CN106878955A - A kind of indoor floor location method and location equipment - Google Patents
A kind of indoor floor location method and location equipment Download PDFInfo
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- CN106878955A CN106878955A CN201710289669.0A CN201710289669A CN106878955A CN 106878955 A CN106878955 A CN 106878955A CN 201710289669 A CN201710289669 A CN 201710289669A CN 106878955 A CN106878955 A CN 106878955A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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Abstract
The embodiment of the invention discloses a kind of indoor floor method and location equipment, including：Location equipment obtains the positioning measurement report of terminal, however, it is determined that wherein N number of access point is located at multiple floors, then according to time of arrival (toa), determine the initial position and initial floor of terminal；Then, according to the path loss added value between each access point position and initial position, the corresponding alternative floor of terminal is all determined；And then, according to received signal strength, from the corresponding N number of alternative floor of initial floor and terminal, the floor where determining terminal.The embodiment of the present invention, due to can be according to initial floor, and according to the corresponding multiple alternative floors of the accurate terminal for calculating of the path loss between access point and initial position, floor where terminal is determined jointly, thus, influence of the complicated building structure to positioning can be prevented effectively from, setting accuracy is greatly improved.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of indoor floor location method and location equipment.
Background technology
In recent years, indoor positioning is the focus of current wireless communications application.More easily serviced for ease of providing the user with,
The places such as large-scale culture and sports venue, large supermarket, shopping center generally require to obtain the exact position of user, such that it is able to root
According to the floor where user be user's Recommendations or service, and, during being positioned to user not only need solution
The certainly positioning in two dimensional surface, in addition it is also necessary to accurately judged the floor where user.
However, due to the complexity of space environment, classical indoor orientation method accuracy error is larger at present, is built in high level
It is easy to the inaccurate problem of floor location occur in building, for example, it may be possible to the terminal that can will be physically located in the second floor is positioned by mistake
To third story layer, so as to cause Consumer's Experience poor.Additionally, the localization method that is referred in some patents needed when positioning it is extra
Sensor device, such as accelerator sensor, baroceptor, electronic compass sensor, electronic pedometer, this is needed in terminal
Have with these equipment and have interface for external interconnections, but the mobile terminal of market is not all to carry above-mentioned sensing at present
Device, then corresponding floor location method application just has limitation.
Therefore, need a kind of method of indoor floor location badly at present, be used to solve indoor floor location accuracy poor
Technical problem.
The content of the invention
The present invention provides a kind of indoor floor location method, is used to solve the poor technology of indoor floor location accuracy to ask
Topic.
A kind of indoor floor location method provided in an embodiment of the present invention, including：
Location equipment obtains the positioning measurement report of the terminal in predeterminable area；The positioning measurement report includes N number of
Access point reaches the received signal strength and time of arrival (toa) of the terminal；
Positional information of the location equipment according to the described N number of access point for prestoring, however, it is determined that N number of access point
Positioned at multiple floors, then the time of arrival (toa) of the terminal is reached according to N number of access point, where obtaining the terminal
Initial position and initial floor；
The i-th access point in N number of access point is directed to, the location equipment is in place according to i-th access point institute
Put with the path loss added value between the initial position, default per the floor increased path loss added value of plate, and
Floor where i-th access point, obtains the corresponding i-th alternative floor of the terminal, wherein, 1≤i≤N；
After the location equipment obtains the corresponding N number of alternative floor of the terminal, however, it is determined that have in N number of alternative floor
There is the number of alternative floor of the first floor identification more than or equal to first threshold, and the alternative building with the first floor identification
Layer it is different from the initial floor, then received signal strength in N number of access point is met pre-conditioned access point as
Target access, and the corresponding alternative floor of the terminal that will be obtained according to the target access, are defined as the terminal
The floor at place, wherein, first floor identification is the most floor identification of occurrence number in N number of alternative floor.
Alternatively, the location equipment is if it is determined that in N number of alternative floor, the alternative floor with the first floor identification
Number be more than or equal to first threshold, and the alternative floor with the first floor identification is identical with the initial floor, then
Floor where the initial floor is defined as into the terminal.
Alternatively, received signal strength in N number of access point is met pre-conditioned access point by the location equipment
As target access, including：
The location equipment according to the positional information of the described N number of access point for prestoring, from N number of access point really
Floor where making is not P access point of the initial floor, and P is less than or equal to N；
The location equipment is if it is determined that the reception signal of the maximum access point of received signal strength is strong in the P access point
Degree is more than or equal to received signal strength threshold value, then by the access point that the received signal strength is maximum, as target access.
Alternatively, the path loss added value between the i-th access point position and the initial position, is to pass through
What following manner was obtained：
The location equipment calculates the distance between the i-th access point position and described initial position；
The location equipment obtains the transmission power of i-th access point, by the transmission power and i-th access point
Reach the difference of the received signal strength of the terminal, be defined as the i-th access point position and the initial position it
Between path loss；
The location equipment is according to the distance between the i-th access point position and described initial position, Yi Jisuo
State the path loss between the i-th access point position and the initial position, determine the i-th access point position with
Path loss added value between the initial position.
Alternatively, the location equipment determines that the i-th access point position is initial with described by equation below
Path loss added value between position：
FAF=PL (dAPi)-(PL+10×Nsf×log(dAPi)+αdAPi+β)
Wherein, the FAF is attached floor path loss between the i-th access point position and the initial position
It is value added, dAPiIt is the distance between the i-th access point position and described initial position, PL (dAPi) it is the described i-th access
Path loss between point position and the initial position, PL is the path loss at 1 meter of distance, NsfFor path loss because
Son, α is the linear impairments factor, and β blocks loss for the corresponding wall of the predeterminable area.
