WO2018039965A1 - Method for acquiring position information, magnetic field beacon apparatus, and terminal device - Google Patents

Abstract

Disclosed in the present invention are a method for acquiring position information, a magnetic field beacon apparatus, and a terminal device, relating to the technical field of communication and, by means of the arrangement of a magnetic field beacon apparatus capable of producing a magnetic field, being able to solve the problem of the terminal device being unable to implement subsequent positioning operations as a result of being unable to sense the geomagnetic field of the Earth. The method comprises: the terminal device senses the magnetic field produced by the magnetic field beacon apparatus and acquires a magnetic field characteristic of the magnetic field, the magnetic field characteristic being the tri-axial spatial magnetic induction intensity in the time dimension; on the basis of the magnetic field characteristic, the terminal device acquires an identifier of the magnetic field beacon apparatus; and, on the basis of the identifier and a corresponding relationship, the terminal device acquires the position of the magnetic field beacon apparatus, the corresponding relationship being a corresponding relationship of the identifier and the position in which the magnetic field beacon apparatus is located. The present invention is suitable for use in a positioning process.

Description

Method for acquiring position information, magnetic field beacon device and terminal device Technical field

The present invention relates to the field of communications technologies, and in particular, to a method for acquiring location information, a magnetic field beacon device, and a terminal device.

Background technique

With the development of communication technologies, especially the popularity of positioning technologies, most terminal devices are capable of supporting positioning technologies such as electronic compass functions. The user can use the earth's own magnetic field to realize the positional positioning, that is, the terminal device is placed at a certain point in the air, and then the geomagnetic sensor and the intensity of the current position of the terminal device are determined by the geomagnetic sensor disposed inside the terminal device, and the transformation operation is performed. Further, the deflection angle of the terminal with respect to the geomagnetic direction is obtained. In this way, the geomagnetic sensor can be used to realize the electronic compass function, thereby completing the positional positioning of the terminal.

In the actual application process, there will be external electronic devices such as computer equipment, electric equipment, and magnetic components, and these devices will generate electromagnetic disturbances. At this time, the above method will be caused by the presence of large devices around the terminal equipment. The interference makes the terminal device unable to sense the Earth's own magnetic field; in addition, due to the penetration loss of the building, the terminal device cannot sense the Earth's own magnetic field in the indoor scene.

Summary of the invention

The invention provides a method for acquiring position information, a magnetic field beacon device and a terminal device, which can solve the problem that the terminal device cannot perform the subsequent position due to the inability to sense the earth's own magnetic field by setting a magnetic field beacon device capable of generating a magnetic field. Problems with positioning and other operations.

In order to achieve the above object, the present invention adopts the following technical solutions:

In one aspect, an embodiment of the present invention provides a method for acquiring location information. The method comprises: the terminal device inducing a magnetic field generated by the magnetic field beacon device, acquiring a magnetic field characteristic of the magnetic field, and acquiring the identification of the magnetic field beacon device according to the magnetic field characteristic, and then acquiring the position of the magnetic field beacon device according to the identification and the corresponding relationship. Where the magnetic field is characterized in the time dimension The three-axis spatial magnetic induction value, the terminal device correspondence relationship is the correspondence between the identification and the position of the magnetic field beacon device. It can be seen that the present invention can be provided with a magnetic field beacon device capable of generating an artificial magnetic field. For example, the user can control the magnetic field characteristics of the magnetic field generated by the same magnetic field beacon device at different times by controlling the input parameters of the magnetic field beacon device, that is, Generate a controlled and variable magnetic field to change the magnetic field characteristics at different times. In this way, the identity of the magnetic field beacon device can be determined by acquiring the magnetic field characteristics of the magnetic field to determine the position of the magnetic field beacon device. Therefore, it is possible to solve the problem that the terminal device cannot perform the subsequent positional positioning and the like due to the inability to sense the earth's own magnetic field by providing a magnetic field beacon device that can generate a magnetic field.

In a possible design, the terminal device acquires the identifier of the magnetic field beacon device according to the magnetic field characteristic, and specifically, the terminal device determines the information coding sequence used by the magnetic field beacon device to transmit the magnetic field characteristic according to the magnetic field characteristic, and then according to the information. The coding sequence acquires the identity of the magnetic field beacon device. It can be seen that the introduced information coding sequence can be used as a reference for effectively distinguishing the artificial magnetic field from other magnetic fields, considering that the information coding sequence can carry the input parameters of the magnetic field beacon device, and therefore, the terminal device deducts the information coding sequence according to the magnetic field characteristics. It is also possible to obtain a representation of the magnetic field beacon device from which the position of the magnetic field beacon device can be accurately determined.

