CN107346010A - Method and apparatus for the region residing for Positioning Electronic Devices - Google Patents
Method and apparatus for the region residing for Positioning Electronic Devices Download PDFInfo
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- CN107346010A CN107346010A CN201610294831.3A CN201610294831A CN107346010A CN 107346010 A CN107346010 A CN 107346010A CN 201610294831 A CN201610294831 A CN 201610294831A CN 107346010 A CN107346010 A CN 107346010A
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- parameter value
- adjustment
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- electronic equipment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of method and apparatus in region for residing for Positioning Electronic Devices, the described method comprises the following steps：Receive corresponding multiple first wireless signals respectively from multiple regions；Receive and the different types of at least one second wireless singal of first wireless signal；Based on the multiple first wireless signal, calculating represents that the electronic equipment belongs to the parameter value of the parameter of the possibility in each region；Based on the second wireless singal, the parameter value is adjusted for the first time；And based on the parameter value after first adjustment, the region residing for the electronic equipment is determined from the multiple region.
Description
Technical field
The present invention relates to the field of Positioning Electronic Devices, more particularly it relates to which a kind of be used to position
The method and apparatus in the region residing for electronic equipment.
Background technology
In the inconvenient of indoor scene etc. or it is difficult to be positioned by global positioning system (GPS)
Scene in, it is growing come the technology positioned to electronic equipment by wireless network.It is a kind of this
In the location technology of sample, the RSSI value of the wireless signal of such as Bluetooth signal received is detected, and is based on
RSSI attenuation models are positioned.
However, in such location technology, on the one hand, RSSI attenuation models are simply big in reception energy
It is believable in the very limited scope for the interference that can ignore ambient noise.On the other hand, RSSI value
It is easily affected by environment, it is more unstable in most cases due to the presence of multipath and attenuation effect.Thus,
Cause positioning precision bad.
The content of the invention
In view of the above, the invention provides a kind of side in the region for residing for Positioning Electronic Devices
Method and device, it can effectively reduce the interference of environmental factor, improve the positioning precision of electronic equipment.
According to one embodiment of the invention, there is provided a kind of method in region for residing for Positioning Electronic Devices,
Comprise the following steps：Receive corresponding multiple first wireless signals respectively from multiple regions；Receive with
The different types of at least one second wireless singal of first wireless signal；Based on the multiple first nothing
Line signal, calculate the parameter value for the parameter for representing the possibility that the electronic equipment belongs to each region；
Based on the second wireless singal, the parameter value is adjusted for the first time；And based on first adjustment after
Parameter value, the region residing for the electronic equipment is determined from the multiple region.
According to another embodiment of the present invention, there is provided a kind of dress in region for residing for Positioning Electronic Devices
Put, including：First receiving unit, receive corresponding multiple first wireless communications respectively from multiple regions
Number；Second receiving unit, receive wireless with first wireless signal different types of at least one second
Signal；Computing unit, based on the multiple first wireless signal, calculate and represent that the electronic equipment belongs to
The parameter value of the parameter of the possibility in each region；First adjustment unit, based on second wireless communication
Number, the parameter value is adjusted for the first time；And determining unit, based on the parameter value after first adjustment,
The region residing for the electronic equipment is determined from the multiple region.
According to another embodiment of the present invention, there is provided a kind of dress in region for residing for Positioning Electronic Devices
Put, including：First communication module, receive corresponding multiple first wireless communications respectively from multiple regions
Number；Second communication module, receive wireless with first wireless signal different types of at least one second
Signal；Processor；Memory；With the computer program instructions being stored in the memory, described
Computer program instructions perform following steps when being run by the processor：Connect from the first communication module
Receive the multiple first wireless signal；It is wireless that described at least one second is received from the second communication module
Signal；Based on the multiple first wireless signal, calculate and represent that the electronic equipment belongs to each region
Possibility parameter parameter value；Based on the second wireless singal, the parameter value is carried out first
Adjustment；And based on the parameter value after first adjustment, the electronic equipment is determined from the multiple region
Residing region.
According to another embodiment of the present invention, there is provided a kind of computer program product, including it is computer-readable
Storage medium, computer program instructions, the calculating are stored on the computer-readable recording medium
Machine programmed instruction performs following steps when being run by computer：Receive respectively from the corresponding of multiple regions
Multiple first wireless signals；Receive and different types of at least one second nothing of first wireless signal
Line signal；Based on the multiple first wireless signal, calculate and represent that the electronic equipment belongs to each area
The parameter value of the parameter of the possibility in domain；Based on the second wireless singal, the parameter value is carried out just
Secondary adjustment；And based on the parameter value after first adjustment, determine that the electronics is set from the multiple region
Standby residing region.
In the method and apparatus in the region being used for residing for Positioning Electronic Devices according to embodiments of the present invention,
Represent that the electronic equipment belongs to the parameter of the possibility in each region based on the calculating of the first wireless signal
Parameter value, and based on the different types of second wireless singal of the first wireless signal, to the parameter
Value is adjusted, so that it is determined that the region residing for the electronic equipment.Thereby, it is possible to effectively reduce environment
The interference of factor, improve the positioning precision of electronic equipment.
In addition, in the according to embodiments of the present invention method and dress that are used for the region residing for Positioning Electronic Devices
In putting, additionally it is possible to which the exercise data based on the motion feature for representing the electronic equipment enters to the parameter value
The further adjustment of row, so that it is determined that the region residing for the electronic equipment, thus, it is possible to further improve
The positioning precision of electronic equipment.