Alternatively, the location equipment obtains the corresponding i-th alternative floor of the terminal in the following way：
The location equipment adds the path loss between the i-th access point position and the initial position
Value, with the default ratio per the floor increased path loss added value of plate, is defined as the i-th access point position and institute
State the floor quantity being spaced between initial position；
The location equipment if it is determined that the i-th access point position be located at the initial floor top, then by institute
Floor where stating the i-th access point subtracts the floor quantity being spaced between the i-th access point position and the initial position
Afterwards, the floor for obtaining is used as the corresponding i-th alternative floor of the terminal；
The location equipment if it is determined that the i-th access point position be located at the initial floor lower section, then by described i-th
After floor is plus the floor quantity being spaced between the i-th access point position and the initial position where access point, obtain
The floor for arriving is used as the corresponding i-th alternative floor of the terminal.
Based on same inventive concept, the embodiment of the present invention further provides a kind of location equipment, the location equipment
Including：
Acquisition module, the positioning measurement for obtaining the terminal in predeterminable area is reported；Wrapped in the positioning measurement report
Include received signal strength and time of arrival (toa) that N number of access point reaches the terminal；
Processing module, for the positional information according to the described N number of access point for prestoring, however, it is determined that N number of access
Point is located at multiple floors, then the time of arrival (toa) of the terminal is reached according to N number of access point, obtains the terminal place
Initial position and initial floor；
The processing module, is additionally operable to the i-th access point being directed in N number of access point, according to i-th access point
Path loss added value, the increased path loss of default every floor plate between position and the initial position are added
Floor where value, and i-th access point, obtains the corresponding i-th alternative floor of the terminal, wherein, 1≤i≤N；
Determining module, for after the processing module obtains the corresponding N number of alternative floor of the terminal, however, it is determined that described
The number of the alternative floor with the first floor identification is more than or equal to first threshold in N number of alternative floor, and described has first
The alternative floor of floor identification is different from the initial floor, then received signal strength in N number of access point is met into default
The access point of condition is used as target access, and the corresponding alternative building of the terminal that will be obtained according to the target access
Layer, the floor where being defined as the terminal, wherein, first floor identification is occurrence number in N number of alternative floor
Most floor identifications.
Alternatively, the determining module is additionally operable to：
If it is determined that in N number of alternative floor, the number of the alternative floor with the first floor identification is more than or equal to first
Threshold value, and the alternative floor with the first floor identification is identical with the initial floor, then determine the initial floor
Floor where the terminal.
Alternatively, the determining module specifically for：
According to the positional information of the described N number of access point for prestoring, floor where being determined from N number of access point
It is not P access point of the initial floor, P is less than or equal to N；
If it is determined that the received signal strength of the maximum access point of received signal strength is more than or equal to connecing in the P access point
Signal strength threshold is received, then by the access point that the received signal strength is maximum, as target access.
Alternatively, the processing module specifically for obtaining the i-th access point position and institute in the following way
State the path loss added value between initial position：
Calculate the distance between the i-th access point position and described initial position；
The transmission power of i-th access point is obtained, the transmission power and i-th access point are reached into the terminal
Received signal strength difference, be defined as the path loss between the i-th access point position and the initial position；
According to the distance between the i-th access point position and described initial position, and the i-th access point institute
Path loss between position and the initial position, determines the i-th access point position and the initial position
Between path loss added value.
Alternatively, the processing module is specifically additionally operable to, and the i-th access point position is determined by equation below
With the path loss added value between the initial position：
FAF=PL (dAPi)-(PL+10×Nsf×log(dAPi)+αdAPi+β)
Wherein, the FAF is attached floor path loss between the i-th access point position and the initial position
It is value added, dAPiIt is the distance between the i-th access point position and described initial position, PL (dAPi) it is the described i-th access
Path loss between point position and the initial position, PL is the path loss at 1 meter of distance, NsfFor path loss because
Son, α is the linear impairments factor, and β blocks loss for the corresponding wall of the predeterminable area.
Alternatively, the processing module, specifically for obtaining the corresponding i-th alternative building of the terminal in the following way
Layer：
It is every with default by the path loss added value between the i-th access point position and the initial position
The ratio of the increased path loss added value of floor plate, be defined as the i-th access point position and the initial position it
Between be spaced floor quantity；
If it is determined that the i-th access point position is located at the top of the initial floor, then by the i-th access point institute
After floor subtracts the floor quantity being spaced between the i-th access point position and the initial position, the floor for obtaining
As the corresponding i-th alternative floor of the terminal；
If it is determined that the i-th access point position is located at the lower section of the initial floor, then by building where i-th access point
After layer is plus the floor quantity being spaced between the i-th access point position and the initial position, the floor conduct for obtaining
The corresponding i-th alternative floor of the terminal.
In the embodiment of the present invention, location equipment obtains the positioning measurement report of the terminal in predeterminable area, according to depositing in advance
The positional information of N number of access point of storage, however, it is determined that N number of access point is located at multiple floors, then according in positioning measurement report
Terminal reaches the time of arrival (toa) of N number of access point, initial position and initial floor where determining terminal；And then, for
The i-th access point in N number of access point, location equipment is according between the i-th access point position and initial position
Path loss added value, default floor where per the increased path loss added value of floor plates and i-th access point,
Determine the corresponding i-th alternative floor of the terminal；Further, to obtain the terminal corresponding N number of alternative for the location equipment
After floor, however, it is determined that the number of the alternative floor with the first floor identification is more than first threshold in N number of alternative floor, and described
The alternative floor of the first floor identification is different from initial floor, then received signal strength in N number of access point is met into pre-conditioned
Access point, as target access, and the corresponding alternative floor of terminal that will be obtained according to the target access, be defined as
Floor where terminal.
