intelligent equipment is positioned at the mark point or not through a plurality of indoor Bluetooth beacons, and correcting the mark point for inertial navigation; and if the intelligent equipment is detected to be charged at the indoor fixed point position and the intelligent equipment is detected to be operated by the user, judging whether the inertial navigation positioning point is consistent with the indoor charging fixed point position, and if not, correcting the inertial navigation positioning point to the indoor charging fixed point position. The scheme solves the problems of weak satellite signals and low positioning precision in an indoor environment.)

1. An indoor positioning method based on matrix transformation is characterized in that: the method comprises the following steps:

s1, setting a plurality of mark points at positions on the indoor map of the server;

s2, acquiring positioning information of the intelligent equipment, uploading a coordinate system of inertial navigation equipment in the intelligent equipment to a server side, converting the coordinate system of the inertial navigation equipment into a map coordinate system by the server side through matrix transformation, and marking the inertial navigation positioning points on an indoor map according to the map coordinate system;

s3, detecting whether the intelligent device is located at the mark point through a plurality of indoor Bluetooth beacons, if so, judging whether the mark point where the intelligent device is located is consistent with the inertial navigation positioning point through Bluetooth positioning identification, and if not, correcting the inertial navigation positioning point to be the mark point position;

and S4, if the intelligent device is detected to be charged at the indoor fixed point position and the intelligent device is detected to be operated by the user, judging whether the inertial navigation positioning point is consistent with the indoor charging fixed point position, and if not, correcting the inertial navigation positioning point to the indoor charging fixed point position.

2. The matrix transformation-based indoor positioning method of claim 1, wherein: further comprising:

and S5, switching an indoor/outdoor positioning mode according to the strength of the satellite positioning signal, switching to the outdoor positioning mode when the strength of the satellite positioning signal is higher than a set threshold value, positioning by the intelligent device according to the satellite positioning signal, switching to the indoor positioning mode when the strength of the satellite positioning signal is lower than the set threshold value, and positioning by the intelligent device according to the built-in inertial navigation device.

3. The matrix transformation-based indoor positioning method of claim 2, wherein: in S5, when the satellite positioning of the smart device fails to perform continuous positioning within a specified time interval, or the strength of the received satellite positioning signal is lower than a set threshold, automatically switching to the inertial navigation device positioning; and when the current position of the inertial navigation equipment and the distance from the initialized position exceed a specified threshold value and the strength of the satellite positioning signal of the application program end of the intelligent equipment reaches the requirement of the lowest threshold value, automatically switching to satellite positioning.

4. The matrix transformation-based indoor positioning method of claim 1, wherein: counting the times of charging the intelligent device at the indoor fixed point position and detecting the operation of the intelligent device by the user, periodically dividing the times by the times of charging the intelligent device at the indoor fixed point position to obtain an operation probability value, comparing the operation probability value with a preset operation probability threshold value, and if the operation probability value is lower than the operation probability threshold value, sending a carrying prompt message to the user.

5. The matrix transformation-based indoor positioning method of claim 1, wherein: the indoor/outdoor positioning mode can be directly switched by the intelligent device.

6. The utility model provides an indoor positioning system based on matrix transform, includes server, inertial navigation module, bluetooth positioning module and satellite positioning module, its characterized in that: the system also comprises a setting module and a user operation identification module;

the server can be connected with the intelligent equipment, an indoor map is stored in the server side, and the server side converts a coordinate system of the inertial navigation equipment into a map coordinate system through matrix transformation;

the setting module is used for setting a plurality of mark points for an indoor map at a server end, setting a threshold value for judging the strength of a satellite positioning signal, and setting a threshold value for the distance between a positioning point of inertial navigation and an initialization position and an operation probability threshold value;

the inertial navigation module is used for inertial navigation of the intelligent equipment;

the Bluetooth positioning module is used for detecting whether the intelligent equipment is positioned at the mark point or not, judging whether the mark point where the intelligent equipment is positioned is consistent with the inertial navigation positioning point or not through Bluetooth positioning identification, and correcting the inertial navigation positioning point to be the mark point position if the mark point is inconsistent with the inertial navigation positioning point;

the satellite positioning module is used for satellite positioning of the intelligent equipment;

the user operation identification module is used for identifying whether the intelligent equipment is charged at an indoor fixed point position or not and detecting whether a user operates the intelligent equipment or not, if the intelligent equipment is charged at the indoor fixed point position and detects that the user operates the intelligent equipment, whether the inertial navigation positioning point is consistent with the indoor charged fixed point position or not is judged, and if the inertial navigation positioning point is not consistent with the indoor charged fixed point position, the inertial navigation positioning point is corrected to be the indoor charged fixed point position.

