CN104880693B - Indoor orientation method and device - Google Patents

Abstract

Embodiments of the present invention provide an indoor positioning method and device. The indoor positioning method of the present invention includes: the equipment to be positioned indoors plays a space detection sound signal, and at the same time performs recording to obtain an echo signal, and the equipment to be positioned obtains a corresponding echo feature vector to be matched according to the space detection sound signal and the echo signal, and The echo feature vector matching the echo feature vector to be matched is determined in the target echo fingerprint library, and the reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned, wherein multiple echoes are stored in the device to be positioned Fingerprint library, each echo fingerprint library is in one-to-one correspondence with the posture identification of the device to be positioned; multiple echo feature vectors in each echo fingerprint library are in one-to-one correspondence with multiple reference points in the room; each echo feature vector is the corresponding It is obtained based on the echo signal at the reference point of .

Description

Indoor positioning method and device

technical field

Embodiments of the present invention relate to equipment positioning technologies, and in particular, to an indoor positioning method and device.

Background technique

With the development and popularization of smart terminals (including smart phones, tablet PCs, etc.) in recent years, indoor positioning based on mobile terminals will have a very broad application prospect. The indoor positioning of mobile terminals can provide indoor navigation services for people's lives. For example, in large shopping malls and office buildings, indoor navigation can be used to quickly find exits and elevators. Parents can use indoor navigation to track children's positions to avoid children walking in supermarkets. The use of indoor navigation can also help shoppers find the items they need more quickly; the use of indoor positioning of mobile terminals can also provide people with mobile terminal location-based service (Location Based Service, LBS) recommendation services, such as shopping The center automatically pushes merchant discounts and event information according to the user's location; indoor positioning using mobile terminals is also used in other fields, such as tracking and monitoring of critically ill patients in the medical industry, anti-theft of babies in delivery rooms, monitoring of valuable medical equipment, and large buildings. emergency evacuation, public safety, and post-disaster rescue.

Most of the existing indoor positioning technologies need to arrange hardware auxiliary equipment indoors, which is expensive to transform and is not conducive to large-scale promotion. For example, indoor positioning technologies based on Bluetooth and WIFI need to arrange multiple signal transmission sources in the room as positioning nodes, while Indoor positioning technologies based on infrared, ultrasonic, and UWB not only need to add dedicated positioning nodes in buildings, but also require special terminal equipment for use.

Contents of the invention

Embodiments of the present invention provide an indoor positioning method and device to overcome the defects that the existing indoor positioning technology needs to arrange hardware auxiliary equipment indoors, which is expensive to transform and is not conducive to large-scale promotion.

In a first aspect, an embodiment of the present invention provides an indoor positioning method, including:

The indoor device to be positioned plays the space detection sound signal, and simultaneously performs recording to obtain the echo signal of the space detection sound signal;

The device to be positioned obtains a corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal, and determines it in multiple echo fingerprint libraries according to the gesture identifier used to represent the current device posture of the device to be positioned A target echo fingerprint library, and determine the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and use the reference point in the room corresponding to the echo feature vector as the pending The current position of the bit device;

Wherein, the device to be positioned is stored with a plurality of echo fingerprint databases, and each echo fingerprint database is in one-to-one correspondence with a posture identifier used to represent the posture of the device to be positioned, and the posture of the device is determined by the posture of the device to be positioned. The three dimensions of azimuth, pitch angle and roll angle are jointly represented; each echo fingerprint library includes multiple echo feature vectors, and each echo feature vector in each echo fingerprint library is in one-to-one correspondence with multiple reference points in the room The reference point is a reference position set in advance in the room, and each echo feature vector in each echo fingerprint library is obtained according to the played spatial detection sound signal and recording when the device to be positioned is at the corresponding reference point obtained from the echo signal of the space detection sound signal.

With reference to the first aspect, in a first possible implementation manner of the first aspect, the acquiring, by the device to be located, a corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal includes:

The device to be positioned performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ;

The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value;

According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M.

In combination with the first possible implementation of the first aspect, in the second possible implementation of the first aspect, according to the cross-correlation sequence R', respectively calculate the average echo energy of M distance intervals to obtain the echo Eigenvector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), including:

For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is

Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ).

With reference to the first aspect, any one of the first to second possible implementations of the first aspect, in the third possible implementation of the first aspect, the recording to obtain the echo signal of the spatial detection sound signal includes:

Carry out the recording until the time of delaying at least Δt after the playback ends; wherein, Δt>t _A , t _A =d _max 2/f _sound , d _max is the farthest distance that the space detection sound signal can return to the echo signal, f _sound is the speed of sound in air.

With reference to the first aspect, any one of the first to the second possible implementation manners of the first aspect, in the fourth possible implementation manner of the first aspect, the determination in the target echo fingerprint library that matches the echo to be matched The eigenvectors match the echo eigenvectors, including:

Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint database, and use the echo feature vector with the closest result as the echo feature vector matched with the echo feature vector to be matched.

In a second aspect, an embodiment of the present invention provides an indoor positioning method, including:

The indoor device to be positioned plays a space detection sound signal, and simultaneously performs recording to obtain an echo signal of the space detection sound signal; obtains a corresponding echo feature vector to be matched according to the space detection sound signal and the echo signal, and determines The posture identifier of the device to be positioned, where the posture identifier is used to represent the current device posture of the device to be positioned, wherein the device posture is a combination of the three dimensions of the azimuth, pitch angle and roll angle of the device to be positioned express;

The device to be positioned sends a positioning request to a positioning server, and the positioning request includes the echo feature vector to be matched and the posture identifier, so that the positioning server can determine the location in multiple echo fingerprint libraries according to the posture identifier. A target echo fingerprint library, wherein an echo feature vector matching the echo feature vector to be matched is determined in the target echo fingerprint library, and the reference point in the room corresponding to the echo feature vector is used as the to-be-located the current location of the device;

receiving a positioning result including the current position returned by the positioning server;

Wherein, the reference point is a reference position pre-set in the indoor.

With reference to the second aspect, in the first possible implementation manner of the second aspect, the obtaining the corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal includes:

The device to be positioned performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ;

The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value;

According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M.

In combination with the first possible implementation of the second aspect, in the second possible implementation of the second aspect, according to the cross-correlation sequence R', respectively calculate the average echo energy of M distance intervals to obtain the echo Eigenvector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), including:

For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is

Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ).

With reference to the second aspect, any one of the first to second possible implementation manners of the second aspect, in the third possible implementation manner of the second aspect, the recording to obtain the echo signal of the space detection sound signal includes :

Carry out the recording until the time of delaying at least Δt after the playback ends; wherein, Δt>t _A , t _A =d _max 2/f _sound , d _max is the farthest distance that the space detection sound signal can return to the echo signal, f _sound is the speed of sound in air.

In a third aspect, an embodiment of the present invention provides an indoor positioning method, including:

The positioning server receives a positioning request sent by a device to be positioned indoors, and the positioning request includes an echo feature vector to be matched and a gesture identifier; wherein, the echo feature vector to be matched is a spatial detection sound signal played by the device to be positioned , and recording at the same time to obtain the echo signal of the space detection sound signal, it is obtained according to the space detection sound signal and the echo signal; the attitude identification is determined by the device to be positioned, and the attitude identification Used to represent the current device posture of the device to be positioned; the device posture is jointly represented by three dimensions of the device to be positioned: azimuth, pitch angle, and roll angle;

The positioning server determines a target echo fingerprint library in a plurality of echo fingerprint libraries according to the gesture identification, determines an echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and sends the The reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned; wherein, a plurality of echo fingerprint libraries are stored in the positioning server, and each echo fingerprint library corresponds to the posture identifier one by one, Each echo fingerprint library includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint library is in one-to-one correspondence with a plurality of reference points in the room, and the reference points are pre-set reference positions in the room , each echo feature vector in each echo fingerprint library is acquired and sent to location server;

The positioning server sends a positioning result including the current position to the device to be positioned.

With reference to the third aspect, in a first possible implementation manner of the third aspect, the determining the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library includes:

Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint database, and use the echo feature vector with the closest result as the echo feature vector matched with the echo feature vector to be matched.

In a fourth aspect, an embodiment of the present invention provides an indoor positioning method, including:

The device to be positioned indoors plays the space detection sound signal, and at the same time performs recording to obtain the echo signal of the space detection sound signal; and determines the attitude mark of the device to be positioned, and the posture mark is used to indicate that the device to be positioned is currently The equipment attitude; the equipment attitude is jointly represented by the three dimensions of the azimuth angle, pitch angle and roll angle of the equipment to be positioned;

The device to be positioned sends a positioning request to a positioning server, and the positioning request includes the space detection sound signal, the echo signal and the posture identifier, so that the positioning server can use the space detection sound signal and the After the echo signal obtains the corresponding echo feature vector to be matched, determine the target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, and determine in the target echo fingerprint library that matches the echo feature vector to be matched The echo feature vector, and the reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned; wherein, the reference point is a reference position set in advance in the room;

and receiving a positioning result including the current position returned by the positioning server.

In a fifth aspect, an embodiment of the present invention provides an indoor positioning method, including:

The positioning server receives the positioning request sent by the device to be positioned indoors, and the positioning request includes a space detection sound signal, an echo signal and an attitude indicator; wherein, the echo signal is played by the device to be positioned by playing the space detection sound The echo signal of the space detection sound signal obtained by recording the signal at the same time, the attitude identifier is determined by the device to be positioned, and the attitude identifier is used to represent the current device posture of the device to be positioned, so The attitude of the device is jointly represented by the three dimensions of the azimuth, pitch angle and roll angle of the device to be positioned;

The positioning server obtains corresponding echo feature vectors to be matched according to the space detection sound signal and the echo signal, and determines a target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, and determines the target echo fingerprint library in the target echo fingerprint library. Determine the echo feature vector matching the echo feature vector to be matched in the fingerprint library, and use the reference point in the room corresponding to the echo feature vector as the current position of the device to be positioned; wherein, the positioning Multiple echo fingerprint databases are stored in the server, and each echo fingerprint database corresponds to the posture identification one by one; each echo fingerprint database includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint database corresponds to the Multiple reference points in the room are in one-to-one correspondence; the reference point is a reference position pre-set in the room, and each echo feature vector in each echo fingerprint library is the The space detection sound signal played here and the echo signal of the space detection sound signal obtained by recording are sent to the positioning server, and are obtained by the positioning server;

The positioning server sends a positioning result including the current position to the device to be positioned.

With reference to the fifth aspect, in the first possible implementation manner of the fifth aspect, the acquiring the corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal includes:

The positioning server performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ;

The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value;

According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M.

In combination with the first possible implementation of the fifth aspect, in the second possible implementation of the fifth aspect, according to the cross-correlation sequence R', the average echo energy of M distance intervals is respectively calculated to obtain the echo feature Vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), including:

For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is

Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ).

With reference to the fifth aspect, any one of the first to the second possible implementation manners of the fifth aspect, in the third possible implementation manner of the fifth aspect, the determination in the target echo fingerprint database and the to-be-matched The echo eigenvectors match the echo eigenvectors, including:

Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint database, and use the echo feature vector with the closest result as the echo feature vector matched with the echo feature vector to be matched.

In a sixth aspect, an embodiment of the present invention provides a device to be positioned, including:

The echo acquisition module is used to play the space detection sound signal on the indoor device to be positioned, and simultaneously record and obtain the echo signal of the space detection sound signal;

A positioning module, configured to obtain a corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal, and determine it in a plurality of echo fingerprint libraries according to a posture identifier representing the current posture of the device to be positioned A target echo fingerprint library, and determine the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and use the reference point in the room corresponding to the echo feature vector as the pending The current position of the bit device;

Wherein, the device to be positioned is stored with a plurality of echo fingerprint databases, and each echo fingerprint database is in one-to-one correspondence with a posture identifier used to represent the posture of the device to be positioned, and the posture of the device is determined by the posture of the device to be positioned. The three dimensions of azimuth, pitch angle and roll angle are jointly represented; each echo fingerprint library includes multiple echo feature vectors, and each echo feature vector in each echo fingerprint library is in one-to-one correspondence with multiple reference points in the room The reference point is a reference position set in advance in the room, and each echo feature vector in each echo fingerprint library is obtained according to the played spatial detection sound signal and recording when the device to be positioned is at the corresponding reference point obtained from the echo signal of the space detection sound signal.

With reference to the sixth aspect, in a first possible implementation manner of the sixth aspect, the acquiring, by the device to be located, a corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal includes:

The device to be positioned performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ;

The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value;

According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M.

In combination with the first possible implementation of the sixth aspect, in the second possible implementation of the sixth aspect, according to the cross-correlation sequence R', respectively calculate the average echo energy of M distance intervals to obtain the echo Eigenvector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), including:

For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is

Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ).

With reference to the sixth aspect, any one of the first to second possible implementation manners of the sixth aspect, in the third possible implementation manner of the sixth aspect, the recording to obtain the echo signal of the spatial detection sound signal includes :

Carry out the recording until the time of delaying at least Δt after the playback ends; wherein, Δt>t _A , t _A =d _max 2/f _sound , d _max is the farthest distance that the space detection sound signal can return to the echo signal, f _sound is the speed of sound in air.

With reference to the sixth aspect, any one of the first to second possible implementation manners of the sixth aspect, in the fourth possible implementation manner of the sixth aspect, the determination in the target echo fingerprint library and the to-be Matching echo eigenvectors matches echo eigenvectors, including:

Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint database, and use the echo feature vector with the closest result as the echo feature vector matched with the echo feature vector to be matched.

