Indoor positioning method and device

• US 10,228,453 B2
• Filed: 11/13/2015
• Issued: 03/12/2019
• Est. Priority Date: 11/13/2015
• Status: Active Grant

• Current Assignee: Huawei Technologies Co., Ltd. (Huawei Investment & Holding Co., Ltd.)
• Original Assignee: Huawei Technologies Co., Ltd. (Huawei Investment & Holding Co., Ltd.)
• Inventors: Kuang, Yunsheng
• Primary Examiner(s): Batista, Marcos
• Application Number:
  US15/775,437
• Publication Number:
  US 20180348351A1
• Time in Patent Office: 1,215 Days
• Field of Search: 4554561-4563, 370338
• CPC Class Codes: G01S 11/06 using intensity measurements
• CPC Class Codes: G01S 5/02521 using a radio-map
• CPC Class Codes: G01S 5/0264 at least one of the systems being a non-radio wave positioning system
• CPC Class Codes: G01S 5/0278 involving statistical or probabilistic considerations G01S5/0252, G01S5/0294 take precedence
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/027 using movement velocity, acceleration information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/33 for indoor environments, e.g. buildings
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management
• CPC Class Codes: H04W 64/003 locating network equipment

Abstract

An indoor positioning method includes: obtaining, by a terminal, all predicted locations of a current location, predicting, according to historical movement information of the terminal, a first probability that the terminal passes through each predicted location at a next moment, and obtaining, based on strength of a received signal, a second probability that the terminal passes through each predicted location at the next moment; and generating a corresponding third probability according to the first probability and the second probability that are corresponding to each predicted location, and determining a predicted location point with a highest third probability as a location of the terminal at a second moment.

Claims

1. An indoor positioning method, comprising:

obtaining, by a terminal, a first location of the terminal at a first moment;

obtaining, by the terminal, a plurality of predicted locations corresponding to the first location;

for each predicted location of the plurality of predicted locations, obtaining, by the terminal according to historical movement information of the terminal, a first probability corresponding to the predicted location, wherein the first probability corresponding to the predicted location is a probability that the terminal is located at the predicted location at a second moment and the first probability is obtained according to the historical movement information of the terminal, and the second moment is later than the first moment;

obtaining, by the terminal, signal strength of at least one wireless signal received by the terminal at the second moment;

obtaining, by the terminal according to the signal strength of the at least one wireless signal, a second probability corresponding to the predicted location;

wherein the second probability corresponding to the predicted location is a probability that the terminal is located at the predicted location at the second moment and the second probability is obtained according to the signal strength of the at least one wireless signal;

obtaining, by the terminal according to the first probability and the second probability that are corresponding to the predicted location, a third probability corresponding to the predicted location; and

determining, by the terminal, a predicted location with a highest third probability in the plurality of predicted locations as a second location of the terminal at the second moment.

2. The method according to claim 1, wherein the obtaining, by the terminal, a plurality of predicted locations corresponding to the first location comprises:

obtaining, by the terminal, a type of a geographical region in which the first location is located; and

obtaining, by the terminal according to the type of the geographical region in which the first location is located, the plurality of predicted locations corresponding to the first location.

3. The method according to claim 2, wherein the geographical region type comprises at least one of a unidirectional corridor, a bidirectional corridor, a unidirectional arc-shaped corridor, a bidirectional arc-shaped corridor, a plaza, or a connection region;

wherein;

the unidirectional corridor is a rectilinear corridor allowing a pedestrian to walk in one direction;

the bidirectional corridor is a rectilinear corridor allowing a pedestrian to walk in both directions;

the unidirectional arc-shaped corridor is an arc-shaped corridor allowing a pedestrian to walk in one direction;

the bidirectional arc-shaped corridor is an arc-shaped corridor allowing a pedestrian to walk in both directions;

the plaza is a region in which a walking direction of a pedestrian is not restricted; and

the connection region is a region connecting at least two geographical regions.

4. The method according to claim 1, wherein the historical movement information of the terminal comprises at least one of the following:

a movement location of the terminal in a preset period previous to the first moment,

a movement speed of the terminal in the preset period previous to the first moment, or

a movement direction of the terminal in the preset period previous to the first moment.