7. The matrix transformation based indoor positioning system of claim 6, wherein: the intelligent device comprises a detection module, wherein the detection module is used for detecting the strength of the satellite positioning signal, judging and switching an indoor/outdoor positioning mode according to the strength of the satellite positioning signal, switching to the outdoor positioning mode when the positioning accuracy of the satellite positioning signal is higher than a set threshold value, positioning the intelligent device according to the satellite positioning signal, switching to the indoor positioning mode when the positioning accuracy of the satellite positioning signal is lower than the set threshold value, and positioning the intelligent device according to built-in inertial navigation equipment.

8. The matrix transformation based indoor positioning system of claim 7, wherein: the detection module automatically switches to inertial navigation equipment positioning after detecting that the satellite positioning of the intelligent equipment fails in continuous positioning within a specified time interval or the strength of a received satellite positioning signal is lower than a set threshold value;

the detection module detects that when the current position of the inertial navigation device is reached, the distance from the initialized position exceeds a specified threshold value, and the strength of a satellite positioning signal of an application program end of the intelligent device reaches the requirement of a minimum threshold value, the satellite positioning is automatically switched.

9. The matrix transformation based indoor positioning system of claim 6, wherein: the intelligent device charging system is characterized by further comprising a counting module and a prompting module, the counting module is connected with the detection module and the prompting module, the counting module is used for counting the times of charging the intelligent device at an indoor fixed-point position and detecting the intelligent device operated by a user, the times are periodically divided by the times of charging the intelligent device at the indoor fixed-point position to obtain an operation probability value, the operation probability value and a preset operation probability are compared, and if the operation probability value is lower than a threshold value, the user is reminded to remember to take the intelligent device through the prompting module.

10. The matrix transformation based indoor positioning system of claim 6, wherein: the indoor/outdoor positioning system further comprises a control module, wherein the control module is used for directly switching the indoor/outdoor positioning mode.

Technical Field

The invention relates to the technical field of indoor positioning, in particular to an indoor positioning method and system based on matrix transformation.

Background

The satellite positioning system is a technology for accurately positioning a certain object by using satellites, and develops the current high-precision GPS from the initial low positioning precision, the failure of real-time positioning and the difficulty of providing timely navigation service to realize the simultaneous observation of 4 satellites at any time and any point on the earth so as to realize the functions of navigation, positioning, time service and the like. Satellite positioning can be used for guiding airplanes, ships, vehicles and individuals to safely and accurately reach a destination on time along a selected route, and can also be applied to functions such as mobile phone pursuit and the like.

However, in an indoor environment, the satellite signal is too weak, and positioning is often inaccurate, so that when the satellite positioning cannot be used in the indoor environment, the indoor positioning technology is used as auxiliary positioning of the satellite positioning, and the problem that the satellite signal cannot penetrate through a building is solved.

Therefore, a matrix transformation-based indoor positioning method and system that can solve the above problems is now continued.

Disclosure of Invention

The invention aims to solve the problems of weak satellite signals and low positioning accuracy in an indoor environment.

The invention provides an indoor positioning method based on matrix transformation, which comprises the following contents:

s1, setting a plurality of mark points at positions on the indoor map of the server;

s2, acquiring positioning information of the intelligent equipment, uploading a coordinate system of inertial navigation equipment in the intelligent equipment to a server side, converting the coordinate system of the inertial navigation equipment into a map coordinate system by the server side through matrix transformation, and marking the inertial navigation positioning points on an indoor map according to the map coordinate system;

s3, detecting whether the intelligent device is located at the mark point through a plurality of indoor Bluetooth beacons, if so, judging whether the mark point where the intelligent device is located is consistent with the inertial navigation positioning point through Bluetooth positioning identification, and if not, correcting the inertial navigation positioning point to be the mark point position;

and S4, if the intelligent device is detected to be charged at the indoor fixed point position and the intelligent device is detected to be operated by the user, judging whether the inertial navigation positioning point is consistent with the indoor charging fixed point position, and if not, correcting the inertial navigation positioning point to the indoor charging fixed point position.