In the embodiment of the present invention, due to the location equipment can according to the time of arrival (toa) of N number of access point incoming terminal,
After initial floor where determining terminal, can also be according to the received signal strength of access point and in place according to access point institute
Put path loss added value, the increased path loss added value of every floor plates, the place building of access point between initial position
The N number of alternative floor that layer is calculated, determines floor where terminal jointly, thus, complicated building structure can be prevented effectively to fixed
The influence of position result, greatly improves the accuracy of floor where positioning terminal, also, compared to existing technology, the present invention without
Extra sensor is set in location equipment, thus, the applicability of indoor floor location method is also higher.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will make needed for embodiment description
Accompanying drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, without having to pay creative labor, it can also be obtained according to these accompanying drawings
His accompanying drawing.
Fig. 1 is the system architecture diagram that the embodiment of the present invention is applicable；
Fig. 2 is the set location schematic diagram of the access point in the embodiment of the present invention；
Fig. 3 is the schematic flow sheet corresponding to a kind of indoor floor location method in the embodiment of the present invention；
Fig. 4 is the principle schematic of multipoint positioning algorithm in the specific embodiment of the invention；
Fig. 5 is that the flow for determining terminal alternative floor corresponding with any access point in the specific embodiment of the invention is shown
It is intended to；
Fig. 6 is a kind of structural representation of the location equipment in the embodiment of the present invention.
Specific embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
One step ground is described in detail, it is clear that described embodiment, only a part of embodiment of the invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
All other embodiment, belongs to the scope of protection of the invention.
The embodiment of the present invention is described in further detail with reference to Figure of description.
Fig. 1 is the system architecture schematic diagram that the embodiment of the present invention is applicable.As shown in figure 1, the system architecture includes service
Device (server 101 in such as Fig. 1), one or more access point (the first access point 1031 in such as Fig. 1, second access points
1032nd, the 3rd access point 1033), one or more terminal (first terminals 104, second terminal 105, third terminal in such as Fig. 1
106), server 101 is connected by network 102 with access point, and access point provides wireless network for the terminal in its coverage
Signal is covered, i.e., can be by wireless network transmissions information between access point and terminal.
In the embodiment of the present invention, the location equipment can be the server in said system framework.Can also have
The terminal of positions calculations function.
Wherein, the server can be the positions calculations service that positioning service is provided exclusively for the terminal in predeterminable area
While device, or the terminal in for predeterminable area provide positioning service, the server of other services, this hair are also provided
It is bright that this is not particularly limited.
The terminal can be polytype intelligent terminal, such as, can be smart mobile phone, panel computer, notes
This computer etc., is not limited herein.Specifically, the positioning application program that the intelligent terminal can be installed by it, according to this
Indoor floor location method in inventive embodiments carries out positions calculations.
In the embodiment of the present invention, the predeterminable area can voluntarily be set by those skilled in the art according to actual conditions, than
Can be a building comprising multiple floors as said.
Specifically, multiple access points are provided with the predeterminable area, described access point can be the end in predeterminable area
End provides wireless signal covering, i.e., the terminal in its coverage sends wireless signal, and receiving terminal is actively launched or returned
The wireless signal for returning.Due to the limited coverage area of single access point, and, predeterminable area is usually the building comprising multiple floors
Thing, thus, to improve the precision of positioning, multiple access points can be both provided with each floor in predeterminable area, can such as be spaced
Tens meters of settings, one access point.
It should be noted that in the embodiment of the present invention, those skilled in the art can be according to actual conditions in predeterminable area
The position of each access point and quantity are configured, and the quantity of the access point set in each floor can be with identical, it is also possible to no
Identical, the present invention is not particularly limited to this.
Fig. 2 is the set location schematic diagram of access point in the embodiment of the present invention, as shown in Fig. 2 predeterminable area is a tool
Have 4 buildings of floor, each floor is provided with 3 access points, each access point by way of wired connection with it is fixed
Bit arithmetic server is connected, specifically, 3 access points set in floor 1 are respectively access point 0, access point 1 and access point
2,3 access points set in floor 2 are respectively access point 3, access point 4 and access point 5,3 access points set in floor 3
Respectively access point 6, access point 7 and access point 8,3 access points set in floor 4 are respectively access point 9, the and of access point 10
Access point 11.
Indoor floor location method described in the embodiment of the present invention, can be used to determine the terminal in predeterminable area
Position.Specifically include, building and floor where determining terminal, and based on the floor determined, computing terminal is in place building
Specific position coordinates in layer.
Based on the system architecture shown in Fig. 1, Fig. 3 is right for a kind of indoor floor location method provided in an embodiment of the present invention
The schematic flow sheet answered, as shown in figure 3, comprising the following steps S301 to step S304：
Step S301：Location equipment obtains the positioning measurement report of the terminal in predeterminable area；The positioning measurement report
The received signal strength and time of arrival (toa) of the terminal are reached including N number of access point；
Step S302：Positional information of the location equipment according to the described N number of access point for prestoring, however, it is determined that described
N number of access point is located at multiple floors, then according to the corresponding time of arrival (toa) of the N number of access point, where obtaining the terminal
Initial position and initial floor；
Step S303：The i-th access point in N number of access point is directed to, the location equipment is accessed according to described i-th
Path loss added value, the increased path loss of default every floor plate between point position and the initial position are added
Floor where value and i-th access point, obtains the corresponding i-th alternative floor of the terminal；
Step S304：After the location equipment obtains the corresponding N number of alternative floor of the terminal, however, it is determined that described to have
The number of the alternative floor of one floor identification be more than first threshold, and it is described have the alternative floor of the first floor identification with it is described
Initial floor is differed, then received signal strength in N number of access point is met into pre-conditioned access point connects as target
Access point, and the corresponding alternative floor of the terminal that will be obtained according to the target access, are defined as where the terminal
Floor, wherein, first floor identification is the most floor identification of occurrence number in N number of alternative floor.