In a seventh aspect, an embodiment of the present invention provides a device to be positioned, including:

The acquisition module is used for the indoor device to be positioned to play the space detection sound signal, and simultaneously perform recording to obtain the echo signal of the space detection sound signal; obtain the corresponding echo to be matched according to the space detection sound signal and the echo signal eigenvector, and determine the posture identifier of the device to be positioned, the posture identifier is used to represent the current device posture of the device to be positioned; wherein, the device posture is composed of the azimuth angle, pitch angle and Joint representation of three dimensions of roll angle;

A sending module, configured to send a positioning request to a positioning server, wherein the positioning request includes the echo feature vector to be matched and the gesture identifier, so that the positioning server can determine in multiple echo fingerprint libraries according to the gesture identifier A target echo fingerprint library, wherein an echo feature vector matching the echo feature vector to be matched is determined in the target echo fingerprint library, and the reference point in the room corresponding to the echo feature vector is used as the to-be-located the current location of the device;

a receiving module, configured to receive a positioning result including the current position returned by the positioning server;

Wherein, the reference point is a reference position pre-set in the indoor.

With reference to the seventh aspect, in the first possible implementation manner of the seventh aspect, the obtaining the corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal includes:

The device to be positioned performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ;

The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value;

According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M.

In combination with the first possible implementation manner of the seventh aspect, in the second possible implementation manner of the seventh aspect, according to the cross-correlation sequence R', respectively calculate the average echo energy of M distance intervals to obtain the echo Eigenvector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), including:

For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is

Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ).

With reference to the seventh aspect, any one of the first to second possible implementation manners of the seventh aspect, in the third possible implementation manner of the seventh aspect, the recording to obtain the echo signal includes:

Carry out the recording until the time of delaying at least Δt after the playback ends; wherein, Δt>t _A , t _A =d _max 2/f _sound , d _max is the farthest distance that the space detection sound signal can return to the echo signal, f _sound is the speed of sound in air.

In an eighth aspect, an embodiment of the present invention provides a positioning server, including:

The receiving module is configured to receive a positioning request sent by a device to be positioned indoors, and the positioning request includes an echo feature vector to be matched and a gesture identifier; wherein, the echo feature vector to be matched is a space played by the device to be positioned Detect the sound signal, and record at the same time to obtain the echo signal of the space detection sound signal, and obtain it according to the space detection sound signal and the echo signal; the attitude identification is determined by the device to be positioned, so The attitude identifier is used to represent the current equipment attitude of the equipment to be positioned; the equipment attitude is jointly represented by the three dimensions of the azimuth, pitch angle and roll angle of the equipment to be positioned;

A positioning module, configured to determine a target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, determine an echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and convert the The indoor reference point corresponding to the echo feature vector is used as the current position of the device to be positioned; wherein, the positioning server stores a plurality of echo fingerprint databases, and each echo fingerprint database corresponds to the attitude identification one by one , each echo fingerprint library includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint library is in one-to-one correspondence with a plurality of reference points in the room, and the reference points are reference points set in the room in advance. Each echo feature vector in each echo fingerprint library is obtained and sent according to the echo signal of the spatial detection sound signal played and the sound signal of the space detection acquired by recording when the device to be positioned is at the corresponding reference point given to the location server;

A sending module, configured to send a positioning result including the current location to the device to be positioned.

With reference to the eighth aspect, in the first possible implementation manner of the eighth aspect, the determining the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library includes:

Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint database, and use the echo feature vector with the closest result as the echo feature vector matched with the echo feature vector to be matched.

In a ninth aspect, an embodiment of the present invention provides a device to be positioned, including:

The determination module is used for the indoor device to be positioned to play the space detection sound signal, and record at the same time to obtain the echo signal of the space detection sound signal; Describe the current equipment posture of the equipment to be positioned; the equipment posture is jointly represented by three dimensions of the azimuth angle, pitch angle and roll angle of the equipment to be positioned;

A sending module, configured to send a positioning request to a positioning server, where the positioning request includes the space detection sound signal, the echo signal, and the gesture identifier, so that the positioning server can use the space detection sound signal and the After the echo signal obtains the corresponding echo feature vector to be matched, determine the target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, and determine in the target echo fingerprint library that matches the echo feature vector to be matched The echo feature vector, and the reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned; wherein, the reference point is a reference position set in advance in the room;

A receiving module, configured to receive a positioning result including the current position returned by the positioning server.

In a tenth aspect, an embodiment of the present invention provides a positioning server, including:

The receiving module is configured to receive a positioning request sent by the device to be positioned indoors, the positioning request includes a space detection sound signal, an echo signal, and a gesture identification; wherein, the echo signal is played by the device to be positioned The echo signal of the space detection sound signal obtained by recording the space detection sound signal at the same time, the posture identifier is determined by the device to be positioned, and the posture identifier is used to indicate the current device of the device to be positioned attitude; the equipment attitude is jointly represented by three dimensions of the azimuth, pitch angle and roll angle of the equipment to be positioned;

A positioning module, configured to obtain a corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal, and determine a target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, and determine the target echo fingerprint library in the target echo fingerprint library. The echo feature vector matching the echo feature vector to be matched is determined in the echo fingerprint library, and the reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned; wherein, the A plurality of echo fingerprint databases are stored in the positioning server, and each echo fingerprint database corresponds to the posture identification one by one; each echo fingerprint database includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint database corresponds to the One-to-one correspondence between a plurality of reference points in the indoor; the reference point is a reference position set in advance in the indoor, and each echo feature vector in each echo fingerprint library is when the device to be positioned is on the corresponding reference point The space detection sound signal played here and the echo signal of the space detection sound signal acquired by recording are sent to the positioning server, and are obtained by the positioning server.

A sending module, configured to send a positioning result including the current location to the device to be positioned.

With reference to the tenth aspect, in the first possible implementation manner of the tenth aspect, the acquiring the corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal includes:

The positioning server performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ;

The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value;

According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M.

In combination with the first possible implementation manner of the tenth aspect, in the second possible implementation manner of the tenth aspect, according to the cross-correlation sequence R', respectively calculate the average echo energy of M distance intervals to obtain the echo Eigenvector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), including:

For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is

Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ).

With reference to the tenth aspect, any one of the first to second possible implementation manners of the tenth aspect, in the third possible implementation manner of the tenth aspect, the determination in the target echo fingerprint database and the to-be Matching echo eigenvectors matches echo eigenvectors, including:

Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint library, and use the echo feature vector closest to the result as the echo feature vector matched with the echo feature vector to be matched .

In an eleventh aspect, an embodiment of the present invention provides an indoor positioning system, including:

The seventh aspect, the device to be positioned in any one of the first to third possible ways of the seventh aspect, and the positioning server of the eighth aspect or the first possible way of the eighth aspect.

In a twelfth aspect, an embodiment of the present invention provides an indoor positioning system, including:

The device to be positioned according to the ninth aspect, the tenth aspect, and the positioning server according to any one of the first to third possible implementation manners of the tenth aspect.

In the indoor positioning method of the embodiment of the present invention, the equipment to be positioned indoors plays the space detection sound signal, and simultaneously records the echo signal of the space detection sound signal. Acquiring the echo feature vector corresponding to the echo signal to be matched, determining a target echo fingerprint library in multiple echo fingerprint libraries according to the posture identifier used to represent the current device posture of the device to be positioned, and determining the target echo fingerprint library in the target echo fingerprint library Determining an echo feature vector that matches the echo feature vector to be matched, and using the indoor reference point corresponding to the echo feature vector as the current position of the device to be positioned, wherein the device to be positioned A plurality of echo fingerprint databases are stored, and each echo fingerprint database is in one-to-one correspondence with an attitude identifier used to represent the equipment attitude of the device to be located, and the equipment attitude is determined by the azimuth, pitch angle and roll angle of the equipment to be located Joint representation of three dimensions; each echo fingerprint library includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint library corresponds to a plurality of reference points in the room; The reference position set in the room, each echo feature vector in each echo fingerprint library is the space detection sound signal obtained according to the played space detection sound signal and the recording when the device to be positioned is at the corresponding reference point obtained from the echo signal. Using the indoor positioning method of the embodiment of the present invention realizes that no additional auxiliary equipment needs to be arranged indoors when performing indoor positioning of equipment, and the method of this embodiment is low in cost, good in practicability, and easy to popularize.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a flow chart of Embodiment 1 of the indoor positioning method of the present invention;

FIG. 2 is a flowchart of Embodiment 2 of the indoor positioning method of the present invention;

3 is a flow chart of Embodiment 3 of the indoor positioning method of the present invention;

4 is a flow chart of Embodiment 4 of the indoor positioning method of the present invention;

FIG. 5 is a flowchart of Embodiment 5 of the indoor positioning method of the present invention;

FIG. 6 is a flow chart of Embodiment 6 of the indoor positioning method of the present invention;

FIG. 7 is a flow chart of Embodiment 7 of the indoor positioning method of the present invention;

FIG. 8 is a flow chart of Embodiment 8 of the indoor positioning method of the present invention;

FIG. 9 is a schematic structural diagram of a device to be positioned according to the present invention;

Fig. 10 is a schematic structural diagram of another device to be positioned according to the present invention;

FIG. 11 is a schematic structural diagram of the positioning server of the present invention;

Fig. 12 is a schematic structural diagram of another device to be positioned according to the present invention;

FIG. 13 is a schematic structural diagram of another positioning server of the present invention;

Fig. 14 is a schematic diagram of the device structure of the device to be positioned according to the present invention;

Fig. 15 is a schematic diagram of another device to be positioned according to the present invention;

FIG. 16 is a schematic diagram of the equipment structure of the positioning server of the present invention;

Fig. 17 is a schematic diagram of the device structure of another device to be positioned according to the present invention

FIG. 18 is a schematic structural diagram of another location server according to the present invention;

FIG. 19 is a schematic structural diagram of Embodiment 1 of the indoor positioning system of the present invention;

FIG. 20 is a schematic structural diagram of Embodiment 2 of the indoor positioning system of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

The device to be positioned involved in the embodiment of the present invention is a device equipped with a speaker, a microphone, and a direction sensor. The device can be a mobile terminal such as a smart phone or a tablet computer, or it can be glasses, a watch, a wristband, a necklace, a ring, etc. form of wearable computing devices.

The spatial detection sound signals involved in the embodiments of the present invention are all obtained by using the specific generation method in step 101 .

Fig. 1 is a flowchart of Embodiment 1 of the indoor positioning method of the present invention. As shown in Fig. 1, the method of this embodiment may include:

Step 101 , the indoor device to be positioned plays a space detection sound signal, and simultaneously performs recording to obtain an echo signal of the space detection sound signal.

Wherein, the space detection sound signal is generated once and stored in the device to be positioned in advance. That is, after the device to be positioned generates the spatial detection sound signal, it is stored in the device to be positioned, so that the same spatial detection sound signal can be used later when establishing an echo fingerprint library and calculating echo feature vectors to be matched at different points. The specific generation method can be as follows: First, select a random sequence Ran _tx with a length of Len _tx (for example, Len _tx = 1000), and the random sequence can be a sequence with better autocorrelation characteristics such as an M sequence and a Gold sequence (when two sequences When it is just aligned, the autocorrelation function has the maximum peak value, and when it is offset, the correlation function curve quickly drops and obtains a small value close to 0); use the random sequence Ran _tx to perform frequency or phase modulation on the fundamental frequency f _c to obtain the transmission sequence Sep _tx to obtain the spatial detection sound signal (about 0.5s).

Wherein, the echo signal is obtained by reflecting the space detection sound signal indoors.

Step 102, the device to be located obtains the corresponding echo feature vector to be matched according to the space detection sound signal and the echo signal, and the multiple echo fingerprints are obtained according to the posture identification used to represent the current device posture of the device to be positioned Determine the target echo fingerprint library in the library, and determine the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and use the reference point in the room corresponding to the echo feature vector as The current location of the device to be located.

Wherein, the device to be positioned is stored with a plurality of echo fingerprint databases, and each echo fingerprint database is in one-to-one correspondence with a posture identifier used to represent the posture of the device to be positioned, and the posture of the device is determined by the posture of the device to be positioned. The three dimensions of azimuth, pitch angle and roll angle are jointly represented; each echo fingerprint library includes multiple echo feature vectors, and each echo feature vector in each echo fingerprint library corresponds to multiple reference points in the room The reference point is a reference position set in advance in the room, and each echo feature vector in each echo fingerprint library is obtained according to the played spatial detection sound signal and recording when the device to be positioned is at the corresponding reference point obtained from the echo signal of the space detection sound signal.

Specifically, the value range of the azimuth angle is [0,360], the value range of the pitch angle is [-180,180], and the value range of the roll angle is [-90,90]. The equipment attitude is jointly represented by these three dimensions, Determine the attitude identifier according to the attitude of the device, and you can choose any of the following two methods:

Method 1. The specific angle value corresponding to the three dimensions of the device posture is used as its corresponding posture identification. For example, the device posture is (30, -60, 45) and the corresponding posture identification is (30, -60, 45).

Method 2: Divide the value ranges of the three dimensions of azimuth, pitch, and roll into different intervals, each interval corresponds to a number, and the interval number combinations corresponding to the three-dimensional angles of the equipment attitude form its For the corresponding attitude identification, for example, the azimuth (0~360) can be divided into A intervals, each interval number (1~A), and the pitch angle (-180~180) can be divided into B intervals, each interval number ( 1～B), the roll angle (-90～90) is divided into C intervals, and each interval is numbered (1～C), that is, the equipment posture has A×B×C combinations, and Ori(a,b,c) can be used Uniquely identify a device pose, where a∈[1,A],b∈[1,B],c∈[1,C].