Brief description of the drawings
Fig. 1 is the method and apparatus in the region residing for diagram Positioning Electronic Devices according to embodiments of the present invention
Exemplary application scene；
Fig. 2 is the main of the method in the region residing for diagram Positioning Electronic Devices according to embodiments of the present invention
The flow chart of step；
Fig. 3 is to be shown in localization method according to embodiments of the present invention to adjust the parameter value for the first time
The flow chart of one example of whole processing；
Fig. 4 is to be shown in the region determined in localization method according to embodiments of the present invention residing for electronic equipment
Processing an example flow chart；
Fig. 5 is to be shown in localization method according to embodiments of the present invention to carry out secondary tune to the parameter value
The flow chart of the detailed process of whole processing；
Fig. 6 is the device in the region residing for schematic illustration Positioning Electronic Devices according to embodiments of the present invention
An example main configuration block diagram；
Fig. 7 is the device in the region residing for schematic illustration Positioning Electronic Devices according to embodiments of the present invention
In the first adjustment unit main configuration block diagram；
Fig. 8 is the device in the region residing for schematic illustration Positioning Electronic Devices according to embodiments of the present invention
Another example main configuration block diagram；
Fig. 9 is the device in the region residing for schematic illustration Positioning Electronic Devices according to embodiments of the present invention
In the second adjustment unit main configuration block diagram；And
Figure 10 is the dress in the region residing for schematic illustration Positioning Electronic Devices according to embodiments of the present invention
The block diagram for the main hardware configuration put.
Embodiment
The embodiment of the present invention is described in detail below with reference to accompanying drawing.
First, reference picture 1 is described to the region residing for Positioning Electronic Devices according to embodiments of the present invention
The application scenarios of method and apparatus.
In scene as shown in Figure 1, exist multiple first signal projector 12-1,12-2,12-3 and
12-4, at least one secondary signal transmitter (in Fig. 1, schematically illustrate two secondary signals
Transmitter 14-1 and 14-2) and one or more electronic equipments 16 to be positioned.The multiple first
Signal projector 12-1 to 12-4 each first wireless signal of transmitting.The secondary signal transmitter
Each of 14-1 and 14-2 launch second wireless singal.
First wireless signal is different from the type of the second wireless singal.Exemplarily, described
The received signal strength indicator (Received Signal Strength Indication, RSSI) of one wireless signal
Value is more unstable, and the RSSI value of the second wireless singal is relatively stable.In addition, exemplarily, it is described
The signal cover of first wireless signal is smaller, and the signal cover of the second wireless singal compared with
Greatly.Specifically, first wireless signal for example can be Bluetooth signal or low-power consumption bluetooth (Bluetooth
Low Energy, BLE) signal.The second wireless singal for example can be WiFi signal.Certainly,
It the foregoing is only example.Those skilled in the art can select other suitable as needed herein on basis
When the first wireless signal and second wireless singal, as long as its type is different.
Alternatively, each of the multiple first signal projector can suitably be arranged so that its is each
Substantially different scope is covered, each scope can be considered a localization region.Optionally, in addition, may be used
Suitably arrange the secondary signal transmitter so that its area covered is more than the face of the localization region
Product.For example, the scope of the secondary signal transmitter covering can be caused to be equal to the multiple first signal
The total size that transmitter is covered.In the case where arranging multiple secondary signal transmitters, can arbitrarily set
Relative position between the multiple secondary signal transmitter, and the multiple secondary signal transmitter is total to
The total size covered with the multiple first signal projector of covering.
Hereinafter, in the case where that need not be made a distinction to multiple first signal projector 12-1 to 12-4,
It is referred to as the first signal projector 12.Similarly, need not to secondary signal transmitter 14-1 and
In the case that 14-2 makes a distinction, secondary signal transmitter 14 is referred to as.
The electronic equipment 16 can be the wearable device of such as intelligent watch, intelligent glasses, can also
For the portable set of smart mobile phone, tablet personal computer, notebook computer etc..The electronic equipment 16
With for receiving the function of first wireless signal and function for receiving second wireless singal.By
This, the electronic equipment 16 can receive launched by the first signal projector 12 first with the period 1
Wireless signal.In addition, the electronic equipment 16 can be received by secondary signal transmitter with second round
The second wireless singal of 14 transmittings.The period 1 can be with identical with the second round, can also not
Together, its value can be set as suitably desired by those skilled in the art, is not especially limited herein.
It is pointed out that the first signal projector, secondary signal transmitter and electronics shown in Fig. 1
The number and its layout of equipment are merely illustrative.Those skilled in the art can be as needed, is laid out with other
The first signal projector, secondary signal transmitter and electronic equipment of other numbers are set.
In addition it should be pointed out that in the scene shown in Fig. 1, performed by the electronic equipment itself
Localization method according to embodiments of the present invention, and preserve positioning result.Alternatively, although it is not shown, but
The localization method and device of the embodiment of the present invention can also be applied to include the scene of server.
In the case, the electronic equipment has communication unit, for passing through wirelessly or non-wirelessly communication party
Formula is communicated with the server.Thus, it is possible to performed by the electronic equipment itself according to the present invention
The localization method of embodiment, and positioning result is sent to server.
Alternatively, the one of localization method according to embodiments of the present invention can also be performed by the electronic equipment
Part steps, and the intermediate result performed after a part of step is sent to server, and by taking
Business device performs other steps of localization method according to embodiments of the present invention.For example, the electronic equipment can
The step of to perform the wireless signal of reception first as described below and second wireless singal etc., and will be connect
The first wireless signal and second wireless singal received are sent to server, and are performed by server as described below
Calculating, adjustment and positioning the step of, be achieved in positioning.