In the embodiment of the present invention, due to the location equipment can according to the time of arrival (toa) of N number of access point incoming terminal,
After initial floor where determining terminal, can also be according to the received signal strength of access point and in place according to access point institute
Put path loss added value, the increased path loss added value of every floor plates, the place building of access point between initial position
The N number of alternative floor that layer is calculated, determines floor where terminal jointly, thus, complicated building structure can be prevented effectively to fixed
The influence of position result, greatly improves the accuracy of floor where positioning terminal, also, compared to existing technology, the present invention without
Extra sensor is set in location equipment, thus, the applicability of indoor floor location method is also higher.
Specifically, access-in point information database can be previously provided with the location equipment, for storing predeterminable area
The positional information of each interior access point, the positional information includes the floor where access point, and access point is in place building
Specific position coordinates in layer, as shown in table 1.
Wherein, each access point in described access point information database is respectively provided with a mutually different MAC (Media
Access Control, media access control) address, but because the representation of MAC Address is more complicated, therefore, can use
One simple identification information is used to represent the unique mark of each access point, such as, can be using in numeral, letter, symbol
Any one or the mark that constitutes of any multinomial combination, be not limited herein.
Table 1 is the few examples of the storage content of access-in point information database in the embodiment of the present invention
| Access point identity | MAC Address | Place floor | Position coordinates |
| 0 | 0025.9e56.28a0 | 3 | (1,3) |
| 1 | 0025.9e56.28a1 | 2 | (2,5) |
| 2 | 0025.9e56.28a2 | 4 | (6,9) |
| 3 | 0025.9e56.28a3 | 1 | (5,7) |
| …… | …… | …… |
In step S301, location equipment obtains the positioning measurement report of the terminal in predeterminable area.Wherein, table 2 is upper
The partial content for stating positioning measurement report is illustrated, and as shown in table 2, the positioning measurement report includes N number of access point incoming terminal
Received signal strength (Received Signal Strength Indication, RSSI) and time of arrival (toa).
Table 2 is that the partial content of positioning measurement report is illustrated
| Access point identity | Received signal strength | Time of arrival (toa) |
| 0 | -65dBm | |
| 1 | -68dBm | |
| 2 | -72dBm |
Wherein, N number of access point specifically refers to one or more access points that terminal receives wireless signal, i.e. N is
Positive integer more than or equal to 1；Accordingly, the positioning measurement report specifically includes the N number of access point measured by terminal and sends out
Received signal strength and time of arrival (toa) during the signal incoming terminal position for going out.Thus, terminal is above-mentioned fixed in generation
After the measurement report of position, terminal can send above-mentioned positioning measurement and report to location equipment.
Specifically, if location equipment is server, the terminal can be by any access point in N number of access point
Positioning measurement report is sent to server；If location equipment is positioning application program built-in in terminal, described fixed
Position application program can obtain above-mentioned positioning measurement and report by corresponding interface.
In the embodiment of the present invention, location equipment can also be reported according to positioning measurement, parse the MAC ground of each access point
Location, in order to the MAC Address according to access point, determines the mark of access point, and then, floor where determining access point and
The specific position coordinates in the floor of place.
And then, in step s 302, location equipment can be according to the MAC Address of each access point for parsing or access point
Mark, determines the positional information where each access point, i.e., floor and position coordinates where access point in N number of access point.
Location equipment if it is determined that the equal position of N number of access point be same floor, then location equipment can be by N number of access point
The floor at place be determined directly as terminal where floor, and then, according to the received signal strength and/or signal of N number of access point
Arrival time, calculate position coordinates of the terminal in the floor.
If conversely, location equipment determines that N number of access point is located at multiple floors, can be arrived according to N number of access point
Up to the time of arrival (toa) of the terminal, using multipoint positioning algorithm, the initial position where estimating terminal, and then, according to
The initial position determines initial floor.
Specifically, Fig. 4 is the principle schematic of multipoint positioning algorithm in the embodiment of the present invention, as shown in figure 4, location equipment
At least 3 access points can be selected from N number of access point, then each two at least 3 access points according to connects
Access point reaches the difference of the time of arrival (toa) of the terminal, and at least 3 position coordinateses of access point, determines terminal
The coordinate of the initial position at place.
In step S303, the i-th access point in N number of access point is directed to, location equipment is accessed according to described i-th
Path loss added value, the increased path loss of default every floor plate between point position and the initial position are added
Floor where value, and i-th access point, obtains the corresponding i-th alternative floor of the terminal.
For in N number of access point positioned at the initial floor access point for, due to access point send it is wireless
During signal propagates to terminal position, nothing is needed guiding through every floor plates, thus, the wireless signal that these access points send
Path loss it is smaller, can be ignored, therefore, below only in N number of access point not positioned at the initial floor
Each access point, the corresponding alternative floor of computing terminal, and will be obtained according to each access point being located in the initial floor
, the corresponding alternative floor of terminal is determined directly as initial floor.
Specifically, it is fixed if the i-th access point is not located at the initial floor for the i-th access point in N number of access point
Position equipment to step S506, can determine the corresponding i-th alternative floor of terminal by S501 as follows；Wherein, 1≤i≤N,
I-th access point can refer to that place floor is not any access point of the initial floor.