Wherein, the device to be positioned obtains the corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal, specifically, the device to be positioned combines the echo sequence Seq _rx in the echo signal with the The transmission sequence Seq _tx in the above-mentioned space detection sound signal is carried out correlation operation and takes the absolute value to obtain the cross-correlation sequence R, and the specific R is:

Among them, each item of R is the absolute value of the sum of the shift multiplication of the two sequences, which can be specifically:

Wherein, len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , and Len _tx is the length of Seq _tx ;

Intercept the cross-correlation sequence R' of the effective echo part starting from I _start in the cross-correlation sequence R, wherein R' is specifically:

Among them, I _start is the index at which R takes the maximum value. Since the time domain time corresponding to I _start may be the time when the playback space detection sound signal ends and the echo signal starts to coincide, so the R after I _start is selected here as the effective echo Part of the cross-correlation sequence R', according to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV, specifically:

EV＝(echoE ₁ ,echoE ₂ ,...,echoE _M ) (4)

Wherein, according to the cross-correlation sequence R', the average echo energy of M distance intervals is calculated respectively, and the echo feature vector EV is obtained. Specifically, the echo feature vector measurement range (d _min , d _max1 ) and the resolution rate Δd, due to Then M distance intervals can be obtained.

Wherein, for the distance interval D _i =(d _i ,d _i+1 ), the position index of d _i is obtained according to formula (5).

The d _i+1 position index is obtained according to formula (6).

Among them, f _s is the sampling frequency, and f _sound is the propagation speed of sound in the air.

The average energy of the echo in the distance interval D _i =(d _i , d _i+1 ) is echoE _i , which can be calculated according to formula (7).

According to the formula (7), the echo average energy of the corresponding distance intervals when i=1, 2, . . . , M are respectively calculated to obtain the echo feature vector EV.

Wherein, the recording is performed to obtain the echo signal, specifically, the recording is performed until the time of delaying at least Δt after the end of the playback; wherein, Δt needs to meet the following conditions:

Δt＞t _A t _A ＝d _max 2/f _sound (8)

Among them, d _max is the farthest distance that the space detection sound signal can travel back to the echo signal, and f _sound is the propagation speed of sound in the air.

Further, the determining the echo feature vector that matches the echo feature vector to be matched in the target echo fingerprint library may specifically be: combining the echo feature vector to be matched with each echo feature in the target echo fingerprint library The similarity calculation is performed on the vectors, and the echo feature vector that is the closest to the result is used as the echo feature vector that matches the echo feature vector to be matched.

In this embodiment, the device to be positioned indoors plays the space detection sound signal and simultaneously performs recording to obtain the echo signal of the space detection sound signal, and the device to be positioned obtains the sound signal according to the space detection sound signal and the echo signal. For the corresponding echo feature vector to be matched, determine the target echo fingerprint library in multiple echo fingerprint libraries according to the posture identifier used to represent the current device posture of the device to be positioned, and determine the target echo fingerprint library that matches the target echo fingerprint library. The echo feature vector matched with the echo feature vector, and the indoor reference point corresponding to the echo feature vector is used as the current position of the device to be positioned, so that when the device is positioned indoors, it does not need to be arranged indoors For additional auxiliary equipment, using the indoor positioning method of this embodiment is low in cost, good in practicability, and easy to popularize.

A specific embodiment is used below to describe the technical solution of the method embodiment shown in FIG. 1 in detail. Fig. 2 is a flow chart of Embodiment 2 of the indoor positioning method of the present invention. As shown in Fig. 2, the method of this embodiment may include:

S201: Offline measurement phase, that is, establishing multiple echo fingerprint libraries stored in the device to be positioned.

At each reference point in the room, by measuring the echo eigenvector of a certain reference point of the device to be positioned in a device attitude for many times, taking the average value as the echo eigenvector of the reference point in the device attitude, the The echo feature vectors of each reference point under the device attitude form a set as the echo fingerprint database under the equipment attitude, and the echo fingerprint databases under different equipment attitudes are pre-stored in the device to be positioned. The specific steps may include:

a. Divide the room into N location areas, and define the center point of the location area as a reference point;

That is, there are N reference points in the room.

b. At each reference point, for a specific equipment attitude, collect the echo signal of the space detection sound signal multiple times;

The device attitude of the device to be positioned can be jointly represented by the three dimensions of azimuth, pitch and roll. In order to reduce the collection workload of the echo fingerprint database, in this embodiment, the azimuth (0-360) can be divided into A intervals, the pitch angle (-180-180) can be divided into B intervals, and the roll angle (-90-90) can be divided into B intervals. There are C intervals, that is, the device posture has A×B×C combinations, and Ori(a,b,c) can be used to uniquely identify a device posture, where a∈[1,A],b∈[1,B] ,c∈[1,C].

c. Calculate the echo feature vector according to the space detection sound signal and the echo signal, and take the average value of multiple measurements as the echo feature vector of the reference point, wherein the calculation method of the echo feature vector can adopt the specific steps of steps a to f in S202 ;

d. Under a device attitude, define the echo feature vector set of different reference points as the echo fingerprint library under the device attitude; for example, the echo fingerprint library whose attitude is identified as Ori(a,b,c) is represented as FB _{Ori (a,b,c)} , the echo fingerprint library is specifically:

Among them, L ₁ is the identification of reference point 1, similarly L ₂ ... L _N is the identification of different reference points, M is the dimension of the echo feature vector, is the feature vector of the reference point L ₁ , the echo fingerprint library FB _Ori(a,b,c) contains the echo feature vectors of all reference points under the device attitude identifier Ori(a,b,c).

According to steps a to d in S201, the echo fingerprint databases corresponding to different device postures are calculated. Each echo fingerprint database corresponds to the device posture of the device to be positioned one by one. Each echo fingerprint database includes multiple echo feature vectors. Each echo feature vector One-to-one correspondence with multiple reference points in the room, and store the calculated multiple echo fingerprint libraries in the device to be positioned.

S202: In the online determination stage, the echo feature vector to be matched is obtained for the device to be located. Specifically, the echo feature vector to be matched can be obtained by the following steps of calculating the echo feature vector.

a. Collect the echo signal of the space detection sound signal: the indoor device to be positioned plays the space detection sound signal through the loudspeaker, and starts recording at the same time as the playback, until the end of the playback is delayed by at least Δt time, and the recording is ended to obtain the echo signal , where, Δt>t _A , t _A =d _max 2/f _sound , d _max is the farthest distance that the spatial detection sound signal can travel back to the echo signal, f _sound is the propagation speed of the sound in the air, and to be located The volume of the space detection sound signal played by the device is the same as the volume during the offline measurement stage in S201, and the echo signal and the audio file of the space detection sound signal are uniformly used for recording to obtain the sampling frequency f _s .

Wherein, the spatial detection sound signal is generated once and stored in the device to be positioned in advance. The specific generation method is the same as the method used in step 101, and will not be repeated here.

b. Extract the echo feature vector:

The device to be positioned performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal to obtain an absolute value to obtain a cross-correlation sequence R. The specific form of R is shown in formula (1), where R Each item of is shown in formula (2).

c. Find the echo starting point index I _start from the cross-correlation sequence R, where I _start is the index at which R takes the maximum value, as shown in formula (10).

d. Intercept the cross-correlation sequence R' of the effective echo part starting from I _start from the cross-correlation sequence R, where R' is specifically formula (11).

Specifically, since I _start is the index at which R takes the maximum value, the time domain time corresponding to I _start may be the time when the end of playing the space detection sound signal coincides with the start of receiving the echo signal, so the R after I _start is selected here as an effective The cross-correlation sequence R' of the echo section.

e. Select the echo feature vector measurement range (d _min , d _max1 ) and resolution Δd, then M distance intervals can be obtained according to formula (12).

f. Calculate the average energy of the echo in different distance intervals to obtain the echo feature vector. Specifically, for the distance interval D _i =(d _i ,d _i+1 ), where d _i+1 =d _i +Δd, according to the formula (5) Obtain the position index of d _i , and obtain the position index of d _i+1 according to the formula (6); calculate the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) according to the formula (7) as echoE _i ;

Calculate the average echo energy of all distance intervals in the measurement range (d _min ,d _max1 ) according to the above method, that is, calculate the average echo energy of M distance intervals respectively, and obtain the echo feature vector EV=(echoE ₁ ,echoE ₂ ,... , echo E _M ).

S203. Echo fingerprint library similarity matching, that is, determine the echo feature vector that matches the echo feature vector to be matched in the echo fingerprint library stored in the device to be positioned, and use the indoor reference point corresponding to the echo feature vector as the pending The current location of the bit device, the specific process can be obtained by the following steps:

a. Obtain the device posture of the current device to be positioned through the direction sensor, for example, the current device posture is identified as Ori(a,b,c), so as to determine the use of the echo fingerprint library FB _Ori(a,b,c) stored in the device to be positioned , set the target echo fingerprint bank to FB _Ori(a,b,c) .

b. Carry out similarity calculation (Euclidean distance, cosine angle, etc.) between the echo feature vector EV to be matched obtained in S202 and the echo feature vectors of each reference point in FB _{Ori (a, b, c)} , and the result is the closest The echo feature vector of is used as the echo feature vector matched with the echo feature vector to be matched, and the reference point corresponding to the feature vector is taken as the result of this positioning.

For example, Euclidean distance is used to perform similarity calculation as formula (13), and the positioning result L is obtained according to formula (14).

In this embodiment, through the offline measurement stage, multiple echo fingerprint libraries stored in the device to be positioned are established, and then, when the device to be positioned indoors needs to be positioned, through the online determination stage, according to the spatial detection sound signal and the spatial detection The echo signal of the sound signal obtains the echo eigenvector to be matched, and performs similarity matching between the echo eigenvector to be matched and the eigenvector in the target echo fingerprint library, so as to obtain the result of this positioning, wherein the target echo fingerprint library is based on the target echo fingerprint database. Determined by the gesture identification, and the feature vector stored in the echo fingerprint library in the device to be positioned and the echo feature vector to be matched in the online determination stage are all calculated according to the spatial detection sound signal and the echo signal of the space detection sound signal. The cross-correlation sequence of the effective echo part is taken, and the average energy of the echo is calculated according to the cross-correlation sequence to obtain the echo feature vector. The indoor positioning method of this embodiment does not need to arrange additional auxiliary equipment indoors, is easy to popularize, and has low requirements for equipment, and because the spatial detection sound signal adopts a sequence with strong autocorrelation characteristics, the indoor positioning method of this embodiment has relatively high performance. Strong anti-noise interference ability, can effectively distinguish the echo and background noise in daily life, so that it can realize the active detection of spatial environment characteristics for positioning by using sound wave reflection.

Fig. 3 is a flow chart of the third embodiment of the indoor positioning method of the present invention. As shown in Fig. 3, the difference between this embodiment and the embodiment shown in Fig. 1 is that a positioning server is set during the positioning process, and multiple echo fingerprint databases are stored in the positioning server , the echo feature vector to be matched is acquired by the device to be positioned and sent to the positioning server, and the positioning server locates the device to be positioned. The execution subject of this embodiment is the device to be positioned. The method of this embodiment may include:

Step 301, the indoor device to be positioned plays the space detection sound signal, and simultaneously records to obtain the echo signal of the space detection sound signal; obtains the corresponding echo feature vector to be matched according to the space detection sound signal and the echo signal , and determine an attitude identifier of the device to be positioned, where the attitude identifier is used to represent the current posture of the device to be positioned.

The attitude of the device is jointly represented by the three dimensions of the azimuth angle, pitch angle and roll angle of the device to be positioned.

Wherein, the spatial detection sound signal may be generated by the generation method in step 101 and stored in the device to be positioned, and the spatial detection sound signal has a strong autocorrelation characteristic. The echo signal is obtained by reflecting the space detection sound signal indoors.

Specifically, the value range of the azimuth angle is [0,360], the value range of the pitch angle is [-180,180], and the value range of the roll angle is [-90,90]. The equipment attitude is jointly represented by these three dimensions, Determine the attitude identifier according to the attitude of the device, and you can choose any of the following two methods:

Method 1. The specific angle value corresponding to the three dimensions of the device posture is used as its corresponding posture identification. For example, the device posture is (30, -60, 45) and the corresponding posture identification is (30, -60, 45).

Method 2: Divide the value ranges of the three dimensions of azimuth, pitch, and roll into different intervals, each interval corresponds to a number, and the interval number combinations corresponding to the three-dimensional angles of the equipment attitude form its For the corresponding attitude identification, for example, the azimuth (0~360) can be divided into A intervals, each interval number (1~A), and the pitch angle (-180~180) can be divided into B intervals, each interval number ( 1～B), the roll angle (-90～90) is divided into C intervals, and each interval is numbered (1～C), that is, the equipment posture has A×B×C combinations, and Ori(a,b,c) can be used Uniquely identify a device pose, where a∈[1,A],b∈[1,B],c∈[1,C].

Step 302. The device to be positioned sends a positioning request to a positioning server, and the positioning request includes the echo feature vector to be matched and the gesture identifier, so that the positioning server can identify multiple echo fingerprints according to the gesture identifier. The target echo fingerprint library is determined in the library, the echo feature vector matching the echo feature vector to be matched is determined in the target echo fingerprint library, and the reference point in the room corresponding to the echo feature vector is used as the reference point. Describe the current location of the device to be located.

Step 303: Receive a positioning result including the current position returned by the positioning server.

Wherein, a plurality of echo fingerprint databases are stored in the positioning server, and each echo fingerprint database is in one-to-one correspondence with the gesture identification of the device to be positioned, and the target echo fingerprint database is generated by the positioning server according to the position identification of the device to be positioned. The attitude identification sent is determined; each echo fingerprint library includes a plurality of echo feature vectors, and each echo feature vector is in one-to-one correspondence with a plurality of reference points in the room; each echo feature vector is determined by the device to be positioned When it is at the corresponding reference point, it is obtained according to the space detection sound signal and the echo signal here. The device to be positioned obtains the echo feature vector of each reference point corresponding to a posture identifier, and the posture identifier and the posture identifier The echo feature vectors identifying the corresponding reference points are sent to the positioning server, and the positioning server establishes an echo fingerprint database.