Compared with the prior art, the scheme has the advantages that: 1. under the indoor environment, satellite signal can't pierce through the building, the location is inaccurate, so this scheme adopts inertial navigation to carry out indoor location, with the inaccurate problem of indoor satellite location, but inertial navigation can appear the error in the use, and the error that appears at every turn can accumulate, the error is only a little deviation once probably, it is very little to the positioning accuracy influence, but the error is all accumulated at every turn, will cause inertial navigation location inaccurate, so this scheme is on inertial navigation's basis, supplementary mark point location and user operation discernment location correct inertial navigation's accumulated error, form new indoor positioning method, satellite signal is weak under the indoor environment, the problem that positioning accuracy is low is solved.

2. The marking point positioning is to set a plurality of marking points on an indoor map of the server side, detect whether the intelligent equipment is positioned at the marking points through Bluetooth positioning, judge whether the marking points where the intelligent equipment is positioned are consistent with the inertial navigation positioning points or not through Bluetooth positioning identification if the intelligent equipment is positioned, and modify the inertial navigation positioning points to be the marking point positions if the intelligent equipment is not positioned. Marker location requires more than 3 bluetooth beacons to be placed in the room. However, the transmission distance of bluetooth is limited, and the transmission of bluetooth signals can be blocked by obstacles, so that under the conditions of large indoor environment and many rooms, a plurality of bluetooth beacons are required to be arranged for positioning the mark points, thereby increasing the cost. Therefore, by means of the fact that a plurality of charging sockets and intelligent equipment are arranged in each room, whether the intelligent equipment is connected with the charging sockets or not and whether the intelligent equipment is operated by a user or not can be self-tested, user operation identification and positioning are carried out, and accumulated errors of inertial navigation are corrected.

Further, the indoor positioning method further includes: and S5, switching an indoor/outdoor positioning mode according to the strength of the satellite positioning signal, switching to the outdoor positioning mode when the strength of the satellite positioning signal is higher than a set threshold value, positioning by the intelligent device according to the satellite positioning signal, switching to the indoor positioning mode when the strength of the satellite positioning signal is lower than the set threshold value, and positioning by the intelligent device according to the built-in inertial navigation device.

Has the advantages that: the indoor/outdoor positioning mode is switched according to the strength judgment of the satellite positioning signal, so that the positioning mode currently used by a user is the most accurate positioning mode, for example, the satellite positioning in some indoor environments can meet the requirement of accurate positioning, and the positioning mode does not need to be switched.

Further, in S5, when the satellite positioning of the smart device fails to perform continuous positioning within a specified time interval, or the strength of the received satellite positioning signal is lower than a set threshold, automatically switching to the inertial navigation device positioning; and when the current position of the inertial navigation equipment and the distance from the initialized position exceed a specified threshold value and the strength of the satellite positioning signal of the application program end of the intelligent equipment reaches the requirement of the lowest threshold value, automatically switching to satellite positioning.

Has the advantages that: the switching of the positioning mode does not only depend on the judgment of the strength of the satellite signal, the continuous positioning failure in a specified time interval and the distance from the initial position exceeding a specified threshold value are increased, and the sensitivity and the accuracy of the automatic switching of the positioning mode are improved.

Further, counting the times of charging the intelligent device at the indoor fixed point position and detecting the operation of the intelligent device by the user, periodically dividing the times by the times of charging the intelligent device at the indoor fixed point position to obtain an operation probability value, comparing the operation probability value with a preset operation probability threshold value, and if the operation probability value is lower than the operation probability threshold value, sending a carrying prompt message to the user.

Has the advantages that: by calculating the operation probability value in a certain time period, the use degree of the user on the intelligent equipment can be simply judged, and under the condition that the intelligent equipment is a mobile phone, whether the user forgets to take the mobile phone frequently or not can be simply predicted through the use degree of the user on the mobile phone, and the user who possibly forgets to take the mobile phone is reminded.

Further, the indoor/outdoor positioning mode can be directly switched by the smart device.

Has the advantages that: the indoor/outdoor positioning mode can be directly switched through the application program of the intelligent equipment, and a user can switch the positioning mode at will, so that the user can conveniently test the indoor positioning mode or the outdoor positioning mode.