5. The method according to claim 1, wherein the obtaining, by the terminal according to the first probability and the second probability that are corresponding to the predicted location, a third probability corresponding to the predicted location comprises:

performing, by the terminal, weighted summation on the first probability and the second probability that are corresponding to the predicted location, to obtain the third probability corresponding to the predicted location.

6. The method according to claim 1, wherein the obtaining, by the terminal according to the first probability and the second probability that are corresponding to the predicted location, a third probability corresponding to the predicted location comprises:

multiplying, by the terminal, the first probability and the second probability that are corresponding to the predicted location, to obtain the third probability corresponding to the predicted location.

12. The method according to claim 1, wherein the obtaining, by the terminal, a plurality of predicted locations corresponding to the first location comprises:

obtaining, by the terminal, a type of a geographical region in which the first location is located and a historical movement speed of the terminal; and

obtaining, by the terminal according to the type of the geographical region in which the first location is located and the historical movement speed of the terminal, the plurality of predicted locations corresponding to the first location.

13. The method according to claim 12, wherein the geographical region type comprises at least one of a unidirectional corridor, a bidirectional corridor, a unidirectional arc-shaped corridor, a bidirectional arc-shaped corridor, a plaza, or a connection region;

wherein

the unidirectional corridor is a rectilinear corridor allowing a pedestrian to walk in one direction;

the bidirectional corridor is a rectilinear corridor allowing a pedestrian to walk in both directions;

the unidirectional arc-shaped corridor is an arc-shaped corridor allowing a pedestrian to walk in one direction;

the bidirectional arc-shaped corridor is an arc-shaped corridor allowing a pedestrian to walk in both directions;

the plaza is a region in which a walking direction of a pedestrian is not restricted; and

the connection region is a region connecting at least two geographical regions.

7. A terminal, comprising:

a transceiver configured to send and receive a wireless signal;

a sensor, configured to obtain movement information of the terminal;

at least one processor; and

a non-transitory computer readable storage medium coupled to the at least one processor and storing computer-executable codes which, when executed, cause the terminal to;

obtain a first location of the terminal at a first moment;

obtain a plurality of predicted locations corresponding to the first location;

obtain, according to historical movement information of the terminal, a first probability corresponding to each predicted location of the plurality of predicted locations;

obtain signal strength of at least one wireless signal received by the communications device at a second moment;

obtain, according to the signal strength of the at least one wireless signal, a second probability corresponding to each predicted location of the plurality of predicted locations;

obtain, according to the first probability and the second probability that are corresponding to each predicted location, a third probability corresponding to each predicted location of the plurality of predicted locations; and

determine a predicted location with a highest third probability in the plurality of predicted locations as a second location of the terminal at the second moment;

wherein;

the first probability corresponding to the predicted location is a probability that the terminal is located at the predicted location at a second moment and the first probability is obtained according to the historical movement information of the terminal, the second moment is later than the first moment, and a second probability corresponding to the predicted location is a probability that the terminal is located at the predicted location at the second moment and the second probability is obtained according to the signal strength of the at least one wireless signal.

8. The terminal according to claim 7, wherein the computer-executable codes cause the terminal to:

obtain a type of a geographical region in which the first location is located; and

obtain, according to the type of the geographical region in which the first location is located, the plurality of predicted locations corresponding to the first location.

9. The terminal according to claim 8, wherein the geographical region type comprises at least one of a unidirectional corridor, a bidirectional corridor, a unidirectional arc-shaped corridor, a bidirectional arc-shaped corridor, a plaza, or a connection region;

wherein;

the unidirectional corridor is a rectilinear corridor allowing a pedestrian to walk in one direction;

the bidirectional corridor is a rectilinear corridor allowing a pedestrian to walk in both directions;

the unidirectional arc-shaped corridor is an arc-shaped corridor allowing a pedestrian to walk in one direction;

the bidirectional arc-shaped corridor is an arc-shaped corridor allowing a pedestrian to walk in both directions;

the plaza is a region in which a walking direction of a pedestrian is not restricted; and

the connection region is a region connecting at least two geographical regions.