Wherein, the acquisition of the corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal may be that the device to be positioned combines the echo sequence Seq _rx in the echo signal with the spatial detection sound The transmission sequence Seq _tx in the signal is correlated to take the absolute value to obtain the cross-correlation sequence R, R is specifically formula (1), where each item of R is the absolute value of the sum of the shift multiplication of the two sequences, the specific formula Be formula (2); Intercept the cross-correlation sequence R' of the effective echo part starting from I _start in described cross-correlation sequence R, wherein, R' is specifically formula (3), and I _start is that R gets the maximum value Index; according to the cross-correlation sequence R', respectively calculate the average echo energy of M distance intervals to obtain the echo feature vector EV, EV can refer to formula (4) for details.

Further, according to the cross-correlation sequence R', respectively calculate the average echo energy of M distance intervals to obtain the echo feature vector EV, specifically, for the distance interval D _i =(d _i , d _i+1 ) , get the position index of d _i according to formula (5), and get the position index of d _i+1 according to formula (6); among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; calculated according to formula (7) Distance interval D _i = (d _i , d _i+1 ) average echo energy echoE _i ; i=1, 2, .

Further, the recording to obtain the echo signal may specifically be recording, and delaying at least Δt after the end of the playback; where Δt needs to meet the conditions shown in formula (8).

In this embodiment, the indoor device to be positioned plays a space detection sound signal, and simultaneously performs recording to obtain an echo signal of the space detection sound signal; obtains the corresponding echo feature to be matched according to the space detection sound signal and the echo signal vector, and determine the corresponding posture identifier according to the current device posture of the device to be positioned; the device to be positioned sends a positioning request to the positioning server, and the positioning request includes the echo feature vector to be matched and the posture identifier, for the positioning server to determine a target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, determine an echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and set The reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned; and the positioning result including the current position returned by the positioning server is received. In this way, when performing indoor positioning of the equipment, the echo signal is obtained by playing the spatial detection sound signal, and the acoustic wave reflection is used to actively detect the characteristics of the space environment for positioning. The indoor positioning method of this embodiment is low in cost, good in practicability, and easy to popularize.

Fig. 4 is a flow chart of Embodiment 4 of the indoor positioning method of the present invention. As shown in Fig. 4, the difference between this embodiment and the embodiment shown in Fig. 1 is that a positioning server is set during the positioning process, and multiple echo fingerprint databases are stored in the positioning server The echo feature vector to be matched is acquired by the device to be positioned and sent to the positioning server, and the positioning server locates the device to be positioned. The execution subject of this embodiment is the positioning server. The method of this embodiment may include:

Step 401, the positioning server receives the positioning request sent by the device to be positioned indoors, and the positioning request includes the echo feature vector to be matched and the posture identifier; wherein, the echo feature vector to be matched is the space played by the device to be positioned Detect the sound signal, and record at the same time to obtain the echo signal of the space detection sound signal, and obtain it according to the space detection sound signal and the echo signal; the attitude identification is determined by the device to be positioned, so The posture identifier is used to represent the current device posture of the device to be positioned.

Wherein, the device posture is jointly represented by the three dimensions of the azimuth, pitch angle and roll angle of the device to be positioned. For a specific method of determining the posture identifier according to the device posture, please refer to step 101 according to the device posture Determine the posture identification method 1 and method 2. The device to be positioned determines the pose identifier according to the pose of the device.

The positioning server may be a cloud server, which has functions of storage, calculation and processing, and wireless communication.

Step 402, the positioning server determines a target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identifier, determines an echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and The reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned.

Step 403, the positioning server sends a positioning result including the current position to the device to be positioned.

Wherein, a plurality of echo fingerprint databases are stored in the positioning server, and each echo fingerprint database is in one-to-one correspondence with the posture identification of the device to be positioned, and the target echo fingerprint database is determined according to the posture identification; each echo fingerprint database Each library includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint library is in one-to-one correspondence with a plurality of reference points in the room; the reference points are pre-set reference positions in the room. Each echo eigenvector in each echo fingerprint library is obtained and sent to the positioning server according to the echo signal of the spatial detection sound signal obtained by playing the spatial detection sound signal and recording when the device to be positioned is at the corresponding reference point of.

Further, the echo feature vector to be matched is obtained from the spatial detection sound signal and the echo signal after the device to be positioned plays the spatial detection sound signal and simultaneously records the echo signal, and may specifically be , performing a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and taking the absolute value to obtain a cross-correlation sequence R, wherein each item in R is the shift of two sequences The absolute value of the sum of bit multiplication, specifically can refer to formula (2); Intercept the cross-correlation sequence R' of the effective echo part starting from I _start in described cross-correlation sequence R, wherein, R' specifically see formula ( 3), I _start is the index of the maximum value of R; according to the cross-correlation sequence R', the average echo energy of M distance intervals is calculated respectively, and the echo feature vector EV is obtained. For EV, see formula (4) for details.

Wherein, according to the cross-correlation sequence R', the average echo energy of M distance intervals is calculated respectively, and the echo feature vector EV is obtained. Specifically, for the distance interval D _i =(d _i , d _i+1 ), The position index of d _i is obtained according to formula (5), and the position index of d _i+1 is obtained according to formula (6); the distance interval D _i = (d _i , d _i+1 ) is calculated according to formula (7) to obtain the distance interval Echo average energy echoE _i ; respectively calculate the echo average energy of the M distance intervals to obtain the echo feature vector EV.

Further, the recording to obtain the echo signal may specifically be recording until at least a delay of Δt after the end of playback; where Δt needs to satisfy the condition of formula (8).

Further, the determining the echo feature vector that matches the echo feature vector to be matched in the target echo fingerprint library may specifically be: combining the echo feature vector to be matched with each echo feature in the target echo fingerprint library The similarity calculation is performed on the vectors, and the echo feature vector that is the closest to the result is used as the echo feature vector that matches the echo feature vector to be matched.

In this embodiment, the positioning server receives a positioning request sent by a device to be positioned indoors, and the positioning request includes an echo feature vector to be matched and a posture identifier; wherein, the echo feature vector to be matched is obtained from the device to be positioned After playing the space detection sound signal and recording at the same time to obtain the echo signal of the space detection sound signal, it is obtained according to the echo signal; the posture identification is determined by the device to be positioned according to the current device posture . The positioning server determines the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and uses the indoor reference point corresponding to the echo feature vector as the current location of the device to be positioned. Location. The positioning server sends a positioning result including the current position to the device to be positioned. Therefore, when the device to be positioned sends a positioning request, the device to be positioned is positioned according to the echo feature vector in the positioning request, and the indoor positioning method of this embodiment is low in cost, good in practicability, and easy to popularize.

Fig. 5 is a flow chart of Embodiment 5 of the indoor positioning method of the present invention. As shown in Fig. 5, this embodiment includes a device to be positioned and a positioning server, and the method of this embodiment may include:

S501: The device to be positioned calculates an echo feature vector, and sends echo feature vectors corresponding to different device postures at different reference points to the positioning server.

Specifically, at each reference point in the room, the device to be positioned calculates the echo feature vector of a certain reference point of the device to be positioned at a device posture through multiple measurements, and takes the average value as the reference point at the device posture. The echo feature vector of , and send the echo feature vector to the positioning server.

Specific steps can include:

a. Divide the room into N location areas, and define the center point of the location area as a reference point;

That is, there are N reference points in the room.

b. The equipment to be positioned is at each reference point, and for a specific equipment attitude, collect the echo signal of the space detection sound signal multiple times;

The device attitude of the device to be positioned can be jointly represented by the three dimensions of azimuth, pitch and roll. In order to reduce the collection workload of the echo fingerprint database, in this embodiment, the azimuth (0-360) can be divided into A intervals, the pitch angle (-180-180) can be divided into B intervals, and the roll angle (-90-90) can be divided into B intervals. There are C intervals, that is, the device posture has A×B×C combinations, and Ori(a,b,c) can be used to uniquely identify a device posture, where a∈[1,A],b∈[1,B] ,c∈[1,C].

c. The device to be positioned calculates the echo feature vector according to the space detection sound signal and the echo signal, takes the average value of multiple measurements as the echo feature vector of the reference point, and sends it to the positioning server, wherein the echo feature vector can be calculated using S202 The specific steps of step a to step f in the above.

The device to be positioned calculates echo feature vectors corresponding to different device postures at different reference points according to steps a to c in S501, and sends them to the positioning server.

S502: The positioning server sets the echo feature vectors of each reference point in one device posture as an echo fingerprint library in one device posture, and pre-stores the echo fingerprint libraries in different device postures in the positioning server.

Specifically, the positioning server defines the set of echo feature vectors of different reference points under a device posture as the echo fingerprint library under the device posture; for example, the echo fingerprint library with the posture ID Ori(a,b,c) represents is FB _Ori(a,b,c) , the echo fingerprint library is specifically:

Among them, L ₁ is the identification of reference point 1, similarly L ₂ ... L _N is the identification of different reference points, M is the dimension of the echo feature vector, is the feature vector of the reference point L ₁ , the echo fingerprint library FB _Ori(a,b,c) contains the echo feature vectors of all reference points under the device posture Ori(a,b,c).

The positioning server establishes echo fingerprint databases corresponding to different device postures. Each echo fingerprint database corresponds to the device posture of the device to be positioned. Each echo fingerprint database includes multiple echo feature vectors, and each echo feature vector corresponds to multiple indoor references One-to-one correspondence.

S503: The indoor device to be positioned sends a positioning request to a positioning server, where the positioning request includes the echo feature vector to be matched and the gesture identifier.

Specifically, the device to be located may use the steps of calculating the echo feature vector in steps a to f in S202 to obtain the feature vector to be matched. At the same time, the device to be positioned obtains the device posture of the device to be positioned through the direction sensor. And send the to-be-matched echo feature vector EV and the posture identifier Ori(a, b, c) to the positioning server.

S504: The positioning server determines the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint database, and uses the indoor reference point corresponding to the echo feature vector as the current location of the device to be positioned. Location.

The positioning server obtains the echo fingerprint database FB Ori(a,b,c) corresponding to the posture identifier according to the posture identifier _Ori(a,b,c) , and uses FB _Ori(a,b,c) as the target echo fingerprint database, and locates The server calculates the similarity (Euclidean distance, cosine angle, etc.) between the received echo feature vector EV and the echo feature vectors of each reference point in FB _Ori(a,b,c) , and calculates the closest echo The feature vector is used as the echo feature vector matched with the echo feature vector to be matched, and the reference point corresponding to the feature vector is taken as the result of this positioning.

For example, Euclidean distance is used to perform similarity calculation as formula (13), and the positioning result L is obtained according to formula (14).

S505: The positioning server returns a positioning result L including the current position to the device to be positioned.

In this embodiment, by storing multiple echo fingerprint libraries in the positioning server, when the indoor device to be positioned needs to be positioned, the device to be positioned sends a positioning request to the positioning server, and the positioning request includes the echo feature vector to be matched and the The attitude identification of the attitude determination, the positioning server obtains the corresponding target echo fingerprint library according to the attitude identification, performs similarity matching between the feature vector to be matched and the feature vector in the target echo fingerprint library, and determines that it matches the echo feature vector to be matched The echo feature vector of the echo feature vector is used as the current position of the device to be positioned as the reference point in the room corresponding to the echo feature vector, and a positioning result including the current position is returned to the device to be positioned. The indoor positioning method of this embodiment does not require additional auxiliary equipment, is easy to popularize, and has low requirements for equipment, and because the spatial detection sound signal adopts a sequence with strong autocorrelation characteristics, the indoor positioning method of this embodiment has strong anti-correlation characteristics. The ability to interfere with noise can effectively distinguish between echoes and background noise in daily life, so that the use of sound wave reflection to actively detect the characteristics of the space environment for positioning.

Fig. 6 is a flow chart of Embodiment 6 of the indoor positioning method of the present invention. As shown in Fig. 6, the difference between this embodiment and the embodiment shown in Fig. 1 is that a positioning server is set during the positioning process, and the device to be positioned will include the spatial detection sound The signal, the echo signal, and the positioning request of the device posture identifier are sent to the positioning server, and the positioning server obtains the echo feature vector to be matched, and locates the device to be positioned. The execution subject of this embodiment is the device to be positioned. The method of this embodiment may include :

Step 601: The indoor device to be positioned plays a space detection sound signal, and at the same time performs recording to obtain an echo signal of the space detection sound signal; The current device attitude of the bit device.

Wherein, the posture of the device is jointly represented by the three dimensions of the azimuth, pitch and roll of the device to be positioned;

Step 602, the device to be positioned sends a positioning request to a positioning server, and the positioning request includes the space detection sound signal, the echo signal and the gesture identification, for the positioning server to use the space detection sound After the signal and the echo signal obtain the corresponding echo feature vector to be matched, determine the target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, and determine the echo feature vector to be matched in the target echo fingerprint library. The echo feature vector matched with the echo feature vector, and the reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned.

Wherein, the reference point is a reference position pre-set in the indoor.

Step 603: Receive a positioning result including the current position returned by the positioning server.

Wherein, a plurality of echo fingerprint databases are stored in the positioning server, and each echo fingerprint database is in one-to-one correspondence with the posture identification of the device to be positioned, and the target echo fingerprint database is determined according to the posture identification; each echo fingerprint database Each library includes a plurality of echo feature vectors, and each echo feature vector is in one-to-one correspondence with multiple reference points in the room; each echo feature vector is based on the spatial detection here when the device to be positioned is at the corresponding reference point. Acquired by sound signal and echo signal.