The invention provides an indoor positioning system based on matrix transformation, which comprises a server, a setting module, an inertial navigation module, a Bluetooth positioning module, a satellite positioning module and a user operation identification module, wherein the setting module is used for setting a set of indoor positioning systems;

the server can be connected with the intelligent equipment, an indoor map is stored in the server side, and the server side converts a coordinate system of the inertial navigation equipment into a map coordinate system through matrix transformation;

the setting module is used for setting a plurality of mark points for an indoor map at a server end, setting a threshold value for judging the strength of a satellite positioning signal, and setting a threshold value for the distance between a positioning point of inertial navigation and an initialization position and an operation probability threshold value;

the inertial navigation module is used for inertial navigation of the intelligent equipment;

the Bluetooth positioning module is used for detecting whether the intelligent equipment is positioned at the mark point or not, judging whether the mark point where the intelligent equipment is positioned is consistent with the inertial navigation positioning point or not through Bluetooth positioning identification, and correcting the inertial navigation positioning point to be the mark point position if the mark point is inconsistent with the inertial navigation positioning point;

the satellite positioning module is used for satellite positioning of the intelligent equipment;

the user operation identification module is used for identifying whether the intelligent equipment is charged at an indoor fixed point position or not and detecting whether a user operates the intelligent equipment or not, if the intelligent equipment is charged at the indoor fixed point position and detects that the user operates the intelligent equipment, whether the inertial navigation positioning point is consistent with the indoor charged fixed point position or not is judged, and if the inertial navigation positioning point is not consistent with the indoor charged fixed point position, the inertial navigation positioning point is corrected to be the indoor charged fixed point position.

Compared with the prior art, the scheme has the advantages that: by means of the inertial navigation technology, the positioning of the auxiliary mark points and the operation of a user are used for identifying, positioning and correcting the accumulated errors of the inertial navigation, and the indoor positioning is combined with the satellite positioning, so that a new indoor positioning mode is realized, and the problems of weak satellite signals and low positioning accuracy in an indoor environment are solved. The error of the inertial navigation is corrected by the marking point positioning and the user operation identification positioning together, and the error correction effect is better compared with the error correction of the inertial navigation only by adopting the marking point positioning.

Further, the indoor positioning system further comprises a detection module, wherein the detection module is used for detecting the strength of the satellite positioning signal and judging and switching an indoor/outdoor positioning mode according to the strength of the satellite positioning signal, when the positioning accuracy of the satellite positioning signal is higher than a set threshold value, the indoor positioning mode is switched to, the intelligent device performs positioning according to the satellite positioning signal, when the positioning accuracy of the satellite positioning signal is lower than the set threshold value, the indoor positioning mode is switched to, and the intelligent device performs positioning according to built-in inertial navigation equipment.

Has the advantages that: the detection module is adopted to detect the strength of the satellite positioning signal, and the indoor/outdoor positioning mode is judged and switched according to the strength of the satellite positioning signal, so that the positioning mode currently used by a user is guaranteed to be the most accurate positioning mode.

Further, the detection module automatically switches to inertial navigation equipment positioning after detecting that the satellite positioning of the intelligent equipment fails in continuous positioning within a specified time interval or the strength of the received satellite positioning signal is lower than a set threshold value;

the detection module detects that when the current position of the inertial navigation device is reached, the distance from the initialized position exceeds a specified threshold value, and the strength of a satellite positioning signal of an application program end of the intelligent device reaches the requirement of a minimum threshold value, the satellite positioning is automatically switched.

Has the advantages that: the detection module does not only rely on the detection of the intensity of the satellite signal to switch the positioning mode, thereby increasing the continuous positioning failure in a specified time interval and increasing the distance from the initial position to exceed a specified threshold value, and further improving the sensitivity and the accuracy of the automatic positioning mode switching.

Further, the indoor positioning system based on matrix transformation further comprises a counting module and a prompting module, the counting module is connected with the detection module and the prompting module, the counting module is used for counting the times of charging the intelligent equipment at the indoor fixed-point position and detecting the operation of the intelligent equipment by the user, the times are periodically divided by the times of charging the intelligent equipment at the indoor fixed-point position to obtain an operation probability value, the operation probability value and a preset operation probability are compared, and if the operation probability value is lower than a threshold value, the user is reminded to remember to take the intelligent equipment through the prompting module.