The method that the region residing for the Positioning Electronic Devices of the embodiment of the present invention is described next, with reference to Fig. 2.
Fig. 2 is the main of the method in the region residing for diagram Positioning Electronic Devices according to embodiments of the present invention
The flow chart of step.
As shown in Fig. 2 in localization method according to embodiments of the present invention, first, in step S10,
Receive corresponding multiple first wireless signals respectively from multiple regions.Specifically, for example, as above institute
State, first signal projector is provided with each of the multiple region, for launching described
One wireless signal.
On the other hand, in step S20, receive different types of at least one with first wireless signal
Second wireless singal.Specifically, for example, as described above, one or more can be set in the multiple region
Individual secondary signal transmitter, for launching the second wireless singal.
Then, in step S30, based on the multiple first wireless signal, calculate and represent that the electronics is set
The parameter value of the parameter of the standby possibility for belonging to each region.The parameter represents the electronic equipment category
Possibility in each region.In the first example, the parameter can be by being set to the electronics
The poll of gained after the standby possibility for belonging to regional is voted.In the second example, the ginseng
Number can be the electronic equipment is belonged to regional possibility calculate after obtained it is general
Rate.Certainly, example is the foregoing is only, the localization method of the embodiment of the present invention can also calculate other specification,
As long as it can represent that the electronic equipment belongs to the possibility in each region.
Specifically, in the first implementation, it is more accordingly the multiple first wireless signal can be based on
The temporal signatures of individual first signal value, calculate the parameter value.In the second implementation, it can be based on
The frequency domain character of the multiple first signal value, calculates the parameter value.Exemplarily, the time domain is special
Sign can be embodied by the amplitude of the RSSI value of first wireless signal.The frequency domain character can be by described
The spectral characteristic of the RSSI value of first wireless signal and embody.
Thus, the amplitude or spectral characteristic of the RSSI value of multiple first wireless signals be may compare.First nothing
The amplitude of the RSSI value of line signal is bigger or spectral characteristic is more stable, represents the electronic equipment closer to institute
State the region corresponding to the first wireless signal.Conversely, the amplitude of the RSSI value of the first wireless signal it is smaller or
Spectral characteristic is more unstable, represents the electronic equipment further away from the area corresponding to first wireless signal
Domain.So as to which the parameter value can be calculated based on the comparative result of the first signal value.
Exemplarily, in the case where the parameter value is embodied by poll, for the amplitude of RSSI value
Region corresponding to maximum or most stable of first wireless signal of spectral characteristic, its current poll is increased into n
Ticket.Area corresponding to the first least stable wireless signal of amplitude minimum or spectral characteristic for RSSI value
Domain, its current poll is reduced into n tickets.For the region corresponding to other wireless signals, current ticket is kept
Number is constant.N represents incremented or the poll successively decreased, and it is natural number, and can be by this area skill
Art personnel are set as suitably desired.The initial value of the poll can be some fixed value, such as 0.
Afterwards, by calculate every time obtained poll by as current poll and be stored in such as caching in, with
For calculating next time, it is reset until reaching reset time point as described below.
The amplitude of the RSSI value of the first wireless signal of foundation or spectral characteristic are divided into three kinds of situations and divided above
Its poll is not calculated.It will be appreciated by those skilled in the art that above-mentioned calculation is merely illustrative.The present invention
The localization method of embodiment can calculate the poll by other means.For example, can be wireless according to first
The amplitude or spectral characteristic of the RSSI value of signal are divided into more or less situations and calculate respective area respectively
The poll in domain, etc..
In addition, the calculating of parameter value is illustrated in case of poll above.Those skilled in the art's energy
Enough to understand, above-mentioned calculation is merely illustrative.The localization method of the embodiment of the present invention can pass through such as probability
Calculate or the other modes of classification etc. carry out calculating parameter value.
Then, in step S40, based on the second wireless singal, the parameter value is adjusted.
Here, for convenience, the adjustment is properly termed as adjusting for the first time.
Specifically, can the secondary signal value based on same second wireless singal in the first implementation
Change, the parameter value is adjusted for the first time.The secondary signal value represents second wireless communication
Number temporal signatures and the second wireless singal frequency domain character in it is at least one.Exemplarily, institute
Stating temporal signatures can be embodied by the amplitude of the RSSI value of the second wireless singal.The frequency domain character can
Embodied by the spectral characteristic of the RSSI value of the second wireless singal., can in the second implementation
The change of difference between the secondary signal value based at least two second wireless singals, to the parameter
Value is adjusted for the first time.It will be appreciated by those skilled in the art that above-described implementation is merely illustrative,
Above-mentioned different implementations can also be combined as described first to realize by the localization method of the embodiment of the present invention
Secondary adjustment.
Step S40 processing is described in detail next, with reference to Fig. 3.
Fig. 3 is to be shown in localization method according to embodiments of the present invention to adjust the parameter value for the first time
The flow chart of one example of whole processing.
As shown in figure 3, when being adjusted for the first time to the parameter value, first, in step S410, base
In the second wireless singal, judge whether to reach reset time point.
Specifically, in the first implementation as described above, exemplarily, it can determine whether second nothing
Whether the amplitude of the RSSI value of line signal changes.When the RSSI value of the second wireless singal is shaken
When width changes, it is determined that reaching reset time point.On the other hand, as the RSSI of the second wireless singal
When the amplitude of value does not change, it is determined that without arrival reset time point.Alternatively or with this in combination,
It can determine whether the spectral characteristic of the RSSI value of the second wireless singal changes.When second nothing
When the spectral characteristic of the RSSI value of line signal changes, it is determined that reaching reset time point.On the other hand,
When the spectral characteristic of the RSSI value of the second wireless singal does not change, it is determined that heavy without reaching
Put time point.First implementation be particularly suitable for use in environment it is relatively stable, the second of second wireless singal
The slow scene of signal value changes, so as to advantageously improve the response speed of zone location.