Wherein, the acquisition of the corresponding echo feature vector to be matched by the positioning server according to the echo signal may be specifically, performing a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the spatial detection sound signal to obtain The absolute value obtains the cross-correlation sequence R, and R is specifically formula (1), wherein each item of R is the absolute value of the sum of the displacement multiplication of two sequences, and the specific formula is formula (2); in the cross-correlation Intercept the cross-correlation sequence R' of the effective echo part starting from I _start in the sequence R, wherein, R' is specifically formula (3), and I _start is the index of R taking the maximum value; according to the cross-correlation sequence R', Calculate the average echo energy of the M distance intervals respectively to obtain the echo feature vector EV. For details of EV, refer to formula (4).

Further, according to the cross-correlation sequence R', respectively calculate the average echo energy of M distance intervals to obtain the echo feature vector EV, specifically, for the distance interval D _i =(d _i , d _i+1 ) , get the position index of d _i according to formula (5), and get the position index of d _i+1 according to formula (6); among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; calculated according to formula (7) The average echo energy echoE _i of the distance interval D _i =(d _i , d _i+1 ); the average echo energy of the M distance intervals is calculated respectively to obtain the echo feature vector EV.

Further, the recording by the device to be positioned to obtain the echo signal may specifically be recording until the end of playback and delaying at least Δt; where Δt needs to meet the conditions shown in formula (8).

Further, the positioning server determines the echo feature vector that matches the echo feature vector to be matched in the target echo fingerprint library. Specifically, the echo feature vector to be matched can be compared with each echo feature vector in the target echo fingerprint library. The similarity calculation is performed on the feature vectors, and the echo feature vector that is the closest to the result is used as the echo feature vector that matches the echo feature vector to be matched.

Wherein, the similarity calculation may adopt methods such as the Euclidean distance method, the included angle cosine method, and the like.

In this embodiment, the indoor device to be positioned plays the space detection sound signal, and at the same time performs recording to obtain the echo signal of the space detection sound signal, and determines the corresponding posture identifier according to the current device posture of the device to be positioned, and then provides positioning The server sends a positioning request, and the positioning request includes the space detection sound signal, the echo signal and the device posture identifier, so that the positioning server obtains the corresponding echo feature vector to be matched according to the echo signal, and then according to the The posture identification determines a target echo fingerprint library in a plurality of echo fingerprint libraries, determines an echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and sets the echo feature vector corresponding to The indoor reference point is used as the current position of the device to be positioned, and then the positioning result including the current position returned by the positioning server is received. In this way, when performing indoor positioning of the equipment, the echo signal is obtained by playing the spatial detection sound signal, and the acoustic wave reflection is used to actively detect the characteristics of the space environment for positioning. The indoor positioning method of this embodiment is low in cost, good in practicability, and easy to popularize.

Fig. 7 is a flow chart of Embodiment 7 of the indoor positioning method of the present invention. As shown in Fig. 7, the difference between this embodiment and the embodiment shown in Fig. 1 is that a positioning server is set during the positioning process, and the device to be positioned will include the spatial detection sound The positioning request of the signal, the echo signal, and the posture identification of the device is sent to the positioning server, and the positioning server obtains the echo feature vector to be matched, and locates the positioning device. The execution subject of this embodiment is the positioning server. The method of this embodiment may include :

Step 701, the positioning server receives a positioning request sent by the device to be positioned indoors, the positioning request includes a space detection sound signal, an echo signal, and a posture indicator; wherein, the echo signal is played by the device to be positioned The echo signal of the space detection sound signal obtained by recording the space detection sound signal at the same time, the posture identifier is determined by the device to be positioned, and the posture identifier is used to indicate the current device of the device to be positioned attitude.

Wherein, the posture of the device is jointly represented by the three dimensions of the azimuth, pitch and roll of the device to be positioned;

Step 702, the positioning server obtains the corresponding echo feature vector to be matched according to the space detection sound signal and the echo signal, and determines the target echo fingerprint library in multiple echo fingerprint libraries according to the posture identification, and in the Determine the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and use the reference point in the room corresponding to the echo feature vector as the current position of the device to be positioned.

Step 703, the positioning server sends a positioning result including the current position to the device to be positioned.

Wherein, a plurality of echo fingerprint databases are stored in the positioning server, and each echo fingerprint database is in one-to-one correspondence with the posture identification; each echo fingerprint database includes a plurality of echo feature vectors, and each echo fingerprint database in each echo fingerprint database The feature vectors are in one-to-one correspondence with a plurality of reference points in the room; the reference points are preset reference positions in the room, and each echo feature vector in each echo fingerprint library is the corresponding location of the device to be positioned. When the reference point is on, the space detection sound signal played here and the echo signal of the space detection sound signal obtained by recording are sent to the positioning server, and are obtained by the positioning server.

The method used by the positioning server to obtain the echo feature vector corresponding to the reference point according to the spatial detection sound signal and the echo signal of the space detection sound signal when the device to be positioned is at the corresponding reference point can refer to the following according to the space A step of acquiring the corresponding echo feature vector to be matched by detecting the sound signal and the echo signal.

Further, the acquisition of the corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal may be specifically, combining the echo sequence Seq _rx in the echo signal with the sending Sequence Seq _tx carries out the correlation operation and takes the absolute value to obtain the cross-correlation sequence R, and R is specifically formula (1), wherein each item of R is the absolute value of the sum of shift multiplication of two sequences, and the specific formula is formula (2 ); In the cross-correlation sequence R, intercept the cross-correlation sequence R' of the effective echo part starting from I _start , wherein, R' is specifically formula (3), and I _start is the index that R gets the maximum value; According to the The cross-correlation sequence R' is used to calculate the average echo energy of M distance intervals to obtain the echo feature vector EV. For details of EV, refer to formula (4).

Further, according to the cross-correlation sequence R', respectively calculate the average echo energy of M distance intervals to obtain the echo feature vector EV, specifically, for the distance interval D _i =(d _i , d _i+1 ) , get the position index of d _i according to formula (5), and get the position index of d _i+1 according to formula (6); among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; calculated according to formula (7) The average echo energy echoE _i of the distance interval D _i =(d _i , d _i+1 ); the average echo energy of the M distance intervals is calculated respectively to obtain the echo feature vector EV.

Further, the recording to obtain the echo signal may specifically be recording, and delaying at least Δt after the end of the playback; where Δt needs to meet the conditions shown in formula (8).

Further, the determining the echo feature vector that matches the echo feature vector to be matched in the target echo fingerprint library may specifically be: combining the echo feature vector to be matched with each echo feature in the target echo fingerprint library The similarity calculation is performed on the vectors, and the echo feature vector that is the closest to the result is used as the echo feature vector that matches the echo feature vector to be matched.

Wherein, the similarity calculation may adopt methods such as the Euclidean distance method, the included angle cosine method, and the like.

In this embodiment, the positioning server receives the positioning request sent by the device to be positioned indoors, and the positioning request includes a space detection sound signal, an echo signal, and a posture indicator; wherein, the echo signal is played according to the device to be positioned The echo signal of the space detection sound signal is obtained by simultaneously recording the space detection sound signal, and the posture identifier is determined according to the current device posture of the device to be positioned. The positioning server obtains the corresponding echo feature vector to be matched according to the space detection sound signal and the echo signal, and determines the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and The indoor reference point corresponding to the echo feature vector is used as the current position of the device to be positioned, and the positioning server sends a positioning result including the current position to the device to be positioned. In this way, when performing indoor positioning of equipment, echo signals are obtained by playing space detection sound signals, and the positioning server utilizes sound wave reflection to actively detect space environment characteristics for positioning. The indoor positioning method of this embodiment is low in cost, good in practicability, and Easy to promote.

Fig. 8 is a flow chart of Embodiment 8 of the indoor positioning method of the present invention. As shown in Fig. 8, this embodiment includes a device to be positioned and a positioning server. The difference between this embodiment and Embodiment 5 is that the device to be positioned only plays space detection Acoustic signal, obtain the echo signal and determine the attitude mark according to the equipment attitude of the device to be positioned, the device to be positioned sends a positioning request to the positioning server, the positioning request contains the above information, and the positioning server detects the sound signal according to the space carried in the positioning request and The echo signal is calculated to obtain the echo feature vector to be matched, and then the positioning is completed. The method of this embodiment may include:

S801: The device to be positioned plays a space detection sound signal at a certain reference point under a device posture, and at the same time performs recording to obtain the echo signal of the space detection sound signal, and determines the corresponding posture identification according to the device posture, and sends the space detection The sound signal, the echo signal and the attitude mark are sent to the positioning server, and the positioning server calculates the echo feature vector according to the above-mentioned information using the specific steps of step a to step f in S202, and the device to be positioned performs multiple information collection at the reference point under the attitude of the device And send to the positioning server, the positioning server takes the average value after multiple calculations as the echo feature vector of the reference point under the attitude of the device.

Specific steps can include:

a. Divide the room into N location areas, and define the center point of the location area as a reference point;

That is, there are N reference points in the room.

b. The equipment to be positioned is at each reference point, and for a specific equipment attitude, collect the echo signal of the space detection sound signal multiple times;

The device attitude of the device to be positioned can be jointly represented by the three dimensions of azimuth, pitch and roll. In order to reduce the collection workload of the echo fingerprint database, in this embodiment, the azimuth (0-360) can be divided into A intervals, the pitch angle (-180-180) can be divided into B intervals, and the roll angle (-90-90) can be divided into B intervals. There are C intervals, that is, the device posture has A×B×C combinations, and Ori(a,b,c) can be used to uniquely identify a device posture, where a∈[1,A],b∈[1,B] ,c∈[1,C].

c. The device to be positioned sends the space detection sound signal, echo signal and attitude identification to the positioning server. The positioning server calculates the echo feature vector, and takes the average value of multiple measurements as the echo feature vector of the reference point. Among them, the calculation of the echo feature vector The method may adopt specific steps from step a to step f in S202.

S802: The positioning server sets the echo feature vectors of each reference point in a device posture as an echo fingerprint library in a device posture, and pre-stores the echo fingerprint libraries in different device postures in the positioning server.

Specifically, the positioning server will define the set of echo feature vectors of different reference points as an echo fingerprint database under a device posture, and a device posture corresponds to a posture identifier. Therefore, the echo fingerprint library and the posture identifier One-to-one correspondence; for example, the echo fingerprint library whose attitude is identified as Ori(a,b,c) is expressed as FB _Ori(a,b,c) , and the echo fingerprint library is specifically:

Among them, L ₁ is the identification of reference point 1, similarly L ₂ ... L _N is the identification of different reference points, M is the dimension of the echo feature vector, is the feature vector of the reference point L ₁ , the echo fingerprint library FB _Ori(a,b,c) contains the echo feature vectors of all reference points under the attitude label Ori(a,b,c).

The positioning server establishes echo fingerprint databases corresponding to different device postures. Each echo fingerprint database corresponds to the device posture of the device to be positioned. Each echo fingerprint database includes multiple echo feature vectors, and each echo feature vector corresponds to multiple indoor references One-to-one correspondence.

S803: The indoor device to be positioned sends a positioning request to the positioning server, where the positioning request includes a space detection sound signal, an echo signal, and a gesture identifier.

The indoor device to be positioned plays the space detection sound signal, and at the same time records to obtain the echo signal; and obtains the device attitude of the device to be positioned through the direction sensor, and determines the attitude mark Ori(a,b, c).

S804: The positioning server acquires an echo feature vector EV to be matched according to the positioning request.

Specifically, the positioning server may calculate the echo feature vector to be matched by using the method of step a to step f in S202 to obtain the feature vector of the echo to be matched.

S805: The positioning server determines the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and uses the indoor reference point corresponding to the echo feature vector as the current location of the device to be positioned. Location.

The positioning server obtains the echo fingerprint database FB Ori(a,b,c) corresponding to the posture identifier according to the posture identifier _Ori(a,b,c) , and uses FB _Ori(a,b,c) as the target echo fingerprint database, and locates The server calculates the similarity (Euclidean distance, cosine angle, etc.) between the echo feature vector EV to be matched and the echo feature vectors of each reference point in FB _Ori(a,b,c) , and uses the echo feature vector with the closest result as For the echo feature vector matched with the echo feature vector to be matched, the reference point corresponding to the feature vector is taken as the result of this positioning.

For example, Euclidean distance is used to perform similarity calculation as formula (13), and the positioning result L is obtained according to formula (14).

S806: The positioning server returns a positioning result L including the current position to the device to be positioned.

In this embodiment, by storing multiple echo fingerprint databases in the positioning server, when a device to be positioned indoors needs to be positioned, the device to be positioned sends a positioning request to the positioning server, and the positioning request includes a spatial detection sound signal, an echo signal and Attitude identification, the positioning server obtains the feature vector to be matched according to the space detection sound signal and the echo signal, and at the same time the positioning server obtains the target echo fingerprint database corresponding to it according to the posture identification, and combines the feature vector to be matched with the feature in the target echo fingerprint database Vector similarity matching is performed to determine the echo feature vector that matches the echo feature vector to be matched, and the reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned, and returns to the device to be positioned including The fix result for this current location. The indoor positioning method of this embodiment does not need to arrange additional auxiliary equipment indoors, is easy to popularize, and has low requirements for equipment, and because the spatial detection sound signal adopts a sequence with strong autocorrelation characteristics, the indoor positioning method of this embodiment has relatively high performance. Strong anti-noise interference ability, can effectively distinguish the echo and background noise in daily life, so that it can realize the active detection of spatial environment characteristics for positioning by using sound wave reflection.