In one possible design, the information coding sequence may include a signal carrying a magnetic field signature and a silence signal indicating that the current magnetic field beacon device does not generate a magnetic field. In the information coding sequence, the signal carrying the magnetic field characteristic is interleaved with the silence signal. This makes it possible to avoid interference of other electromagnets in the space with the magnetic field characteristics transmitted by the magnetic field beacon device, and to cause the terminal to determine the identity of the magnetic field beacon device based on the interlaced signals.

In a possible design, the terminal device acquires the identifier of the magnetic field beacon device according to the information coding sequence, which may be implemented by: the terminal device is adjacent to the signal carrying the magnetic field characteristic and the signal carrying the magnetic field characteristic. The next silence signal is subjected to a differential operation to obtain the identification of the magnetic field beacon device. It can be seen that the transmission mode of the above magnetic field feature can effectively avoid interference of other electromagnetic objects in the space on the magnetic field characteristics transmitted by the magnetic field beacon device. The terminal device can then be based on a digital building structure The identification of each of the magnetic field beacon devices to determine the position of the magnetic field beacon device that transmits the magnetic field characteristics.

In one possible design, the terminal device can determine the location of the terminal device based on the location of the magnetic field beacon device. Considering the number of magnetic field beacon devices, it also affects the process by which the terminal device locates itself. Therefore, when the number of magnetic field beacon devices is one, the terminal device determines the location of the magnetic field beacon device as the location of the terminal device; when the number of magnetic field beacon devices is two, the magnetic field beacon device includes the first magnetic field signal. And the second magnetic field beacon device, the terminal device determines the signal strength of the first magnetic field beacon device according to the magnetic field characteristic of the first magnetic field beacon device, and determines the second magnetic field according to the magnetic field characteristic of the second magnetic field beacon device The signal strength of the beacon device, and then determining the position of the terminal device according to the difference between the signal strength of the first magnetic field beacon device and the signal strength of the second magnetic field beacon device; when the number of magnetic field beacon devices is three, the magnetic field The beacon device includes a first magnetic field beacon device, a second magnetic field beacon device, and a third magnetic field beacon device, and the terminal device determines a signal strength of the first magnetic field beacon device according to a magnetic field characteristic of the first magnetic field beacon device, and Determining a signal strength of the second magnetic field beacon device according to a magnetic field characteristic of the second magnetic field beacon device, and according to a magnetic field characteristic of the third magnetic field beacon device, Determining the signal strength of the third magnetic field beacon device, and then determining the terminal according to the magnitude relationship between the signal strength of the first magnetic field beacon device, the signal strength of the second magnetic field beacon device, and the signal strength of the third magnetic field beacon device The magnitude relationship between the device and the linear distance between the first magnetic field beacon device, the second magnetic field beacon device, and the third magnetic field beacon device, wherein the relationship between the magnitude relationship between the linear distances and the signal strength Negative correlation, and finally determining the position of the terminal device as a designated area within the triangular area according to the relationship between the linear distances, the triangular area being the position of the first magnetic field beacon device, the position of the second magnetic field beacon device, and the third The position of the magnetic field beacon device is a triangular region formed by the vertices, wherein the linear distance between the terminal and the first magnetic field beacon device, the second magnetic field beacon device, and the third magnetic field beacon device respectively satisfies the straight line in the designated region The relationship between the distances. It can be seen that for different numbers of magnetic field beacon devices, different determining methods can be used when determining the location of the terminal device, and the determined location of the terminal device is only one possible location or one possible region.

In another aspect, the present invention provides a method of acquiring location information, the method comprising: a magnetic field beacon device generating a magnetic field signature based on an input parameter, the input parameter including a parameter for indicating a location of the magnetic field beacon device, and a magnetic field beacon The hardware sequence identification code of the device, the magnetic field characteristic is a three-axis spatial magnetic induction intensity value in a time dimension; the magnetic field beacon device generates a magnetic field by using the magnetic field characteristic, and the magnetic field is used for the terminal device to perform magnetic field induction and acquire the magnetic field characteristic of the magnetic field beacon device.