Has the advantages that: the detection device can simply judge the use degree of the user on the intelligent equipment by calculating the operation probability value in a certain time period, and can remind the user of the use degree of the mobile phone through the reminding module under the condition that the intelligent equipment is the mobile phone, so that whether the user forgets to take the mobile phone when entering the scene is simply predicted, and the user who probably forgets to take the mobile phone is reminded.

Further, the indoor positioning system further comprises a control module, and the control module is used for directly switching an indoor/outdoor positioning mode.

Has the advantages that: the control module can be used for directly switching the indoor/outdoor positioning mode, and a user can switch the positioning mode at will, so that the user can conveniently test the indoor positioning mode or the outdoor positioning mode.

Drawings

FIG. 1 is a flow chart of an indoor positioning method based on matrix transformation according to the present invention;

fig. 2 is a schematic diagram of an indoor positioning system based on matrix transformation according to the present invention.

Detailed Description

Reference numerals in the drawings of the specification include: the system comprises a server 1, a setting module 2, an inertial navigation module 3, a Bluetooth positioning module 4, a satellite positioning module 5, a detection module 6, a user operation identification module 7, a counting module 8, a reminding module 9 and a control module 10.

Example one

An embodiment substantially as shown in figure 1: an indoor positioning method based on matrix transformation comprises the following steps:

and S1, setting a plurality of mark points at positions on the indoor map of the server side.

And S2, acquiring positioning information of the intelligent equipment, uploading a coordinate system of inertial navigation equipment in the intelligent equipment to a server side, converting the coordinate system of the inertial navigation equipment into a map coordinate system by the server side through matrix transformation, and marking the inertial navigation positioning points on the indoor map according to the map coordinate system.

S3, detecting whether the intelligent device is located at the mark point through three or more than three indoor Bluetooth beacons, if so, judging whether the mark point where the intelligent device is located is consistent with the inertial navigation positioning point through Bluetooth positioning identification, and if not, correcting the inertial navigation positioning point to be the mark point position; the Bluetooth positioning method comprises the following specific steps: the single Bluetooth beacon is a fixed coordinate, a circle is determined by taking the origin of the fixed coordinate as the center of a circle and the distance between the position and the Bluetooth beacon as the radius, three or more fixed coordinates are formed to form three circles, the three circles are intersected in the space, and the position coordinate is determined through an indoor positioning algorithm.

S4, if it is detected that the intelligent device is charged at the indoor fixed point position and it is detected that the user operates the intelligent device, determining whether the inertial navigation positioning point is consistent with the indoor charged fixed point position, and if not, modifying the inertial navigation positioning point to the indoor charged fixed point position, specifically:

s401, counting the times of charging the intelligent equipment at the indoor fixed point position and detecting the operation of the intelligent equipment by the user, and periodically dividing the times by the times of charging the intelligent equipment at the indoor fixed point position to obtain an operation probability value;

s402, comparing the operation probability value with a preset operation probability threshold value;

and S403, if the operation probability value is lower than the operation probability threshold value, sending carrying prompt information to the user through the intelligent equipment.

And S5, switching an indoor/outdoor positioning mode according to the strength of the satellite positioning signal, switching to the outdoor positioning mode when the strength of the satellite positioning signal is higher than a set threshold value, positioning by the intelligent device according to the satellite positioning signal, switching to the indoor positioning mode when the strength of the satellite positioning signal is lower than the set threshold value, and positioning by the intelligent device according to the built-in inertial navigation device. The method specifically comprises the steps that when satellite positioning of intelligent equipment fails in continuous positioning within a specified time interval or the strength of a received satellite positioning signal is lower than a set threshold value, positioning is automatically switched to inertial navigation equipment; and when the current position of the inertial navigation equipment and the distance from the initialized position exceed a specified threshold value and the strength of the satellite positioning signal of the application program end of the intelligent equipment reaches the requirement of the lowest threshold value, automatically switching to satellite positioning.

In addition, the user can directly switch the indoor/outdoor positioning mode through an application program of the intelligent device, wherein the intelligent device comprises a smart phone, a tablet and the like.