FIG. 9 is a schematic structural diagram of a device to be positioned according to the present invention. As shown in FIG. 9 , the device to be positioned in this embodiment may include: an echo collection module 901 and a positioning module 902 . Among them, the echo collection module 901 is used for the indoor device to be positioned to play the space detection sound signal, and simultaneously record to obtain the echo signal of the space detection sound signal; the positioning module 902 is used for the device to be positioned according to the The spatial detection sound signal and the echo signal obtain the corresponding echo feature vector to be matched, and determine the target echo fingerprint library in multiple echo fingerprint libraries according to the posture identifier used to represent the current device posture of the device to be positioned, and in the Determine the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and use the reference point in the room corresponding to the echo feature vector as the current position of the device to be positioned; wherein, A plurality of echo fingerprint libraries are stored in the device to be positioned, and each echo fingerprint library is in one-to-one correspondence with a posture identifier used to indicate the posture of the device to be positioned, and the posture of the device is determined by the azimuth angle of the device to be positioned. , pitch angle and roll angle are jointly represented in three dimensions; each echo fingerprint library includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint library is in one-to-one correspondence with multiple reference points in the room; The reference point is a reference position set in advance in the room, and each echo feature vector in each echo fingerprint library is obtained according to the played spatial detection sound signal and recording when the device to be positioned is at the corresponding reference point. It is obtained by the echo signal of the above-mentioned space detection sound signal.

Further, the echo feature vector to be matched is that the device to be positioned plays the spatial detection sound signal and simultaneously performs recording to obtain the echo signal of the spatial detection sound signal, according to the spatial detection sound signal and the echo signal Acquired, specifically, performing a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal to obtain an absolute value to obtain a cross-correlation sequence R, wherein each item in R Be the absolute value of the sum of the displacement multiplication of two sequences, specifically can refer to formula (2); Intercept the cross-correlation sequence R' of the effective echo part starting from I _start in described cross-correlation sequence R, wherein, Refer to formula (3) for details of R', I _start is the index of the maximum value of R; according to the cross-correlation sequence R', the average echo energy of M distance intervals is calculated respectively, and the echo feature vector EV is obtained. For details of EV, refer to the formula (4).

Wherein, according to the cross-correlation sequence R', the average echo energy of M distance intervals is calculated respectively, and the echo feature vector EV is obtained. Specifically, for the distance interval D _i =(d _i , d _i+1 ), The position index of d _i is obtained according to formula (5), and the position index of d _i+1 is obtained according to formula (6); the distance interval D _i = (d _i , d _i+1 ) is calculated according to formula (7) to obtain the distance interval Echo average energy echoE _i ; respectively calculate the echo average energy of the M distance intervals to obtain the echo feature vector EV.

Further, the recording to obtain the echo signal may specifically be recording until at least a delay of Δt after the end of playback; where Δt needs to satisfy the condition of formula (8).

Further, the determining the echo feature vector that matches the echo feature vector to be matched in the target echo fingerprint library may specifically be: combining the echo feature vector to be matched with each echo feature in the target echo fingerprint library The similarity calculation is performed on the vectors, and the echo feature vector that is the closest to the result is used as the echo feature vector that matches the echo feature vector to be matched.

The device to be positioned in this embodiment can be used to implement the technical solution of the method embodiment shown in FIG. 1 , and its implementation principle and technical effect are similar, and will not be repeated here.

FIG. 10 is a schematic structural diagram of another device to be positioned according to the present invention. As shown in FIG. 10 , the device to be positioned in this embodiment may include: an acquisition module 101, a sending module 102, and a receiving module 103, wherein the acquisition module 101 uses Playing a space detection sound signal on a device to be positioned indoors, and recording at the same time to obtain an echo signal of the space detection sound signal; obtaining a corresponding echo feature vector to be matched according to the space detection sound signal and the echo signal, and Determining an attitude identifier of the device to be positioned, where the attitude identifier is used to represent the current posture of the device to be positioned; wherein, the posture of the device is composed of the azimuth angle, pitch angle and roll angle of the device to be positioned Joint representation of dimensions; sending module 102, configured to send a positioning request to a positioning server, wherein the positioning request includes the echo feature vector to be matched and the gesture identifier, so that the positioning server can perform multiple tasks according to the gesture identifier. Determining a target echo fingerprint library in the echo fingerprint library, determining an echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and setting the reference point in the room corresponding to the echo feature vector As the current position of the device to be positioned; the receiving module 103 is configured to receive a positioning result including the current position returned by the positioning server. Wherein, the reference point is a reference position pre-set in the indoor.

Further, the acquisition module 101 is specifically configured to perform a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the spatial detection sound signal by the device to be positioned, and obtain an absolute value to obtain a cross-correlation Sequence R, wherein each item in R is the absolute value of the sum of the displacement multiplication of two sequences, specifically can refer to formula (2); Intercept the effective echo that starts from I _start in described cross-correlation sequence R Part of the cross-correlation sequence R', wherein, R' is specifically referring to formula (3), and I _start is the index of the maximum value of R; according to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain Echo eigenvector EV, see formula (4) for details of EV.

Wherein, according to the cross-correlation sequence R', the average echo energy of M distance intervals is calculated respectively, and the echo feature vector EV is obtained. Specifically, for the distance interval D _i =(d _i , d _i+1 ), The position index of d _i is obtained according to formula (5), and the position index of d _i+1 is obtained according to formula (6); the distance interval D _i = (d _i , d _i+1 ) is calculated according to formula (7) to obtain the distance interval Echo average energy echoE _i ; respectively calculate the echo average energy of the M distance intervals to obtain the echo feature vector EV.

Further, the recording to obtain the echo signal may specifically be recording until at least a delay of Δt after the end of playback; where Δt needs to satisfy the condition of formula (8).

The device to be positioned in this embodiment can be used to execute the technical solution of the method embodiment shown in FIG. 3 , and its implementation principle and technical effect are similar, and will not be repeated here.

FIG. 11 is a schematic structural diagram of the positioning server of the present invention. As shown in FIG. 11, the positioning server of this embodiment may include: a receiving module 111, a positioning module 112, and a sending module 113, wherein the receiving module 111 is used to receive indoor pending The positioning request sent by the positioning device, the positioning request includes the echo feature vector to be matched and the gesture identification; wherein, the echo feature vector to be matched is obtained by playing a space detection sound signal and recording at the same time by the device to be positioned After the echo signal of the space detection sound signal, it is obtained according to the space detection sound signal and the echo signal; the posture identification is determined by the device to be positioned according to the current device posture; the device posture It is jointly represented by the three dimensions of the azimuth, pitch angle and roll angle of the device to be positioned; the positioning module 112 is used to determine the target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, and the target echo Determine the echo feature vector matching the echo feature vector to be matched in the fingerprint library, and use the reference point in the room corresponding to the echo feature vector as the current position of the device to be positioned; wherein, the positioning Multiple echo fingerprint databases are stored in the server, and each echo fingerprint database is in one-to-one correspondence with the posture identification. Each echo fingerprint database includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint database is related to the indoor The multiple reference points correspond one-to-one, the reference point is the reference position set in the room in advance, and each echo feature vector in each echo fingerprint library is based on the playback when the device to be positioned is at the corresponding reference point. The spatial detection sound signal and the echo signal obtained by the recording are obtained and sent to the positioning server; the sending module 113 is used to send the positioning result including the current position to the device to be positioned;

Wherein, the positioning module 112 is specifically configured to perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint library, and use the echo feature vector with the closest result as the echo feature vector to be matched. The echo eigenvector matches the echo eigenvector.

The positioning server of this embodiment can be used to execute the technical solution of the method embodiment shown in FIG. 4 , and its implementation principle and technical effect are similar, and will not be repeated here.

Fig. 12 is a schematic structural diagram of another device to be positioned according to the present invention. As shown in Fig. 12, the device to be positioned in this embodiment includes: a determining module 121, a sending module 122 and a receiving module 123, wherein the determining module 121 is used for The device to be positioned indoors plays the space detection sound signal, and at the same time performs recording to obtain the echo signal of the space detection sound signal; and determines the attitude mark of the device to be positioned, and the posture mark is used to indicate that the device to be positioned is currently The device posture; the device posture is jointly represented by the three dimensions of the azimuth, pitch angle and roll angle of the device to be positioned; the sending module 122 is configured to send a positioning request to the positioning server, and the positioning request includes the The space detection sound signal, the echo signal, and the attitude identifier are used for the positioning server to obtain the corresponding echo feature vector to be matched according to the space detection sound signal and the echo signal, and then according to the attitude identifier in multiple Determine the target echo fingerprint library in an echo fingerprint library, determine the echo feature vector that matches the echo feature vector to be matched in the target echo fingerprint library, and use the indoor reference corresponding to the echo feature vector point as the current position of the device to be positioned; wherein, the reference point is a reference position set in advance in the indoor; the receiving module 123 is configured to receive the positioning result including the current position returned by the positioning server.

The device to be positioned in this embodiment can be used to execute the technical solution of the method embodiment shown in FIG. 6 , and its implementation principle and technical effect are similar, and will not be repeated here.

FIG. 13 is a schematic structural diagram of another positioning server of the present invention. As shown in FIG. 13, the positioning server of this embodiment includes: a receiving module 131, a positioning module 132, and a sending module 133, wherein the receiving module 131 is used to receive A positioning request sent by an indoor device to be positioned, the positioning request includes a space detection sound signal, an echo signal, and an attitude indicator; The echo signal of the space detection sound signal obtained by recording, the posture identifier is determined by the device to be positioned, and the posture identifier is used to represent the current device posture of the device to be positioned; the device posture It is jointly represented by the three dimensions of the azimuth, pitch angle and roll angle of the device to be positioned; the positioning module 132 is used to obtain the corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal, and according to The posture identification determines a target echo fingerprint library in a plurality of echo fingerprint libraries, and determines an echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and converts the echo feature vector into The corresponding indoor anchor node is used as the current position of the device to be positioned; the sending module 133 is configured to send a positioning result including the current position to the device to be positioned; wherein, how many Each echo fingerprint library is in one-to-one correspondence with the attitude identification; each echo fingerprint library includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint library is associated with multiple references in the room. One-to-one correspondence; the reference point is a reference position set in advance in the room, and each echo feature vector in each echo fingerprint library is the space played here when the device to be positioned is at the corresponding reference point The detection sound signal and the echo signal are sent to the positioning server and obtained by the positioning server.

Further, the echo feature vector to be matched is that the device to be positioned plays the spatial detection sound signal and simultaneously performs recording to obtain the echo signal of the spatial detection sound signal, according to the spatial detection sound signal and the echo signal Acquired, specifically, performing a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal to obtain an absolute value to obtain a cross-correlation sequence R, wherein each item in R Be the absolute value of the sum of the displacement multiplication of two sequences, specifically can refer to formula (2); Intercept the cross-correlation sequence R' of the effective echo part starting from I _start in described cross-correlation sequence R, wherein, Refer to formula (3) for details of R', I _start is the index of the maximum value of R; according to the cross-correlation sequence R', the average echo energy of M distance intervals is calculated respectively, and the echo feature vector EV is obtained. For details of EV, refer to the formula (4).

Wherein, according to the cross-correlation sequence R', the average echo energy of M distance intervals is calculated respectively, and the echo feature vector EV is obtained. Specifically, for the distance interval D _i =(d _i , d _i+1 ), The position index of d _i is obtained according to formula (5), and the position index of d _i+1 is obtained according to formula (6); the distance interval D _i = (d _i , d _i+1 ) is calculated according to formula (7) to obtain the distance interval Echo average energy echoE _i ; respectively calculate the echo average energy of the M distance intervals to obtain the echo feature vector EV.

Further, the recording to obtain the echo signal may specifically be recording until at least a delay of Δt after the end of playback; where Δt needs to satisfy the condition of formula (8).

Further, the determining the echo feature vector that matches the echo feature vector to be matched in the target echo fingerprint library may specifically be: combining the echo feature vector to be matched with each echo feature in the target echo fingerprint library The similarity calculation is performed on the vectors, and the echo feature vector that is the closest to the result is used as the echo feature vector that matches the echo feature vector to be matched.

The positioning server of this embodiment can be used to implement the technical solution of the method embodiment shown in FIG. 8 , and its implementation principle and technical effect are similar, and will not be repeated here.

FIG. 14 is a schematic diagram of the device structure of the device to be located in the present invention. As shown in FIG. 14 , the device to be located in this embodiment includes: a transmitter 141 , a receiver 142 , a processor 143 and a memory 144 . Wherein the transmitter 141 is used to play the space detection sound signal; the receiver 142 is used to record and obtain the echo signal of the space detection sound signal while the transmitter 141 is playing the space detection sound signal; the processor 143, It is used to obtain the corresponding echo feature vector to be matched according to the space detection sound signal and the echo signal, and determine the target echo fingerprint in multiple echo fingerprint libraries according to the posture identifier used to represent the current posture of the device to be positioned. library, and determine the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and use the reference point in the room corresponding to the echo feature vector as the device to be positioned Current position; memory 144, used to store a plurality of echo fingerprint databases, each echo fingerprint database is in one-to-one correspondence with the posture identifier used to represent the posture of the device to be positioned, and the posture of the device is determined by the orientation of the device to be positioned Angle, pitch angle, and roll angle are jointly represented in three dimensions; each echo fingerprint library includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint library corresponds to a plurality of reference points in the room; The echo feature vectors in each echo fingerprint library are obtained when the device to be positioned is at the corresponding reference point according to the played spatial detection sound signal and the echo signal of the spatial detection sound signal obtained through recording.

Wherein, the processor 143 is specifically configured to perform a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the spatial detection sound signal to obtain an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , and Len _tx is the length of Seq _tx ; Intercept the cross-correlation sequence R' of the effective echo part starting from I _start in the cross-correlation sequence R, wherein , I _start is the index of the maximum value of R; according to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ) , where echoE _i is the average echo energy of the i-th distance interval, i=1,2,...,M.