In addition, in the second implementation as described above, exemplarily, at least two second are can determine whether
Whether the difference between the RSSI value of wireless signal changes.When at least two second wireless singal
RSSI value between difference when changing, it is determined that reaching reset time point.On the other hand, when described
When difference between the RSSI value of at least two second wireless singals does not change, it is determined that without reaching
Reset time point.In addition, in the case of multiple second wireless singals, multiple second wireless communications are can determine whether
Whether difference number between any two changes, to judge whether to reach reset time point.Second realization
Mode is particularly suitable for use in, and environment is relatively unstable, secondary signal value of second wireless singal is easily by environmental factor
The scene of influence, so that region is more stable and reliable.
Next, when determine reach reset time point when, the processing proceeds to step S420.In step
S420, the parameter value is reset, as the parameter value after first adjustment.
More specifically, in the first implementation, it is default the parameter value can simply to be reset to some
Fixed value, for example, 0.
, can the first signal value based on current time, second letter at current time in the second implementation
Number value and current time exercise data at least one and current time parameter value, to described
Parameter value is reset.The exercise data represents the motion feature of the electronic equipment, and it will later
It is described in detail.First signal value represents the temporal signatures of first wireless signal and first nothing
At least one in the frequency domain character of line signal, the secondary signal value represents the second wireless singal
It is at least one in temporal signatures and the frequency domain character of the second wireless singal.
For example, in the case where representing the parameter value by votes, exemplarily, can be by following
Expression formula (1) come determine reset after parameter value：
V=k × v'+p × v1+q×v2+s×v3 (1)
Wherein, v represents the poll after resetting, and v ' represents the poll at current time, v1Expression is based only upon currently
First wireless signal at moment and the poll calculated, v2Expression is based only upon the second wireless singal at current time
And the poll calculated, v3The poll that expression is based only upon the exercise data at current time and calculated, k, p, q
It is respectively respective weight parameter with s, can be set as suitably desired by those skilled in the art.
For example, can be according to the first wireless signal, second wireless singal and exercise data in the scene applied
The degree of reliability and corresponding weight parameter is set.In addition, v1Computational methods reference picture 2 the step of
S30 is described in detail, v2And v3Computational methods and v1Computational methods it is similar, be not repeated herein.
It is pointed out that as described above, the first wireless signal, second wireless singal and fortune can be based only upon
At least one parameter value to calculate after resetting in dynamic data.That is, can be by by above-mentioned expression
One or more of k, p, q and s in formula (1) are arranged to 0, and calculate the parameter value after resetting.
Thus, the parameter value is reset by calculating as described above, as the parameter value after first adjustment.
It will be appreciated by those skilled in the art that above-described reset mode is merely illustrative.According to the present invention
The localization method of embodiment can suitably reset the parameter value by other various modes.
On the other hand, when judgement does not reach reset time point, the processing proceeds to step S430.
Step S430, the parameter value is directly exported as the parameter value after first adjustment.
Next, return Fig. 2 continuing on.After the parameter value after obtaining first adjustment, the present invention
The localization method of embodiment proceeds to step S50.In step S50, based on the parameter value after first adjustment,
The region residing for the electronic equipment is determined from the multiple region.
Specifically, for example, in the case where the parameter value is poll, determined from the multiple region
The maximum region of poll, as the region residing for the electronic equipment.In the feelings that the parameter value is probability
Under condition, probability highest region is determined from the multiple region, as the area residing for the electronic equipment
Domain；Etc..
Thus, localization method according to embodiments of the present invention realizes electricity by referring to the processing described in Fig. 2
The positioning in region residing for sub- equipment.
Although it is pointed out that in the flowchart of fig. 2 each step S10-S50 necessarily sequentially to show,
But this does not imply that each step must be performed with shown order.Those skilled in the art can be as needed
The processing of each step is performed in any suitable order.For example, step S10 and step S20 place
Reason can be performed in parallel；Etc..
In localization method according to embodiments of the present invention, positioned based on different types of wireless signal,
Thus, it is possible to obtain more accurate and more stable zone location result.
In addition, in localization method according to embodiments of the present invention, join being calculated based on the first wireless signal
During numerical value, size that not only can be simply based on the first signal value of the first wireless signal and obtain
The scope of corresponding parameter value, is also based on the change of the first signal value of the first wireless signal and calculates ginseng
Numerical value, so as to reduce the interference that external environment is brought, improve the reliability of zone location.
In addition, in localization method according to embodiments of the present invention, based on relatively more stable, coverage
Wider array of second wireless singal is adjusted to parameter value, is caused so as to correct because of history value
Accumulated error, and therefore can improve the judgement speed of zone location.
Above in relation in the localization method described in Fig. 2, the parameter value is entered based on second wireless singal
Adjustment is gone.In embodiments of the present invention, to make parameter value more smooth, the parameter value can also be entered
The further adjustment of row.
The further processing of the localization method of the embodiment of the present invention is described next, with reference to Fig. 4.
Fig. 4 is to show the step S50 in localization method according to embodiments of the present invention as shown in Figure 2
Detailed processing flow chart.Specifically, localization method according to embodiments of the present invention can also receive expression
The exercise data of the motion feature of the electronic equipment.Exemplarily, can be equipped with the electronic equipment
PDR (Pedestrian Dead Reckoning, pedestrian's dead reckoning) inertial sensor.The inertia
Sensor can be realized by the various sensors of acceleration transducer, gyroscope, Magnetic Sensor etc..