In the indoor environment, satellite signals cannot penetrate through a building, positioning is inaccurate, indoor positioning is carried out by adopting inertial navigation, and the problem of inaccurate indoor satellite positioning is solved. The marking point positioning is to set a plurality of marking points on an indoor map of the server side, detect whether the intelligent equipment is positioned at the marking points through Bluetooth positioning, judge whether the marking points where the intelligent equipment is positioned are consistent with the inertial navigation positioning points or not through Bluetooth positioning identification if the intelligent equipment is positioned, and modify the inertial navigation positioning points to be the marking point positions if the intelligent equipment is not positioned. Marker location requires more than 3 bluetooth beacons to be placed in the room. However, the transmission distance of bluetooth is limited, and the transmission of bluetooth signals can be blocked by obstacles, so that under the conditions of large indoor environment and many rooms, a plurality of bluetooth beacons are required to be arranged for positioning the mark points, thereby increasing the cost. Therefore, by means of the fact that a plurality of charging sockets and intelligent equipment are arranged in each room, whether the intelligent equipment is connected with the charging sockets or not and whether the intelligent equipment is operated by a user or not can be self-tested, user operation identification and positioning are carried out, and accumulated errors of inertial navigation are corrected.

The switching of the positioning mode does not only depend on the judgment of the strength of the satellite signal, the continuous positioning failure in a specified time interval and the distance from the initial position exceeding a specified threshold value are increased, and the sensitivity and the accuracy of the automatic switching of the positioning mode are improved. By calculating the operation probability value in a certain time period, the use degree of the user on the intelligent equipment can be simply judged, and under the condition that the intelligent equipment is a mobile phone, whether the user forgets to take the mobile phone when entering the scene can be simply predicted through the use degree of the user on the mobile phone, and the user who possibly forgets to take the mobile phone frequently is reminded. The indoor/outdoor positioning mode can be directly switched through the application program of the intelligent equipment, and a user can switch the positioning mode at will, so that the user can conveniently test the indoor positioning mode or the outdoor positioning mode.

Example two

The second embodiment is substantially as shown in figure 2: an indoor positioning system based on matrix transformation comprises a server 1, a setting module 2, an inertial navigation module 3, a Bluetooth positioning module 4, a satellite positioning module 5, a detection module 6, a user operation identification module 7, a counting module 8, a reminding module 9 and a control module 10.

The server 1 can be connected with intelligent equipment, an indoor map is stored at the server 1, and the coordinate system of the inertial navigation equipment is converted into a map coordinate system by the server 1 through matrix transformation;

the setting module 2 is used for setting a plurality of mark points for an indoor map at the server 1 end, setting a threshold value for judging the strength of a satellite positioning signal, and setting a threshold value and an operation probability threshold value for the distance from a positioning point of inertial navigation to an initialization position;

the inertial navigation module 3 is used for inertial navigation of the intelligent device, and the inertial navigation module 3 comprises inertial navigation equipment which is a gyroscope and an accelerometer which are arranged in the intelligent device;

the Bluetooth positioning module 4 is used for detecting whether the intelligent device is located at the mark point, judging whether the mark point where the mobile phone is located is consistent with the inertial navigation positioning point or not through Bluetooth positioning identification, and modifying the inertial navigation positioning point into the mark point position if the mark point is inconsistent with the inertial navigation positioning point, wherein the Bluetooth positioning module 4 comprises a plurality of Bluetooth beacons and a Bluetooth gateway, and the number of the Bluetooth beacons is equal to or more than three;

the satellite positioning module 5 is used for satellite positioning of the intelligent equipment;

the detection module 6 is configured to detect the strength of a satellite positioning signal, where the detection module 6 detects that satellite positioning of the intelligent device fails to be continuously positioned within a specified time interval, or the strength of the received satellite positioning signal is lower than a set threshold, and automatically switches to inertial navigation device positioning, where the detection module 6 detects that when the current position of the inertial navigation device is reached, the distance from the initialized position exceeds a specified threshold, and the strength of the satellite positioning signal at the application program end of the intelligent device reaches a minimum threshold requirement, and then automatically switches to satellite positioning;

the user operation identification module 7 is configured to identify whether the intelligent device is charged at an indoor fixed point position, and detect whether a user is operating the intelligent device, and if the intelligent device is charged at the indoor fixed point position and detects that the user is operating the intelligent device, determine whether the inertial navigation positioning point is consistent with the indoor charged fixed point position, and if not, modify the inertial navigation positioning point to the indoor charged fixed point position;

the counting module 8 is connected with the detecting module 6 and the reminding module 9, the counting module 8 is used for counting the times of charging the intelligent device at the indoor fixed point position and detecting the operation of the intelligent device by the user, the times are periodically divided by the times of charging the intelligent device at the indoor fixed point position to obtain an operation probability value, the operation probability value is compared with a preset operation probability, and if the operation probability value is lower than a threshold value, the reminding module reminds the user to remember to take the intelligent device;

the reminding module is used for reminding a user to remember to take the intelligent equipment;

the control module 10 is used to directly switch indoor/outdoor positioning modes.