Wherein, according to the cross-correlation sequence R', the average echo energy of M distance intervals is respectively calculated to obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), specifically: for the distance Interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ).

Further, the receiver 142 is specifically used to perform recording until at least a delay of Δt after the end of playback; wherein, Δt>t _A , t _A =d _max ·2/f _sound , and d _max is the spatial detection The farthest distance that the sound signal can travel back to the echo signal, f _sound is the propagation speed of the sound in the air.

The processor 143 is further configured to perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint library, and use the echo feature vector with the closest result as the echo feature vector to be matched. The echo eigenvector matches the echo eigenvector.

The device to be positioned provided in this embodiment can be used to implement the technical solution of the above method embodiment, and its implementation principle and technical effect are similar, and will not be repeated here.

FIG. 15 is a schematic diagram of another device to be positioned according to the present invention. As shown in FIG. 15 , the device to be positioned in this embodiment includes: a transmitter 151 , a receiver 152 and a processor 153 . Wherein, the transmitter 151 is used to play the space detection sound signal; the receiver 152 is used to record and obtain the echo signal of the space detection sound signal while the transmitter 151 is playing the space detection sound signal; the processor 153 is used to Acquiring a corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal, and determining an attitude identifier of the device to be positioned, where the attitude identifier is used to represent the current posture of the device to be positioned; wherein The device posture is jointly represented by the three dimensions of the azimuth, pitch angle and roll angle of the device to be positioned; wherein, the transmitter 151 is also used to send a positioning request to the positioning server, and the positioning request includes the The echo feature vector to be matched and the attitude identifier are used for the positioning server to determine a target echo fingerprint database in a plurality of echo fingerprint databases according to the attitude identifier, and determine in the target echo fingerprint database that matches the to-be-matched The echo feature vector matched with the echo feature vector, and the anchor node in the room corresponding to the echo feature vector is used as the current position of the device to be positioned; the receiver 152 is also used to receive the location server The returned positioning result includes the current position.

Wherein, the reference point is a reference position pre-set in the indoor.

Further, the processor 153 is specifically configured to perform a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the spatial detection sound signal to obtain an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , and Len _tx is the length of Seq _tx ; Intercept the cross-correlation sequence R' of the effective echo part starting from I _start in the cross-correlation sequence R, wherein , I _start is the index of the maximum value of R; according to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ) , where echoE _i is the average echo energy of the i-th distance interval, i=1,2,...,M.

Wherein, according to the cross-correlation sequence R', the average echo energy of M distance intervals is respectively calculated to obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), specifically: for the distance Interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ).

The recording to obtain the echo signal of the space detection sound signal specifically includes: recording until at least a delay of Δt after the end of playback; wherein, Δt>t _A , t _A =d _max 2/f _sound , d _max The maximum propagation distance of the echo signal that can be returned by the space detection sound signal, f _sound is the propagation speed of the sound in the air.

The device to be positioned provided in this embodiment can be used to implement the technical solution of the above method embodiment, and its implementation principle and technical effect are similar, and will not be repeated here.

FIG. 16 is a schematic diagram of the device structure of the positioning server of the present invention. As shown in FIG. 16 , the positioning server of this embodiment includes: a receiver 161 , a processor 162 and a transmitter 163 . Wherein, the receiver 161 is used to receive a positioning request sent by a device to be positioned indoors, and the positioning request includes an echo feature vector to be matched and a posture identifier; wherein, the echo feature vector to be matched is determined by the device to be positioned After the device plays the space detection sound signal and simultaneously performs recording to obtain the echo signal of the space detection sound signal, it is obtained according to the space detection sound signal and the echo signal; the posture identification is determined by the device to be positioned Yes, the attitude identifier is used to indicate the current equipment attitude of the equipment to be positioned; the equipment attitude is jointly represented by the three dimensions of the azimuth angle, pitch angle and roll angle of the equipment to be positioned; the processor 162 is used to Determine a target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, determine an echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and set the echo feature vector to The corresponding indoor anchor node is used as the current position of the device to be positioned; wherein, the positioning server stores a plurality of echo fingerprint databases, each echo fingerprint database corresponds to the posture identification one by one, and each echo fingerprint database includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint library corresponds to a plurality of reference points in the room, and the reference points are pre-set reference positions in the room, and each echo Each echo eigenvector in the fingerprint library is obtained and sent to the positioning server according to the echo signal of the spatial detection sound signal obtained by playing the spatial detection sound signal and the recording when the device to be positioned is at the corresponding reference point; The transmitter 163 is configured to send a positioning result including the current position to the device to be positioned.

Wherein, the processor 162 is specifically configured to perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint library, and use the echo feature vector with the closest result as the echo feature vector to be matched. Vector to match the echo feature vector.

The positioning server provided in this embodiment can be used to implement the technical solution of the above method embodiment, and its implementation principle and technical effect are similar, and will not be repeated here.

FIG. 17 is a schematic diagram of another device to be positioned according to the present invention. As shown in FIG. 17 , the device to be positioned in this embodiment includes: a transmitter 171 , a receiver 172 and a processor 173 . Wherein, the transmitter 171 is used to play the space detection sound signal; the receiver 172 is used to perform recording while the transmitter 171 plays the space detection sound signal to obtain the echo signal of the space detection sound signal; the processor 173 determines the The posture identification of the device to be positioned, the posture logo is used to identify the current device posture of the device to be positioned; the device posture is jointly represented by the three dimensions of the azimuth, pitch angle and roll angle of the device to be positioned; The transmitter 171 is further configured to send a positioning request to a positioning server, the positioning request includes the space detection sound signal, the echo signal and the gesture identification, so that the positioning server can After the sound signal and the echo signal obtain corresponding echo feature vectors to be matched, a target echo fingerprint library is determined in a plurality of echo fingerprint libraries according to the posture identification, and the target echo fingerprint library is determined in the target echo fingerprint library. The echo feature vector matched with the feature vector, and the reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned; the receiver 172 is also used to receive the return from the positioning server The positioning results including the current location. Wherein, the reference point is a reference position pre-set in the indoor.

The positioning server provided in this embodiment can be used to implement the technical solution of the above method embodiment, and its implementation principle and technical effect are similar, and will not be repeated here.

FIG. 18 is a schematic structural diagram of another positioning server according to the present invention. As shown in FIG. 18 , the positioning server of this embodiment includes: a receiver 181 , a processor 182 and a transmitter 183 . Wherein, the receiver 181 is used to receive a positioning request sent by a device to be positioned indoors, and the positioning request includes a space detection sound signal, an echo signal and an attitude indicator; wherein, the echo signal is generated by the device to be positioned The echo signal of the space detection sound signal obtained by recording the space detection sound signal while playing the space detection sound signal, the attitude identifier is determined by the device to be positioned, and the posture identifier is used to represent the device to be positioned The current device posture; the device posture is jointly represented by the three dimensions of the azimuth, pitch angle and roll angle of the device to be positioned; the processor 182 is configured to obtain the corresponding The echo feature vector to be matched, and determine the target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, and determine the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library , and the indoor anchor node corresponding to the echo feature vector is used as the current position of the device to be positioned; wherein, the positioning server stores a plurality of echo fingerprint databases, and each echo fingerprint database is related to the attitude One-to-one correspondence of identification; each echo fingerprint library includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint library is in one-to-one correspondence with a plurality of reference points in the room; Each echo feature vector in each echo fingerprint library is the spatial detection sound signal played here and the spatial detection sound signal obtained by recording when the device to be positioned is at the corresponding reference point The echo signal obtained by the positioning server is sent to the positioning server; the transmitter is configured to send a positioning result including the current position to the device to be positioned.

Wherein, the processor 182 is specifically configured to perform a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the spatial detection sound signal and obtain an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , and Len _tx is the length of Seq _tx ; Intercept the cross-correlation sequence R' of the effective echo part starting from I _start in the cross-correlation sequence R, wherein , I _start is the index of the maximum value of R; according to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ) , where echoE _i is the average echo energy of the i-th distance interval, i=1,2,...,M.

According to the cross-correlation sequence R', respectively calculate the average echo energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), specifically: for the distance interval D _i ＝(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ).

Wherein, the determining the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library is specifically: performing the echo feature vector to be matched with each echo feature vector in the target echo fingerprint library The similarity is calculated, and the echo feature vector with the closest result is used as the echo feature vector matched with the echo feature vector to be matched.

The positioning server provided in this embodiment can be used to implement the technical solution of the above method embodiment, and its implementation principle and technical effect are similar, and will not be repeated here.

FIG. 19 is a schematic structural diagram of Embodiment 1 of the indoor positioning system of the present invention. As shown in FIG. 19 , the indoor positioning system includes a device to be positioned 191 and a positioning server 192 .

Wherein, the device to be positioned 191 can adopt the structure of the apparatus embodiment in FIG. 10 , and correspondingly, can implement the technical solution of the method embodiment. The implementation principles and technical effects are similar, and will not be repeated here.

The positioning server 192 may adopt the structure of the device embodiment in FIG. 11 , and correspondingly, may implement the technical solution of the method embodiment. The implementation principles and technical effects are similar, and will not be repeated here.

FIG. 20 is a schematic structural diagram of Embodiment 2 of the indoor positioning system of the present invention. As shown in FIG. 20 , the indoor positioning system includes a device to be positioned 201 and a positioning server 202 .

Wherein, the device to be positioned 201 can adopt the structure of the device embodiment in FIG. 12 , and correspondingly, can implement the technical solution of the method embodiment. The implementation principles and technical effects are similar, and will not be repeated here.

The positioning server 202 may adopt the structure of the apparatus embodiment in FIG. 13 , and correspondingly, may implement the technical solution of the method embodiment. The implementation principles and technical effects are similar, and details are not repeated here.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by program instructions and related hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (34)