Step S501：Location equipment calculates the distance between the i-th access point position and initial position dAPi。
Step S502：The location equipment obtains the transmission power of the i-th access point, according to the transmission power for getting
PtxAPi, and the i-th access point reaches the received signal strength RSSI of the terminalAPi, determine the i-th access point position with
Path loss PL (d between initial positionAPi)：
PL(dAPi)=PtxAPi-RSSIAPiFormula 1
Step S503：Location equipment obtains the corresponding indoor path loss model of predeterminable area：
PL(dAPi)=PL+10 × Nsf×log(dAPi)+αdAPi+β+FAF
Formula 2
Wherein, dAPiIt is the distance between the i-th access point position and described initial position, PL (dAPi) it is i-th
Path loss between access point position and the initial position, PL is the path loss at 1 meter of distance, NsfIt is path
Fissipation factor, α is the linear impairments factor, and β blocks loss for the corresponding wall of the predeterminable area, and FAF is i-th access point
Floor path loss added value between position and the initial position.
Step S504：Location equipment according between above-mentioned path loss model, the i-th access point position and initial position away from
From dAPi, and the path loss PL (d between the i-th access point position and initial positionAPi), determine the i-th access point institute
Path loss added value FAF between position and the initial position：
FAF=PL (dAPi)-(PL+10×Nsf×log(dAPi)+αdAPi+β)
Formula 3
Step S505：Location equipment is by the path loss added value between the i-th access point position and initial position
FAF, with default every the increased path loss added value FAF of floor plateTHRatio, be defined as the i-th access point position
Between initial position be spaced every floor plates quantity NAPi, i.e.,：
NAPi=FAF/FAFTHFormula 4
Step S506：Floor of the location equipment according to where the i-th access point, and the i-th access point institute for determining is in place
Put between initial position every floor plates quantity NAPi, with reference to the floor structure of predeterminable area, determine terminal corresponding i-th
Alternative floor.
Wherein, step S506 is specifically included：With reference to the corresponding building structure of predeterminable area, however, it is determined that where the i-th access point
Floor is located at the top of initial floor in vertical direction, then by the floor L where the i-th access pointAPiSubtract the i-th access point institute
Between position and initial position be spaced every floor plates quantity NAPiAfterwards, the floor for obtaining is used as the corresponding i-th alternative building of terminal
Layer, i.e.,：
LI-th alternative floor=LAPi-NAPiFormula 5
Correspondingly, location equipment if it is determined that the i-th access point where floor in vertical direction positioned at initial floor lower section,
Then by floor L where the i-th access pointAPiPlus between the i-th access point and initial position every floor plates quantity NAPiAfterwards, obtain
Floor as the corresponding i-th alternative floor of terminal, i.e.,：
LI-th alternative floor=LAPi+NAPiFormula 6
It should be noted that in above-mentioned steps S503, location equipment can be used many according to the building structure of predeterminable area
The mode of kind obtains the corresponding indoor path loss model of predeterminable area.Such as, can directly using classical path loss model, also can be right
Before terminal is positioned, classical path loss model is corrected using various ways, and then determines that the predeterminable area is corresponding
Indoor path loss model, or the corresponding indoor path loss model of predeterminable area can also be determined using other modes, do not do herein
Limitation.
And, in the embodiment of the present invention, those skilled in the art can according to actual conditions to indoor path loss model in it is each
Parameter is configured, such as, PL is the space loss at 1m, and different frequency range values can be difference, GSM900M frequency ranges
Value can be 30dB, and TD2G frequency ranges value can be 38dB；NsfIt is path-loss factor, value can be 2~2.5 in free space,
Value can be 3~4 in closing space；α linear impairments factors value also with frequency dependence.
Due to each access point being directed in N number of access point, location equipment can determine that an alternative floor, because
This, in step s 304, location equipment, can be according to the reception of each access point after the corresponding N number of alternative floor of terminal is obtained
Signal intensity, the floor where determining terminal.Specifically may include as follows：
Location equipment is if it is determined that the quantity of the alternative floor with the first floor identification is more than first threshold, and should have the
The alternative floor of one floor identification is differed with initial floor, or, location equipment is if it is determined that corresponding in the first alternative floor
The number of access point is less than or equal to first threshold, then received signal strength in N number of access point can be met into pre-conditioned access
Point is used as target access, and the corresponding alternative floor of the terminal that will be obtained according to the target access, is defined as institute
Floor where stating terminal.
In the embodiment of the present invention, because the corresponding alternative floor of the terminal determined according to different access points can be not
Same floor, or identical floor, thus, it is any according in the N number of alternative floor that N number of access point is obtained, there may be
Multiple alternative floors have identical floor identification.Therefore, first floor identification is referred specifically to, and is occurred in N number of alternative floor
The most floor identification of number of times, it can be the mark of a certain floor in predeterminable area.
In the embodiment of the present invention, received signal strength in N number of access point is met into pre-conditioned access point, as target
Access point, specifically includes：Location equipment floor according to where in N number of access point is not P access point of initial floor, and P is less than
Equal to N, the maximum access point of the received signal strength of incoming terminal is determined from P access point first, then if it is determined that should
The received signal strength of access point incoming terminal is more than or equal to received signal strength threshold value, then accessed the access point as target
Point.
It is pre-conditioned in the absence of meeting during location equipment is not if it is determined that place floor is P access point of initial floor
Access point, i.e., the received signal strength of the maximum access point of the received signal strength of incoming terminal is still in above-mentioned P access point
Less than received signal strength threshold value, then floor that can directly using initial floor as where terminal.