Exemplarily, the inertial sensor can gather the acceleration magnitude of the electronic equipment, magnitude of angular velocity etc.
Value is used as the exercise data.Alternatively, the data that can be also gathered the inertial sensor pass through one
Fixed processing, and using the data after processing as the exercise data.For example, can be by the acceleration magnitude
Velocity amplitude obtained from integration is as the exercise data；Etc..The processing for receiving exercise data can
Performed with any time before step S50 as shown in Figure 2 processing.
Thus, as shown in figure 4, obtained by step S40 processing the parameter value after first adjustment it
Afterwards, in step S510, based on the exercise data, the parameter value after the first adjustment is carried out secondary
Adjustment.
Carry out the processing of secondary adjustment to the parameter value in step S510 next, with reference to Fig. 5 descriptions
Detailed process.As shown in figure 5, first, in step S5110, institute is determined based on the exercise data
State the motion state residing for electronic equipment.Specifically, based on the exercise data, determine that the electronics is set
It is standby to be in the first motion state advanced in same direction, the second motion state turned in situ, still
The 3rd static motion state in situ.More specifically, velocity amplitude and angle speed are included with the exercise data
In case of angle value, when the velocity amplitude is more constant, represent the electronic equipment in same direction
Advance, such as advance in a forward direction.In addition, when the velocity amplitude is zero or smaller, angle speed
When angle value is more constant, represent that the electronic equipment is in situ or approximate pivot stud.In addition, when described
When velocity amplitude and the magnitude of angular velocity are all zero or are approximately zero, represent that the electronic equipment is static or relative
It is static.Certainly, example is the foregoing is only, the localization method of the embodiment of the present invention can be according to the motion
The species of data is different and judges the motion state residing for the electronic equipment by different way.For example,
In the case where the exercise data includes acceleration magnitude, it is contemplated that user's its acceleration in normal gait
Value, which changes with time, is presented preassigned pattern, therefore, when the preassigned pattern is presented in the acceleration magnitude
Judge that the electronic equipment advances in the same direction；Etc..
When it is determined that the electronic equipment is in the first motion state, processing is carried out to step S5120, and
The parameter value after the first adjustment is filtered with the first filtering mode.Now, due to the electronics
Equipment is in the motion state advanced in certain direction, therefore filtering now is mainly used in reducing environmental disturbances,
Especially because motor behavior and its change in location of electronic equipment and bring signal value upheaval.In this feelings
, can be by setting the smooth signal value of filtering time window (for example, RSSI value) to filter out high frequency under condition
Clutter composition, so that it is guaranteed that the RSSI value in time window on a certain position keeps constant, not too much
Vibration or jump.Therefore, in the case, be considered as carry electronic equipment user gait of march,
The sample frequency of displacement and RSSI value is filtered.Exemplarily, following formula (2) can be passed through
To determine filter window：
Wherein, NTIt is identified filter window, d is the step-length of user, and v is the walking speed of user,
Both of which can be obtained by the sensing of PDR sensors.TperiodIt is RSSI Sampling time periods, its
It is the time cycle that electronic equipment receives the first wireless signal, can be by the localization method of the embodiment of the present invention
It is obtained ahead of time.
In addition, when it is determined that the electronic equipment is in the second motion state, processing is carried out to step
S5130, and keep the parameter value after first adjustment constant.
In addition, when it is determined that the electronic equipment is in three motion states, processing is carried out to step
S5140, and the parameter value after the first adjustment is filtered with the second filtering mode.Second filter
Ripple mode is different from first filtering mode.Now, because electronic equipment is substantially static, therefore now
Filtering be mainly used in reducing the vibration or jump of the RSSI value caused by the internal factor of frequency hopping etc..
In the case, can be reduced by being averaged RSSI sampled values in whole frequency range due to wrong caused by frequency hopping
Erroneous judgement.Exemplarily, filter window can be determined by following formula (3)：
Wherein, NTIt is identified filter window, TNchannelIt is all broadcast for scanning the first wireless signal
The time cycle of passage, T 'periodIt is the sampling period of PDR sensing datas, and m is multiple parameter,
For natural number.m、TNchannelAnd T 'periodIt can be obtained ahead of time by the localization method of the embodiment of the present invention.
Thus, by the processing of the step S5110-S5140 in Fig. 5, for different situations with different filters
Ripple mode is filtered.It is pointed out that in embodiments of the present invention, focus in different situations
How appropriate filter window is set and is described, as used wave filter and its specific filtering
Function, it can as suitably desired be set by those skilled in the art, be not especially limited herein.Show
Example property, it can be filtered by the various wave filters of Kalman filter etc..
Next, Fig. 4 is returned to, in step S520, based on the parameter value after the secondary adjustment, from institute
State and region residing for the electronic equipment is determined in multiple regions.Similarly, it is poll in the parameter value
In the case of, the maximum region of poll is determined from the multiple region, as residing for the electronic equipment
Region.In the case where the parameter value is probability, probability highest is determined from the multiple region
Region, as the region residing for the electronic equipment；Etc..
Thus, in the localization method of this embodiment, by based on PDR inertia sensings data to user's row
To be analyzed, and filtering parameter value accordingly, so as to reduce and such as jump according to different situations
Disturbed caused by the external factor of the internal factor of frequency and such as environment.
More than, reference picture 2- Fig. 5 describes the area being used for residing for Positioning Electronic Devices of the embodiment of the present invention
The method in domain.