1. An indoor positioning method, characterized in that, comprising: The indoor device to be positioned plays the space detection sound signal, and simultaneously performs recording to obtain the echo signal of the space detection sound signal; The device to be positioned obtains a corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal, and determines it in multiple echo fingerprint libraries according to the gesture identifier used to represent the current device posture of the device to be positioned A target echo fingerprint library, and determine the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and use the reference point in the room corresponding to the echo feature vector as the pending The current position of the bit device; Wherein, the device to be positioned is stored with a plurality of echo fingerprint databases, and each echo fingerprint database is in one-to-one correspondence with a posture identifier used to represent the posture of the device to be positioned, and the posture of the device is determined by the posture of the device to be positioned. The three dimensions of azimuth, pitch angle and roll angle are jointly represented; each echo fingerprint library includes multiple echo feature vectors, and each echo feature vector in each echo fingerprint library is in one-to-one correspondence with multiple reference points in the room The reference point is a reference position set in advance in the room, and each echo feature vector in each echo fingerprint library is obtained according to the played spatial detection sound signal and recording when the device to be positioned is at the corresponding reference point obtained from the echo signal of the space detection sound signal. 2. The method according to claim 1, wherein the acquisition of the corresponding echo feature vector to be matched by the device to be positioned according to the spatial detection sound signal and the echo signal comprises: The device to be positioned performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ; The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value; According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M. 3. The method according to claim 2, characterized in that, according to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ...,echoE _M ), including: For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ). 4. The method according to any one of claims 1 to 3, wherein the recording to obtain the echo signal of the spatial detection sound signal comprises: Carry out the recording until the time of delaying at least Δt after the playback ends; wherein, Δt>t _A , t _A =d _max 2/f _sound , d _max is the farthest distance that the space detection sound signal can return to the echo signal, f _sound is the speed of sound in air. 5. The method according to any one of claims 1 to 3, wherein the determining the echo feature vector matched with the echo feature vector to be matched in the target echo fingerprint library comprises: Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint database, and use the echo feature vector with the closest result as the echo feature vector matched with the echo feature vector to be matched. 6. An indoor positioning method, characterized in that, comprising: The indoor device to be positioned plays a space detection sound signal, and simultaneously performs recording to obtain an echo signal of the space detection sound signal; obtains a corresponding echo feature vector to be matched according to the space detection sound signal and the echo signal, and determines The posture identifier of the device to be positioned, where the posture identifier is used to represent the current device posture of the device to be positioned, wherein the device posture is a combination of the three dimensions of the azimuth, pitch angle and roll angle of the device to be positioned express; The device to be positioned sends a positioning request to a positioning server, and the positioning request includes the echo feature vector to be matched and the posture identifier, so that the positioning server can determine the location in multiple echo fingerprint libraries according to the posture identifier. A target echo fingerprint library, wherein an echo feature vector matching the echo feature vector to be matched is determined in the target echo fingerprint library, and the reference point in the room corresponding to the echo feature vector is used as the to-be-located the current location of the device; receiving a positioning result including the current position returned by the positioning server; Wherein, the reference point is a reference position pre-set in the indoor. 7. The method according to claim 6, wherein said acquiring corresponding echo feature vectors to be matched according to said spatial detection sound signal and said echo signal comprises: The device to be positioned performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ; The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value; According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M. 8. The method according to claim 7, characterized in that, according to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ...,echoE _M ), including: For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ). 9. The method according to any one of claims 6 to 8, wherein the recording to obtain the echo signal of the spatial detection sound signal comprises: Carry out the recording until the time of delaying at least Δt after the playback ends; wherein, Δt>t _A , t _A =d _max 2/f _sound , d _max is the farthest distance that the space detection sound signal can return to the echo signal, f _sound is the speed of sound in air. 10. An indoor positioning method, characterized in that, comprising: The positioning server receives a positioning request sent by a device to be positioned indoors, and the positioning request includes an echo feature vector to be matched and a gesture identifier; wherein, the echo feature vector to be matched is a spatial detection sound signal played by the device to be positioned , and recording at the same time to obtain the echo signal of the space detection sound signal, it is obtained according to the space detection sound signal and the echo signal; the attitude identification is determined by the device to be positioned, and the attitude identification Used to represent the current device posture of the device to be positioned; the device posture is jointly represented by three dimensions of the device to be positioned: azimuth, pitch angle, and roll angle; The positioning server determines a target echo fingerprint library in a plurality of echo fingerprint libraries according to the gesture identification, determines an echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and sends the The reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned; wherein, a plurality of echo fingerprint libraries are stored in the positioning server, and each echo fingerprint library corresponds to the posture identifier one by one, Each echo fingerprint library includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint library is in one-to-one correspondence with a plurality of reference points in the room, and the reference points are pre-set reference positions in the room , each echo feature vector in each echo fingerprint library is acquired and sent to of the positioning server; The positioning server sends a positioning result including the current position to the device to be positioned. 11. The method according to claim 10, wherein the determining the echo feature vector matched with the echo feature vector to be matched in the target echo fingerprint library comprises: Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint database, and use the echo feature vector with the closest result as the echo feature vector matched with the echo feature vector to be matched. 12. An indoor positioning method, characterized in that, comprising: The device to be positioned indoors plays the space detection sound signal, and at the same time performs recording to obtain the echo signal of the space detection sound signal; and determines the attitude mark of the device to be positioned, and the posture mark is used to indicate that the device to be positioned is currently The equipment attitude; the equipment attitude is jointly represented by the three dimensions of the azimuth angle, pitch angle and roll angle of the equipment to be positioned; The device to be positioned sends a positioning request to a positioning server, and the positioning request includes the space detection sound signal, the echo signal and the posture identifier, so that the positioning server can use the space detection sound signal and the After the echo signal obtains the corresponding echo feature vector to be matched, determine the target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, and determine in the target echo fingerprint library that matches the echo feature vector to be matched The echo feature vector, and the reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned; wherein, the reference point is a reference position set in advance in the room; and receiving a positioning result including the current position returned by the positioning server. 13. An indoor positioning method, characterized in that, comprising: The positioning server receives the positioning request sent by the device to be positioned indoors, and the positioning request includes a space detection sound signal, an echo signal and an attitude indicator; wherein, the echo signal is played by the device to be positioned by playing the space detection sound The echo signal of the space detection sound signal obtained by recording the signal at the same time, the attitude identifier is determined by the device to be positioned, and the attitude identifier is used to represent the current device posture of the device to be positioned, so The attitude of the device is jointly represented by the three dimensions of the azimuth, pitch angle and roll angle of the device to be positioned; The positioning server obtains corresponding echo feature vectors to be matched according to the space detection sound signal and the echo signal, and determines a target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, and determines the target echo fingerprint library in the target echo fingerprint library. Determine the echo feature vector matching the echo feature vector to be matched in the fingerprint library, and use the reference point in the room corresponding to the echo feature vector as the current position of the device to be positioned; wherein, the positioning Multiple echo fingerprint databases are stored in the server, and each echo fingerprint database corresponds to the posture identification one by one; each echo fingerprint database includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint database corresponds to the Multiple reference points in the room are in one-to-one correspondence; the reference point is a reference position pre-set in the room, and each echo feature vector in each echo fingerprint library is the The space detection sound signal played here and the echo signal of the space detection sound signal obtained by recording are sent to the positioning server, and are obtained by the positioning server; The positioning server sends a positioning result including the current position to the device to be positioned. 14. The method according to claim 13, wherein said acquiring corresponding echo feature vectors to be matched according to said spatial detection sound signal and said echo signal comprises: The positioning server performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ; The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value; According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M. 15. The method according to claim 14, characterized in that, according to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ...,echoE _M ), including: For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ). 16. The method according to any one of claims 13 to 15, wherein said determining an echo feature vector matched with said echo feature vector to be matched in said target echo fingerprint library comprises: Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint database, and use the echo feature vector with the closest result as the echo feature vector matched with the echo feature vector to be matched. 17. A device to be positioned, characterized in that it comprises: The echo acquisition module is used to play the space detection sound signal on the indoor device to be positioned, and simultaneously record and obtain the echo signal of the space detection sound signal; A positioning module, configured to obtain a corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal, and determine it in a plurality of echo fingerprint libraries according to a posture identifier representing the current posture of the device to be positioned A target echo fingerprint library, and determine the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and use the reference point in the room corresponding to the echo feature vector as the pending The current position of the bit device; Wherein, the device to be positioned is stored with a plurality of echo fingerprint databases, and each echo fingerprint database is in one-to-one correspondence with a posture identifier used to represent the posture of the device to be positioned, and the posture of the device is determined by the posture of the device to be positioned. The three dimensions of azimuth, pitch angle and roll angle are jointly represented; each echo fingerprint library includes multiple echo feature vectors, and each echo feature vector in each echo fingerprint library is in one-to-one correspondence with multiple reference points in the room The reference point is a reference position set in advance in the room, and each echo feature vector in each echo fingerprint library is obtained according to the played spatial detection sound signal and recording when the device to be positioned is at the corresponding reference point obtained from the echo signal of the space detection sound signal. 18. The device to be positioned according to claim 17, wherein the device to be positioned to obtain the corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal comprises: The device to be positioned performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ; The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value; According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M. 19. The device to be positioned according to claim 18, characterized in that, according to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), including: For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ). 20. The device to be positioned according to any one of claims 17 to 19, wherein the recording to obtain the echo signal of the spatial detection sound signal comprises: Carry out the recording until the time of delaying at least Δt after the playback ends; wherein, Δt>t _A , t _A =d _max 2/f _sound , d _max is the farthest distance that the space detection sound signal can return to the echo signal, f _sound is the speed of sound in air. 21. The device to be positioned according to any one of claims 17 to 19, wherein the determining the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library comprises: Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint database, and use the echo feature vector with the closest result as the echo feature vector matched with the echo feature vector to be matched. 22. A device to be positioned, characterized in that it comprises: The acquisition module is used for the indoor device to be positioned to play the space detection sound signal, and simultaneously perform recording to obtain the echo signal of the space detection sound signal; obtain the corresponding echo to be matched according to the space detection sound signal and the echo signal eigenvector, and determine the posture identifier of the device to be positioned, the posture identifier is used to represent the current device posture of the device to be positioned; wherein, the device posture is composed of the azimuth angle, pitch angle and Joint representation of three dimensions of roll angle; A sending module, configured to send a positioning request to a positioning server, wherein the positioning request includes the echo feature vector to be matched and the gesture identifier, so that the positioning server can determine in multiple echo fingerprint libraries according to the gesture identifier A target echo fingerprint library, wherein an echo feature vector matching the echo feature vector to be matched is determined in the target echo fingerprint library, and the reference point in the room corresponding to the echo feature vector is used as the to-be-located the current location of the device; a receiving module, configured to receive a positioning result including the current position returned by the positioning server; Wherein, the reference point is a reference position pre-set in the indoor. 23. The device to be positioned according to claim 22, wherein said obtaining the corresponding echo feature vector to be matched according to said spatial detection sound signal and said echo signal comprises: The device to be positioned performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ; The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value; According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M. 24. The device to be positioned according to claim 23, characterized in that, according to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), including: For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ). 25. The device to be positioned according to any one of claims 22 to 24, wherein the recording to obtain the echo signal of the spatial detection sound signal comprises: Carry out the recording until the time of delaying at least Δt after the playback ends; wherein, Δt>t _A , t _A =d _max 2/f _sound , d _max is the farthest distance that the space detection sound signal can return to the echo signal, f _sound is the speed of sound in air. 26. A positioning server, characterized in that it comprises: The receiving module is configured to receive a positioning request sent by a device to be positioned indoors, and the positioning request includes an echo feature vector to be matched and a gesture identifier; wherein, the echo feature vector to be matched is a space played by the device to be positioned Detect the sound signal, and record at the same time to obtain the echo signal of the space detection sound signal, and obtain it according to the space detection sound signal and the echo signal; the attitude identification is determined by the device to be positioned, so The attitude identifier is used to represent the current equipment attitude of the equipment to be positioned; the equipment attitude is jointly represented by the three dimensions of the azimuth, pitch angle and roll angle of the equipment to be positioned; A positioning module, configured to determine a target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, determine an echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library, and convert the The indoor reference point corresponding to the echo feature vector is used as the current position of the device to be positioned; wherein, the positioning server stores a plurality of echo fingerprint databases, and each echo fingerprint database corresponds to the attitude identification one by one , each echo fingerprint library includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint library is in one-to-one correspondence with a plurality of reference points in the room, and the reference points are reference points set in the room in advance. Each echo feature vector in each echo fingerprint library is obtained and sent according to the echo signal of the spatial detection sound signal played and the sound signal of the space detection acquired by recording when the device to be positioned is at the corresponding reference point for the positioning server; A sending module, configured to send a positioning result including the current location to the device to be positioned. 27. The positioning server according to claim 26, wherein the determining the echo feature vector matched with the echo feature vector to be matched in the target echo fingerprint library comprises: Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint database, and use the echo feature vector with the closest result as the echo feature vector matched with the echo feature vector to be matched. 28. A device to be positioned, comprising: The determination module is used for the indoor device to be positioned to play the space detection sound signal, and record at the same time to obtain the echo signal of the space detection sound signal; Describe the current equipment posture of the equipment to be positioned; the equipment posture is jointly represented by three dimensions of the azimuth angle, pitch angle and roll angle of the equipment to be positioned; A sending module, configured to send a positioning request to a positioning server, where the positioning request includes the space detection sound signal, the echo signal, and the gesture identifier, so that the positioning server can use the space detection sound signal and the After the echo signal obtains the corresponding echo feature vector to be matched, determine the target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, and determine in the target echo fingerprint library that matches the echo feature vector to be matched The echo feature vector, and the reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned; wherein, the reference point is a reference position set in advance in the room; A receiving module, configured to receive a positioning result including the current position returned by the positioning server. 29. A positioning server, comprising: The receiving module is configured to receive a positioning request sent by the device to be positioned indoors, the positioning request includes a space detection sound signal, an echo signal, and a gesture identification; wherein, the echo signal is played by the device to be positioned The echo signal of the space detection sound signal obtained by recording the space detection sound signal at the same time, the posture identifier is determined by the device to be positioned, and the posture identifier is used to indicate the current device of the device to be positioned attitude; the equipment attitude is jointly represented by three dimensions of the azimuth, pitch angle and roll angle of the equipment to be positioned; A positioning module, configured to obtain a corresponding echo feature vector to be matched according to the spatial detection sound signal and the echo signal, and determine a target echo fingerprint library in a plurality of echo fingerprint libraries according to the posture identification, and determine the target echo fingerprint library in the target echo fingerprint library. The echo feature vector matching the echo feature vector to be matched is determined in the echo fingerprint library, and the reference point in the room corresponding to the echo feature vector is used as the current position of the device to be positioned; wherein, the A plurality of echo fingerprint databases are stored in the positioning server, and each echo fingerprint database corresponds to the posture identification one by one; each echo fingerprint database includes a plurality of echo feature vectors, and each echo feature vector in each echo fingerprint database corresponds to the One-to-one correspondence between a plurality of reference points in the indoor; the reference point is a reference position set in advance in the indoor, and each echo feature vector in each echo fingerprint library is when the device to be positioned is on the corresponding reference point Sending the space detection sound signal played here and the echo signal of the space detection sound signal obtained by recording to the positioning server, and obtained by the positioning server; A sending module, configured to send a positioning result including the current location to the device to be positioned. 30. The positioning server according to claim 29, wherein said acquiring corresponding echo feature vectors to be matched according to said spatial detection sound signal and said echo signal comprises: The positioning server performs a correlation operation on the echo sequence Seq _rx in the echo signal and the transmission sequence Seq _tx in the space detection sound signal and takes an absolute value to obtain a cross-correlation sequence Each of them is the absolute value of the sum of the shift multiplication of the two sequences, and the specific formula is len=Len _rx +Len _tx ; Len _rx is the length of Seq _rx , Len _tx is the length of Seq _tx ; The cross-correlation sequence R' of the effective echo part starting from I _start is intercepted in the cross-correlation sequence R, wherein, I _start is the index where R takes the maximum value; According to the cross-correlation sequence R', respectively calculate the echo average energy of M distance intervals, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), where echoE _i is the i-th distance interval The average echo energy of i=1,2,...,M. 31. The positioning server according to claim 30, wherein, according to the cross-correlation sequence R', the average energy of echoes in M distance intervals are respectively calculated to obtain echo feature vector EV=(echoE ₁ , echoE ₂ ,...,echoE _M ), including: For the distance interval D _i =(d _i ,d _i+1 ), according to the formula Get the position index of d _i , according to the formula Obtain the position index of d _i+1 ; among them, f _s is the sampling frequency, f _sound is the propagation speed of sound in the air; the average energy of the echo in the distance interval D _i =(d _i ,d _i+1 ) is Calculate the average echo energy of the corresponding distance intervals when i=1, 2, ..., M respectively, and obtain the echo feature vector EV=(echoE ₁ , echoE ₂ , ..., echoE _M ). 32. The positioning server according to any one of claims 29 to 31, wherein the determining the echo feature vector matching the echo feature vector to be matched in the target echo fingerprint library comprises: Perform similarity calculation between the echo feature vector to be matched and each echo feature vector in the target echo fingerprint database, and use the echo feature vector with the closest result as the echo feature vector matched with the echo feature vector to be matched. 33. An indoor positioning system, comprising: The device to be positioned according to any one of claims 22 to 25, and the positioning server according to claim 26 or 27. 34. An indoor positioning system, characterized in that it comprises: The device to be positioned according to claim 28, and the positioning server according to any one of claims 29 to 32.