Correspondingly, location equipment if it is determined that the alternative floor with the first floor identification quantity be more than first threshold, and
The alternative floor with the first floor identification is differed with initial floor, then can directly using where initial floor as terminal
Floor.
In the embodiment of the present invention, the received signal strength threshold value can be specific according to actual conditions by those skilled in the art
Set, be not particularly limited herein.
It should be noted that in the embodiment of the present invention, be not according to place floor initial floor each access point it is true
After making corresponding each the alternative floor of terminal, location equipment also terminal can be determined using other modes where floor.Than
As said, floor where location equipment can be determined from N number of access point is not P access point of initial floor, and then calculates
Each access point and the vertical range of initial floor in P access point are stated, selects vertical with initial floor from P access point
Closest access point, and the corresponding alternative floor of terminal that will be obtained according to the access point, the building where being defined as terminal
Layer.
After the floor where determining terminal, the present invention can also be reached eventually according to each access point in location measurement information
The information such as the received signal strength and/or time of arrival (toa) at end, further computing terminal is specific in the floor determined
Position coordinates, the floor that then will be determined, and position coordinates, are sent to terminal.
In the embodiment of the present invention, location equipment can determine that predeterminable area is corresponding according to the building structure of predeterminable area
Indoor path loss model, and according to the indoor path loss model and the path loss between each access point position and initial position,
It is calculated corresponding each the alternative floor of terminal.Because indoor path loss model and path loss all can accurately measure, thus, can
It is not the access point of initial floor for each position, can obtain the corresponding alternative floor of accurate terminal.
And, further location equipment can also according to the initial floor where received signal strength, the terminal of each access point incoming terminal,
And the alternative floor of multiple for determining, the floor where terminal is determined jointly, therefore, the building structure of complexity can be prevented effectively from
Influence to positioning terminal position, improves the accuracy of positioning.
Based on same inventive concept, the embodiment of the present invention also provides a kind of location equipment, and the location equipment can refer to
The above method, positions to the terminal in predeterminable area.As shown in fig. 6, the location equipment 600 includes：
Acquisition module 601, the positioning measurement for obtaining the terminal in predeterminable area is reported；In the positioning measurement report
The received signal strength and time of arrival (toa) of the terminal are reached including N number of access point；
Processing module 602, for according to the positional information of described N number of access point for prestoring, however, it is determined that described N number of to connect
Access point is located at multiple floors, then the time of arrival (toa) of the terminal is reached according to N number of access point, obtains the terminal institute
Initial position and initial floor；
The processing module 602, is additionally operable to the i-th access point being directed in N number of access point, is connect according to described i-th
Path loss added value, default every floor increased path loss of plate between access point position and the initial position is attached
It is value added, and floor where i-th access point, the corresponding i-th alternative floor of the terminal is obtained, wherein, 1≤i≤N；
Determining module 603, for after the processing module 602 obtains the corresponding N number of alternative floor of the terminal, if really
The number in fixed N number of alternative floor with the alternative floor of the first floor identification is more than or equal to first threshold, and the tool
There is the alternative floor of the first floor identification different from the initial floor, then accord with received signal strength in N number of access point
Pre-conditioned access point is closed as target access, and the terminal that will be obtained according to the target access is corresponding standby
Floor is selected, the floor where being defined as the terminal, wherein, first floor identification is appearance in N number of alternative floor
The most floor identification of number of times.
Alternatively, the determining module 603 is additionally operable to：
If it is determined that in N number of alternative floor, the number of the alternative floor with the first floor identification is more than or equal to first
Threshold value, and the alternative floor with the first floor identification is identical with the initial floor, then determine the initial floor
Floor where the terminal.
Alternatively, the determining module 603 specifically for：
According to the positional information of the described N number of access point for prestoring, floor where being determined from N number of access point
It is not P access point of the initial floor, P is less than or equal to N；
If it is determined that the received signal strength of the maximum access point of received signal strength is more than or equal to connecing in the P access point
Signal strength threshold is received, then by the access point that the received signal strength is maximum, as target access.
Alternatively, the processing module 602 specifically for obtaining the i-th access point position in the following way
With the path loss added value between the initial position：
Calculate the distance between the i-th access point position and described initial position；
The transmission power of i-th access point is obtained, the transmission power and i-th access point are reached into the terminal
Received signal strength difference, be defined as the path loss between the i-th access point position and the initial position；
According to the distance between the i-th access point position and described initial position, and the i-th access point institute
Path loss between position and the initial position, determines the i-th access point position and the initial position
Between path loss added value.
Alternatively, the processing module 602 is specifically additionally operable to, and the i-th access point place is determined by equation below
Path loss added value between position and the initial position：
FAF=PL (dAPi)-(PL+10×Nsf×log(dAPi)+αdAPi+β)
Wherein, the FAF is attached floor path loss between the i-th access point position and the initial position
It is value added, dAPiIt is the distance between the i-th access point position and described initial position, PL (dAPi) it is the described i-th access
Path loss between point position and the initial position, PL is the path loss at 1 meter of distance, NsfFor path loss because
Son, α is the linear impairments factor, and β blocks loss for the corresponding wall of the predeterminable area.
Alternatively, the processing module 602, it is corresponding i-th alternative specifically for obtaining the terminal in the following way
Floor：
It is every with default by the path loss added value between the i-th access point position and the initial position
The ratio of the increased path loss added value of floor plate, be defined as the i-th access point position and the initial position it
Between be spaced floor quantity；
If it is determined that the i-th access point position is located at the top of the initial floor, then by the i-th access point institute
After floor subtracts the floor quantity being spaced between the i-th access point position and the initial position, the floor for obtaining
As the corresponding i-th alternative floor of the terminal；
If it is determined that the i-th access point position is located at the lower section of the initial floor, then by building where i-th access point
After layer is plus the floor quantity being spaced between the i-th access point position and the initial position, the floor conduct for obtaining
The corresponding i-th alternative floor of the terminal.