Area residing for Positioning Electronic Devices according to embodiments of the present invention is described next, with reference to Fig. 6-Fig. 9
The device in domain.
Fig. 6 is the device in the region residing for schematic illustration Positioning Electronic Devices according to embodiments of the present invention
Main configuration block diagram.
As shown in fig. 6, the device for being used for the region residing for Positioning Electronic Devices according to embodiments of the present invention
Including：First receiving unit 60, the second receiving unit 62, computing unit 64, the first adjustment unit 66
With determining unit 68.
First receiving unit 60 receives corresponding multiple first wireless communications respectively from multiple regions
Number.Second receiving unit 62 receives and first wireless signal different types of at least one second
Wireless signal.The computing unit 64 is based on the multiple first wireless signal, calculates and represents the electronics
Equipment belongs to the parameter value of the parameter of the possibility in each region.First adjustment unit 66 is based on institute
Second wireless singal is stated, the parameter value is adjusted for the first time.The determining unit 68 is based on first adjust
Parameter value after whole, the region residing for the electronic equipment is determined from the multiple region.
In one embodiment, first adjustment unit 66 is configured to perform at least one of following：Base
In the change of the secondary signal value of same second wireless singal, the parameter value is adjusted for the first time, its
In, the secondary signal value represents the temporal signatures of the second wireless singal and the second wireless singal
Frequency domain character in it is at least one；Between secondary signal value based at least two second wireless singals
The change of difference, the parameter value is adjusted for the first time.
In another embodiment, as shown in fig. 7, first adjustment unit 66 may include：Time point is sentenced
Disconnected unit 662, based on the second wireless singal, judge whether to reach reset time point；And parameter
Processing unit 664, when determine reach reset time point when, the parameter value is reset, as first
Parameter value after secondary adjustment；When judging not reaching reset time point, the parameter value conduct is directly exported
Parameter value after first adjustment.
Further, as described below, described device may also include：3rd receiving unit, receive and represent institute
State the exercise data of the motion feature of electronic equipment.The parameter processing unit 664 can be configured to：It is based on
In first signal value at current time, the secondary signal value and the exercise data at current time at current time
At least one and current time parameter value, resets to the parameter value, wherein, described
One signal value represents the temporal signatures of first wireless signal and the frequency domain character of first wireless signal
In it is at least one, the secondary signal value represents the temporal signatures and described the of the second wireless singal
It is at least one in the frequency domain character of two wireless signals.
In another embodiment, as shown in figure 8, described device also includes：3rd receiving unit 80, connects
Receive the exercise data for the motion feature for representing the electronic equipment.The determining unit 68 includes：Second adjusts
Whole unit 682, based on the exercise data, secondary adjustment is carried out to the parameter value after the first adjustment；
And area determination unit 684, based on the parameter value after the secondary adjustment, from the multiple region
Determine the region residing for the electronic equipment.
Further, as shown in figure 9, second adjustment unit 682 may include：Status determining unit
6822, based on the exercise data, determine that the electronic equipment is in the first fortune advanced in same direction
Dynamic state, the second motion state turned in situ or the 3rd static in situ motion state；With
And filter unit 6824, when it is determined that the electronic equipment is in the first motion state, with the first filtering side
Formula is filtered to the parameter value after the first adjustment；When it is determined that the electronic equipment is in the second motion
During state, keep the parameter value after first adjustment constant；When it is determined that the electronic equipment is in the 3rd motion
During state, with second filtering mode different from first filtering mode to the ginseng after the first adjustment
Numerical value is filtered.
The unit of the device for being used for the region residing for Positioning Electronic Devices according to embodiments of the present invention
Concrete configuration and operation are described in detail in the method described in reference picture 2- Fig. 5, are not repeated herein.
Next, with reference to Figure 10 descriptions area being used for residing for Positioning Electronic Devices according to embodiments of the present invention
The exemplary hardware arrangement of the device in domain.
Figure 10 is the schematic illustration region being used for residing for Positioning Electronic Devices according to embodiments of the present invention
Device main hardware configuration schematic block diagram.
As shown in Figure 10, the regional positioning device 1000 of the embodiment of the present invention mainly includes：One or more
Individual processor 1010, memory 1020, first communication module 1040 and second communication module 1050, this
A little components are interconnected by bindiny mechanism's (not shown) of bus system 1030 and/or other forms.Should
Pay attention to, the component and structure of the regional positioning device 1000 shown in Figure 10 are exemplary, rather than limit
Property processed, as needed, regional positioning device 1000 can also have other assemblies and structure.
The first communication module 1040 can receive corresponding multiple first respectively from multiple regions
Wireless signal.Specifically, the first communication module 1040 can pass through the first communication protocols with the period 1
View receives the first wireless signal launched as the first signal projector 12 described in above with reference to Fig. 1.In addition,
The first communication module 1040 can provide multiple first wireless signals received to the processing
Device 1010.
The second communication module 1050 can receive different types of at least with first wireless signal
One second wireless singal.Specifically, the second communication module 1050 can pass through with second round
Two communication protocols receive the second wireless communication launched as the secondary signal transmitter 14 described in above with reference to Fig. 1
Number.In addition, the second communication module 1050 can provide the second wireless singal received to described
Processor 1010.
First communication protocol is different from second communication protocol.Exemplarily, first communication
Agreement can be bluetooth or low-power consumption bluetooth (Bluetooth Low Energy, BLE) communication protocol.Institute
It can be any agreement in the communication protocol clusters of IEEE 802.11 to state the second communication protocol.The period 1
Can be with identical with the second round, can also be different.