10. The terminal according to claim 7, wherein the historical movement information of the terminal comprises at least one or more of the following:

a movement location of the terminal in a preset period previous to the first moment,

a movement speed of the terminal in the preset period previous to the first moment, or

a movement direction of the terminal in the preset period previous to the first moment.

11. The terminal according to claim 7, wherein the computer-executable codes cause the terminal to:

perform weighted summation on the first probability and the second probability that are corresponding to the predicted location, to obtain the third probability corresponding to the predicted location.

14. The terminal according to claim 7, wherein the computer-executable codes cause the terminal to:

obtain a type of a geographical region in which the first location is located and a historical movement speed of the terminal; and

obtain, according to the type of the geographical region in which the first location is located and the historical movement speed of the terminal, the plurality of predicted locations corresponding to the first location.

15. The terminal according to claim 14, wherein the geographical region type comprises at least one of a unidirectional corridor, a bidirectional corridor, a unidirectional arc-shaped corridor, a bidirectional arc-shaped corridor, a plaza, or a connection region;

wherein;

the unidirectional corridor is a rectilinear corridor allowing a pedestrian to walk in one direction;

the bidirectional corridor is a rectilinear corridor allowing a pedestrian to walk in both directions;

the unidirectional arc-shaped corridor is an arc-shaped corridor allowing a pedestrian to walk in one direction;

the bidirectional arc-shaped corridor is an arc-shaped corridor allowing a pedestrian to walk in both directions;

the plaza is a region in which a walking direction of a pedestrian is not restricted; and

the connection region is a region connecting at least two geographical regions.

16. The terminal according to claim 7, wherein the computer-executable codes cause the terminal to:

multiply the first probability and the second probability that are corresponding to the predicted location, to obtain the third probability corresponding to the predicted location.

17. A non-transitory computer readable storage medium, including instructions which cause a terminal to:

obtain a first location of the terminal at a first moment;

obtain a plurality of predicted locations corresponding to the first location;

obtain, according to historical movement information of the terminal, a first probability corresponding to each predicted location;

obtain signal strength of at least one wireless signal received by the terminal at a second moment;

obtain, according to the signal strength of the at least one wireless signal, a second probability corresponding to each predicted location;

obtain, according to the first probability and the second probability that are corresponding to each predicted location, a third probability corresponding to each predicted location; and

determine a predicted location with a highest third probability in the plurality of predicted locations as a second location of the terminal at the second moment;

wherein

the first probability corresponding to the predicted location is a probability that the terminal is located at the predicted location at a second moment and the first probability is obtained according to the historical movement information of the terminal, the second moment is later than the first moment, and a second probability corresponding to the predicted location is a probability that the terminal is located at the predicted location at the second moment and the second probability is obtained according to the signal strength of the at least one wireless signal.

18. The non-transitory computer readable storage medium according to claim 17, wherein the instructions cause the terminal to:

obtain a type of a geographical region in which the first location is located; and

obtain, according to the type of the geographical region in which the first location is located, the plurality of predicted locations corresponding to the first location.

19. The non-transitory computer readable storage medium according to claim 18, wherein the geographical region type comprises at least one of a unidirectional corridor, a bidirectional corridor, a unidirectional arc-shaped corridor, a bidirectional arc-shaped corridor, a plaza, or a connection region;

wherein;

the unidirectional corridor is a rectilinear corridor allowing a pedestrian to walk in one direction;

the bidirectional corridor is a rectilinear corridor allowing a pedestrian to walk in both directions;

the unidirectional arc-shaped corridor is an arc-shaped corridor allowing a pedestrian to walk in one direction;

the bidirectional arc-shaped corridor is an arc-shaped corridor allowing a pedestrian to walk in both directions;

the plaza is a region in which a walking direction of a pedestrian is not restricted; and

the connection region is a region connecting at least two geographical regions.

20. The non-transitory computer readable storage medium according to claim 17, wherein the instructions cause the terminal to:

obtain a type of a geographical region in which the first location is located and a historical movement speed of the terminal; and

obtain, according to the type of the geographical region in which the first location is located and the historical movement speed of the terminal, the plurality of predicted locations corresponding to the first location.