By the above it can be seen that：
In the embodiment of the present invention, due to the location equipment can according to the time of arrival (toa) of N number of access point incoming terminal,
After initial floor where determining terminal, can also be according to the received signal strength of access point and in place according to access point institute
Put path loss added value, the increased path loss added value of every floor plates, the place building of access point between initial position
The N number of alternative floor that layer is calculated, determines floor where terminal jointly, thus, complicated building structure can be prevented effectively to fixed
The influence of position result, greatly improves the accuracy of floor where positioning terminal, also, compared to existing technology, the present invention without
Extra sensor is set in location equipment, thus, the applicability of indoor floor location method is also higher.
Technical staff in field is it should be appreciated that embodiments of the invention can be provided as method, system or computer program product
Product.Therefore, the present invention can be using the implementation in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
The form of example.And, the present invention can be used and wherein include the calculating of computer usable program code at one or more
The computer program implemented in machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that every first-class during flow chart and/or block diagram can be realized by computer program instructions
The combination of flow and/or square frame in journey and/or square frame and flow chart and/or block diagram.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The function of being specified in present one flow of flow chart or one square frame of two or more flow and/or block diagram or two or more square frame
Device.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that instruction of the storage in the computer-readable memory is produced and include finger
The manufacture of device is made, the command device is realized in one side of one flow of flow chart or two or more flow and/or block diagram
The function of being specified in frame or two or more square frame.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented treatment, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or two or more flow and/or square frame
The step of function of being specified in one square frame of figure or two or more square frame.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without deviating from essence of the invention to the present invention
God and scope.So, if these modifications of the invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (12)
1. a kind of method of indoor floor location, it is characterised in that methods described includes：
Location equipment obtains the positioning measurement report of the terminal in predeterminable area；The positioning measurement report includes N number of access
Point reaches the received signal strength and time of arrival (toa) of the terminal；
Positional information of the location equipment according to the described N number of access point for prestoring, however, it is determined that N number of access point is located at
Multiple floors, then reach the time of arrival (toa) of the terminal according to the N number of access point, obtains initial where the terminal
Position and initial floor；
Be directed to the i-th access point in N number of access point, the location equipment according to the i-th access point position with
Path loss added value, default every floor increased path loss added value of plate between the initial position, and it is described
Floor where i-th access point, obtains the corresponding i-th alternative floor of the terminal, wherein, 1≤i≤N；
After the location equipment obtains the corresponding N number of alternative floor of the terminal, however, it is determined that have the in N number of alternative floor
The number of the alternative floor of one floor identification is more than or equal to first threshold, and the alternative floor with the first floor identification with
The initial floor is different, then received signal strength in N number of access point is met into pre-conditioned access point as target
Access point, and the corresponding alternative floor of the terminal that will be obtained according to the target access, are defined as where the terminal
Floor, wherein, first floor identification is the most floor identification of occurrence number in N number of alternative floor.
2. method according to claim 1, it is characterised in that the location equipment if it is determined that in N number of alternative floor,
Number with the alternative floor with the first floor identification is more than or equal to first threshold, and described has the first floor identification
Alternative floor is identical with the initial floor, then the floor where the initial floor being defined as into the terminal.
3. method according to claim 1, it is characterised in that the location equipment will receive letter in N number of access point
Number intensity meets pre-conditioned access point as target access, including：
The location equipment is determined according to the positional information of the described N number of access point for prestoring from N number of access point
Place floor is not P access point of the initial floor, and P is less than or equal to N；
The location equipment is if it is determined that the received signal strength of the maximum access point of received signal strength is big in the P access point
In equal to received signal strength threshold value, then by the access point that the received signal strength is maximum, as target access.
4. method according to claim 1, it is characterised in that the i-th access point position and the initial position
Between path loss added value, obtain in the following way：
The location equipment calculates the distance between the i-th access point position and described initial position；
The location equipment obtains the transmission power of i-th access point, and the transmission power and i-th access point are reached
The difference of the received signal strength of the terminal, is defined as between the i-th access point position and the initial position
Path loss；
The location equipment is according to the distance between the i-th access point position and described initial position, and described i-th
Path loss between access point position and the initial position, determine the i-th access point position with it is described
Path loss added value between initial position.
5. method according to claim 4, it is characterised in that the location equipment determines described by equation below
Path loss added value between i access points position and the initial position：
FAF=PL (dAPi)-(PL+10×Nsf×log(dAPi)+αdAPi+β)
Wherein, the FAF is that floor path loss between the i-th access point position and the initial position is added
Value, dAPiIt is the distance between the i-th access point position and described initial position, PL (dAPi) it is i-th access point
Path loss between position and the initial position, PL is the path loss at 1 meter of distance, NsfFor path loss because
Son, α is the linear impairments factor, and β blocks loss for the corresponding wall of the predeterminable area.
6. method according to claim 1, it is characterised in that the location equipment obtains the terminal in the following way
Corresponding i-th alternative floor：
The location equipment by the path loss added value between the i-th access point position and the initial position, with
The default ratio per the floor increased path loss added value of plate, is defined as the i-th access point position first with described
The floor quantity being spaced between beginning position；
The location equipment if it is determined that the i-th access point position be located at the initial floor top, then by described i-th
After floor where access point subtracts the floor quantity being spaced between the i-th access point position and the initial position, obtain
The floor for arriving is used as the corresponding i-th alternative floor of the terminal；
The location equipment is if it is determined that the i-th access point position is then accessed positioned at the lower section of the initial floor by described i-th
After floor is plus the floor quantity being spaced between the i-th access point position and the initial position where point, obtain
Floor is used as the corresponding i-th alternative floor of the terminal.