The specific use is as follows: on the premise that a user sets a plurality of mark points on an indoor map at the server 1 end through a setting module 2, sets a threshold value for judging the strength of a satellite positioning signal, and sets a threshold value and an operation probability threshold value for the distance from a positioning point of inertial navigation to an initialization position

The method comprises the steps that after a detection module 6 detects that the satellite positioning of the intelligent equipment fails in continuous positioning within a specified time interval or the strength of a received satellite positioning signal is lower than a set threshold value, the intelligent equipment is automatically switched to inertial navigation equipment for positioning, the detection module 6 detects that when the current position of the inertial navigation equipment, the distance from an initialized position exceeds a specified threshold value, and after the strength of the satellite positioning signal of an application program end of the intelligent equipment reaches the requirement of a minimum threshold value, the satellite positioning is automatically switched.

When the positioning mode is an indoor positioning mode and the inertial navigation device is used for positioning, the Bluetooth positioning module 4 detects whether the intelligent device is located at a mark point, judges whether the mark point where the mobile phone is located is consistent with the inertial navigation positioning point or not through Bluetooth positioning identification, modifies the inertial navigation positioning point to be the mark point position if the mark point is inconsistent with the inertial navigation positioning point, meanwhile, the user operation identification module 7 judges whether the intelligent device is charged at an indoor fixed point position or not and detects whether the user is operating the intelligent device or not, judges whether the inertial navigation positioning point is consistent with the indoor charged fixed point position if the intelligent device is charged at the indoor fixed point position and detects that the user is operating the intelligent device, and modifies the inertial navigation positioning point to be the indoor charged fixed point position if the inertial navigation positioning point is inconsistent with. In addition, the counting module 8 counts the times of charging the intelligent device at the indoor fixed point position and detecting the operation of the intelligent device by the user, the times is periodically divided by the times of charging the intelligent device at the indoor fixed point position to obtain an operation probability value, the operation probability value is compared with a preset operation probability value, and if the operation probability value is lower than a threshold value, the reminding module reminds the user to remember to take the intelligent device.

The user can also directly switch the indoor/outdoor positioning mode through the control module 10 according to the own requirement, if necessary, test whether the outdoor/indoor positioning mode is in good function.

The system assists in marking point positioning and user operation identification positioning to correct the accumulated error of inertial navigation by means of an inertial navigation technology, combines indoor positioning and satellite positioning, realizes an integrated positioning mode of indoor and outdoor switching, and solves the problems of weak satellite signals and low positioning precision in an indoor environment. The error of the inertial navigation is corrected by the marking point positioning and the user operation identification positioning together, and the error correction effect is better compared with the error correction of the inertial navigation only by adopting the marking point positioning.

The built-in gyroscope and accelerometer of the intelligent device are used for inertial navigation, so that the cost is saved, and the utilization rate of the gyroscope and accelerometer is improved. A single bluetooth beacon is a fixed coordinate, use the original point of fixed coordinate as the centre of a circle, the distance of locating position apart from bluetooth beacon confirms a circle for the radius, three and above fixed coordinate forms three circle, and three circle is crossing in the space, through indoor positioning algorithm, confirms the position coordinate of locating, adopts bluetooth beacon to carry out mark point location, has practiced thrift the cost, and bluetooth beacon long service life moreover. The detection module 6 does not only rely on the detection of the satellite signal intensity to switch the positioning mode, thereby increasing the continuous positioning failure in a specified time interval and increasing the distance from the initial position to exceed a specified threshold value, and further improving the sensitivity and the accuracy of the automatic positioning mode switching.

The detection module 6 can simply judge the use degree of the user on the intelligent device by calculating the operation probability value in a certain time period, and can remind the user of the use degree of the mobile phone through the reminding module under the condition that the intelligent device is the mobile phone, so that whether the user forgets to bring the mobile phone is simply guessed, and the user who possibly forgets to bring the mobile phone is reminded.

The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.