Processor 1010 can be CPU (CPU) or with data-handling capacity and/or
The processing unit of the other forms of instruction execution capability, and can be with control area positioner 1000
Other components are to perform desired function.
Memory 1020 can include one or more computer program products, the computer program product
It can include various forms of computer-readable recording mediums, such as volatile memory and/or non-volatile
Memory.The volatile memory can for example include random access memory (RAM) and/or high speed
Buffer storage (cache) etc..The nonvolatile memory can for example include read-only storage
(ROM), hard disk, flash memory etc..One or more can be stored on the computer-readable recording medium
Individual computer program instructions, processor 1010 can run described program instruction, to realize that the present invention is implemented
The function and/or other desired functions of the area positioning method of example.For example, the first communication mould
Block 1040 can provide multiple first wireless signals received to the processor 1010, and institute
Stating second communication module 1050 can provide at least one second wireless singal received to the place
Manage device 1010.Thus, following steps are performed when the computer program instructions are run by the processor：
The multiple first wireless signal is received from the first communication module 1040；From the second communication module
1050 receive at least one second wireless singal；Based on the multiple first wireless signal, computational chart
Show that the electronic equipment belongs to the parameter value of the parameter of the possibility in each region；Based on second nothing
Line signal, the parameter value is adjusted for the first time；And based on the parameter value after first adjustment, from institute
State and region residing for the electronic equipment is determined in multiple regions.
In addition, in an alternative embodiment of the invention, additionally provide a kind of computer program product, including meter
Calculation machine readable storage medium storing program for executing, computer program instructions are stored on the computer-readable recording medium,
The computer program instructions perform following steps when being run by computer：Receive respectively from multiple areas
Corresponding multiple first wireless signals in domain；Receive and first wireless signal different types of at least one
Individual second wireless singal；Based on the multiple first wireless signal, calculate and represent that the electronic equipment belongs to
The parameter value of the parameter of the possibility in each region；Based on the second wireless singal, to the parameter
Value is adjusted for the first time；And based on the parameter value after first adjustment, institute is determined from the multiple region
State the region residing for electronic equipment.
More than, described referring to figs. 1 to Figure 10 and according to embodiments of the present invention be used for Positioning Electronic Devices institute
Region method and apparatus.
It should be noted that in this manual, term " comprising ", "comprising" or its any other
Variant is intended to including for nonexcludability, so that process, method, thing including a series of elements
Product or equipment not only include those key elements, but also the other element including being not expressly set out, or
It is also to include for this process, method, article or the intrinsic key element of equipment.Do not limiting more
In the case of, the key element that is limited by sentence "including a ...", it is not excluded that including the key element
Process, method, other identical element also be present in article or equipment.
Furthermore, it is necessary to explanation, in this manual, similar " Unit first ... ", " second ... is single
The statement of member " is distinguished only for convenient in description, and is not meant to it and must be implemented as physical separation
Two or more units.In fact, as needed, the unit can be entirely implemented as a unit,
Multiple units can also be embodied as.
Finally, it is to be noted that, a series of above-mentioned processing not only include pressing with order described here
The processing that time series performs, and the place including performing parallel or respectively rather than in chronological order
Reason.
Through the above description of the embodiments, those skilled in the art can be understood that this hair
The bright mode that can add required hardware platform by software is realized, naturally it is also possible to all by hardware come
Implement.Based on such understanding, whole that technical scheme contributes to background technology or
Part can be embodied in the form of software product, and the computer software product can be stored in storage and be situated between
In matter, such as ROM/RAM, magnetic disc, CD, including some instructions are causing a computer to set
Standby (can be personal computer, server, or network equipment etc.) performs each embodiment of the present invention
Or the method described in some parts of embodiment.
In embodiments of the present invention, units/modules can be realized with software, so as to by various types of processing
Device performs.For example, the executable code module of a mark can include one of computer instruction
Or multiple physics or logical block, for example, it can be built as object, process or function.To the greatest extent
Pipe is in this way, the executable code of institute's mark module need not be physically located together, but can include storage
Different instructions in different positions, when being combined together in these command logics, its Component units/
Module and the regulation purpose for realizing the units/modules.
When units/modules can be realized using software, it is contemplated that the level of existing hardware technique, so can
With units/modules implemented in software, in the case where not considering cost, those skilled in the art can
Corresponding hardware circuit is built to realize corresponding function, the hardware circuit includes the ultra-large of routine
Integrated (VLSI) circuit or the existing semiconductor of gate array and such as logic chip, transistor etc
Either other discrete elements.Module can also use programmable hardware device, such as field programmable gate
Array, programmable logic array, programmable logic device etc. are realized.
The present invention is described in detail above, principle of the specific case used herein to the present invention
And embodiment is set forth, the explanation of above example is only intended to help the method for understanding the present invention
And its core concept；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention,
There will be changes in embodiment and application, in summary, this specification content should not
It is interpreted as limitation of the present invention.
Claims (12)
1. a kind of method in region for residing for Positioning Electronic Devices, comprises the following steps：
Receive corresponding multiple first wireless signals respectively from multiple regions；
Receive and the different types of at least one second wireless singal of first wireless signal；
Based on the multiple first wireless signal, calculate and represent that the electronic equipment belongs to each region
The parameter value of the parameter of possibility；
Based on the second wireless singal, the parameter value is adjusted for the first time；And
Based on the parameter value after first adjustment, determined from the multiple region residing for the electronic equipment
Region.