7. a kind of location equipment, it is characterised in that the location equipment includes：
Acquisition module, the positioning measurement for obtaining the terminal in predeterminable area is reported；The positioning measurement report includes N number of
Access point reaches the received signal strength and time of arrival (toa) of the terminal；
Processing module, for the positional information according to the described N number of access point for prestoring, however, it is determined that N number of access point position
In multiple floors, then the time of arrival (toa) of the terminal is reached according to N number of access point, obtain where the terminal just
Beginning position and initial floor；
The processing module, is additionally operable to the i-th access point being directed in N number of access point, according to where i-th access point
Path loss added value, default every floor increased path loss added value of plate between position and the initial position, with
And floor where i-th access point, the corresponding i-th alternative floor of the terminal is obtained, wherein, 1≤i≤N；
Determining module, for after the processing module obtains the corresponding N number of alternative floor of the terminal, however, it is determined that described N number of
The number in alternative floor with the alternative floor of the first floor identification is more than or equal to first threshold, and described has the first floor
The alternative floor of mark is different from the initial floor, then received signal strength in N number of access point is met into pre-conditioned
Access point as target access, and the corresponding alternative floor of the terminal that will be obtained according to the target access, really
Floor where being set to the terminal, wherein, first floor identification is that occurrence number is most in N number of alternative floor
Floor identification.
8. location equipment according to claim 7, it is characterised in that the determining module is additionally operable to：
If it is determined that in N number of alternative floor, the number of the alternative floor with the first floor identification is more than or equal to first threshold,
And the alternative floor with the first floor identification is identical with the initial floor, then the initial floor is defined as described
Floor where terminal.
9. location equipment according to claim 7, it is characterised in that the determining module specifically for：
According to the positional information of the described N number of access point for prestoring, floor where being determined from N number of access point is not
P access point of the initial floor, P is less than or equal to N；
If it is determined that the received signal strength of the maximum access point of received signal strength is believed more than or equal to reception in the P access point
Number intensity threshold, then by the access point that the received signal strength is maximum, as target access.
10. location equipment according to claim 7, it is characterised in that the processing module is specifically for by such as lower section
Formula obtains the path loss added value between the i-th access point position and the initial position：
Calculate the distance between the i-th access point position and described initial position；
The transmission power of i-th access point is obtained, the transmission power and i-th access point are reached into connecing for the terminal
The difference of signal intensity is received, is defined as the path loss between the i-th access point position and the initial position；
It is in place according to the distance between the i-th access point position and described initial position, and i-th access point institute
Put with the path loss between the initial position, determine between the i-th access point position and the initial position
Path loss added value.
11. location equipments according to claim 10, it is characterised in that the processing module is specifically additionally operable to, by such as
Lower formula determines the path loss added value between the i-th access point position and the initial position：
FAF=PL (dAPi)-(PL+10×Nsf×log(dAPi)+αdAPi+β)
Wherein, the FAF is that floor path loss between the i-th access point position and the initial position is added
Value, dAPiIt is the distance between the i-th access point position and described initial position, PL (dAPi) it is i-th access point
Path loss between position and the initial position, PL is the path loss at 1 meter of distance, NsfFor path loss because
Son, α is the linear impairments factor, and β blocks loss for the corresponding wall of the predeterminable area.
12. location equipments according to claim 7, it is characterised in that the processing module, specifically for by such as lower section
Formula obtains the corresponding i-th alternative floor of the terminal：
By the path loss added value between the i-th access point position and the initial position, with default per floor
The ratio of the increased path loss added value of plate, between being defined as between the i-th access point position and the initial position
Every floor quantity；
If it is determined that the i-th access point position is located at the top of the initial floor, then by building where i-th access point
After layer subtracts the floor quantity being spaced between the i-th access point position and the initial position, the floor conduct for obtaining
The corresponding i-th alternative floor of the terminal；
If it is determined that the i-th access point position is located at the lower section of the initial floor, then floor where i-th access point is added
After the upper floor quantity being spaced between the i-th access point position and the initial position, the floor for obtaining is used as described
The corresponding i-th alternative floor of terminal.
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| CN111757268B (en) * | 2019-05-31 | 2022-07-29 | 广东小天才科技有限公司 | Method for determining building position based on NFC assistance and terminal equipment |
| CN112312308A (en) * | 2020-10-29 | 2021-02-02 | 广东小天才科技有限公司 | Indoor positioning method and terminal device |
| CN112312308B (en) * | 2020-10-29 | 2023-12-22 | 广东小天才科技有限公司 | Indoor positioning method and terminal equipment |
| CN113038494A (en) * | 2021-03-09 | 2021-06-25 | 中国铁塔股份有限公司 | Wireless communication indoor distribution system deployment method and device |
| CN113038494B (en) * | 2021-03-09 | 2022-05-24 | 中国铁塔股份有限公司 | Wireless communication indoor distribution system deployment method and device |
| CN115515154A (en) * | 2021-06-22 | 2022-12-23 | 华为技术有限公司 | Occlusion identification method and device and related equipment |
| CN115515154B (en) * | 2021-06-22 | 2024-05-14 | 华为技术有限公司 | Occlusion recognition method, device and related equipment |
| CN114374943A (en) * | 2022-01-18 | 2022-04-19 | 瑞驰博方（北京）科技有限公司 | Floor number determining system and method |
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