2. the method as described in claim 1, in addition to：Receive and represent that the motion of the electronic equipment is special
The exercise data of sign；
The step of region residing for the electronic equipment is determined from the multiple region includes：
Based on the exercise data, secondary adjustment is carried out to the parameter value after the first adjustment；With
And
Based on the parameter value after the secondary adjustment, determine that the electronics is set from the multiple region
Standby residing region.
3. the method as described in claim 1, the step of to the parameter value adjust for the first time include with
It is at least one of lower：
The change of secondary signal value based on same second wireless singal, is adjusted for the first time to the parameter value
It is whole, wherein, the secondary signal value represents the temporal signatures of the second wireless singal and second nothing
It is at least one in the frequency domain character of line signal；
The change of difference between secondary signal value based at least two second wireless singals, to the ginseng
Numerical value is adjusted for the first time.
4. the method as described in claim 1, the step of parameter value progress adjustment for the first time, is included：
Based on the second wireless singal, judge whether to reach reset time point；And
When determine reach reset time point when, the parameter value is reset, after first adjustment
Parameter value；When judging not reaching reset time point, after directly exporting the parameter value as first adjustment
Parameter value.
5. method as claimed in claim 4, in addition to：Receive and represent that the motion of the electronic equipment is special
The exercise data of sign；
The step of being reset to the parameter value includes：
The secondary signal value of the first signal value, current time based on current time and current time
At least one and current time parameter value in exercise data, resets to the parameter value,
Wherein, first signal value represents the temporal signatures of first wireless signal and first wireless communication
Number frequency domain character in it is at least one, the secondary signal value represents the time domain of the second wireless singal
It is at least one in the frequency domain character of feature and the second wireless singal.
6. method as claimed in claim 2, secondary adjustment is carried out to the parameter value after the first adjustment
The step of include：
Based on the exercise data, determine that the electronic equipment is in the first motion advanced in same direction
State, the second motion state turned in situ or the 3rd static in situ motion state；And
When it is determined that the electronic equipment is in the first motion state, with the first filtering mode to described first
Parameter value after adjustment is filtered；When it is determined that the electronic equipment is in the second motion state, keep
Parameter value after first adjustment is constant；When it is determined that the electronic equipment is in three motion states, with
The second different filtering mode of first filtering mode is filtered to the parameter value after the first adjustment
Ripple.
7. a kind of device in region for residing for Positioning Electronic Devices, including：
First receiving unit, receive corresponding multiple first wireless signals respectively from multiple regions；
Second receiving unit, receive wireless with first wireless signal different types of at least one second
Signal；
Computing unit, based on the multiple first wireless signal, calculate and represent that the electronic equipment belongs to every
The parameter value of the parameter of the possibility in one region；
First adjustment unit, based on the second wireless singal, the parameter value is adjusted for the first time；
And
Determining unit, based on the parameter value after first adjustment, the electronics is determined from the multiple region
Region residing for equipment.
8. device as claimed in claim 7, in addition to：
3rd receiving unit, receive the exercise data for the motion feature for representing the electronic equipment；
The determining unit includes：
Second adjustment unit, based on the exercise data, the parameter value after the first adjustment is entered
The secondary adjustment of row；And
Area determination unit, based on the parameter value after the secondary adjustment, from the multiple region
Determine the region residing for the electronic equipment.
9. device as claimed in claim 7, first adjustment unit is configured in performing below extremely
It is one of few：
The change of secondary signal value based on same second wireless singal, is adjusted for the first time to the parameter value
It is whole, wherein, the secondary signal value represents the temporal signatures of the second wireless singal and second nothing
It is at least one in the frequency domain character of line signal；
The change of difference between secondary signal value based at least two second wireless singals, to the ginseng
Numerical value is adjusted for the first time.
10. device as claimed in claim 7, first adjustment unit includes：
Time point judging unit, based on the second wireless singal, judge whether to reach reset time point；
And
Parameter processing unit, when determine reach reset time point when, the parameter value is reset, make
For the parameter value after first adjustment；When judging not reaching reset time point, the parameter value is directly exported
As the parameter value after first adjustment.
11. device as claimed in claim 10, in addition to：
3rd receiving unit, receive the exercise data for the motion feature for representing the electronic equipment；
Parameter processing unit is configured to：
The secondary signal value of the first signal value, current time based on current time and current time
At least one and current time parameter value in exercise data, resets to the parameter value,
Wherein, first signal value represents the temporal signatures of first wireless signal and first wireless communication
Number frequency domain character in it is at least one, the secondary signal value represents the time domain of the second wireless singal
It is at least one in the frequency domain character of feature and the second wireless singal.
12. device as claimed in claim 8, second adjustment unit includes：
Status determining unit, based on the exercise data, determine that the electronic equipment is in same direction
The first motion state advanced, the second motion state for turning in situ or in situ the static 3rd
Motion state；And
Filter unit, when it is determined that the electronic equipment is in the first motion state, with the first filtering mode
Parameter value after the first adjustment is filtered；When it is determined that the electronic equipment is in the second motion shape
During state, keep the parameter value after first adjustment constant；When it is determined that the electronic equipment is in the 3rd motion shape
During state, with second filtering mode different from first filtering mode to the parameter after the first adjustment
Value is filtered.
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| CN201610294831.3A CN107346010B (en) | 2016-05-06 | 2016-05-06 | Method and device for positioning area where electronic equipment is located |
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| CN201610294831.3A CN107346010B (en) | 2016-05-06 | 2016-05-06 | Method and device for positioning area where electronic equipment is located |
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| CN113966472A (en) * | 2019-05-15 | 2022-01-21 | 认知系统公司 | Determining confidence of motion region of motion location identified as motion detected by wireless signal |
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