In a possible design, the magnetic field beacon device generates a magnetic field characteristic according to the input parameter, and specifically can be realized as: the magnetic field beacon device generates the information coding sequence by digitally encoding the input parameter, and converts the information coding sequence into the magnetic field characteristic.

In one possible design, the information coding sequence may include a signal carrying a magnetic field signature and a silence signal indicating that the current magnetic field beacon device does not generate a magnetic field. In the information coding sequence, the signal carrying the magnetic field characteristic is interleaved with the silence signal.

In a possible design, the magnetic field beacon device converts the information coding sequence into a magnetic field characteristic, and specifically, the magnetic field beacon device encodes the information by controlling at least one of a current, a coil, a power-on time, and a power-on interval. The sequence is converted to a magnetic field characteristic. It can be seen that the above mentioned parameters can be used as parameters for controlling the input of the magnetic field characteristics, and also as a necessary condition for the controllable artificial magnetic field. It is precisely because the staff can adjust the magnetic field characteristics of the magnetic field beacon device in real time according to actual needs, so that the terminal device can perceive the artificial magnetic field generated by the invention without external interference, thereby effectively positioning the magnetic field beacon. The location of the device, which in turn determines the location of the terminal device.

In still another aspect, the present invention provides a terminal device. The terminal device is used to complete the functions performed by the terminal device in the example of the foregoing method, and the function may be implemented by using hardware or by executing corresponding software through hardware. The hardware or software includes at least one module corresponding to the above functions.

In a possible design, the terminal device includes a processor and a transceiver configured to support the terminal device to perform a corresponding function in the above method. The transceiver is for supporting communication between the terminal device and the magnetic field beacon device. The terminal device can also include a memory for coupling with the processor that retains the program instructions and data necessary for the terminal device.

In still another aspect, the present invention provides a magnetic field beacon device. The magnetic field beacon device is used to perform the functions performed by the host in the above method example, and the function may be implemented by hardware or by executing corresponding software by hardware. The hardware or software includes at least one module corresponding to the above functions.

In one possible design, the magnetic beacon device includes a processor and a transceiver configured to support the device to perform the corresponding functions of the above methods. The transceiver is for supporting communication between the magnetic field beacon device and the terminal device. The magnetic field beacon device can also include a memory for coupling with the processor that holds the necessary program instructions and data for the magnetic field beacon device.

The method for acquiring position information, the magnetic field beacon device and the terminal device provided by the present invention can set a magnetic field beacon device capable of generating an artificial magnetic field compared with the prior art process for realizing positional positioning by using the earth's own magnetic field. The user can control the magnetic field characteristics of the magnetic field generated by the same magnetic field beacon device at different times by controlling the input parameters of the magnetic field beacon device, that is, by generating a controlled and variable magnetic field to change the magnetic field characteristics at different moments. In this way, the identity of the magnetic field beacon device can be determined by acquiring the magnetic field characteristics of the magnetic field to determine the position of the magnetic field beacon device. Therefore, it is possible to solve the problem that the terminal device cannot perform the subsequent positional positioning and the like due to the inability to sense the earth's own magnetic field by providing a magnetic field beacon device that can generate a magnetic field.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without any creative work.

FIG. 1 is a flowchart of a method for acquiring location information according to an embodiment of the present invention;

2 and 3 are flowcharts of another method for acquiring location information according to an embodiment of the present invention;

4 is a schematic circuit diagram of a magnetic field beacon apparatus according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of connection between a magnetic induction coil and a power supply unit according to an embodiment of the present invention; FIG.

6 to 10 are flowcharts of another method for acquiring location information according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a positional relationship between three magnetic field beacon devices and a terminal according to an embodiment of the present invention; FIG.

FIG. 12 is a schematic structural diagram of a terminal device according to an embodiment of the present disclosure;

FIG. 13 is a schematic structural diagram of a magnetic field beacon apparatus according to an embodiment of the present invention;

FIG. 14 is a schematic structural diagram of another terminal device according to an embodiment of the present disclosure;

FIG. 15 is a schematic structural diagram of another magnetic field beacon apparatus according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Embodiments of the present invention can be used in a communication network system including a magnetic field beacon device and a terminal device in a communication network system. In the embodiment of the present invention, in combination with the building structure map that has been digitized, the terminal device can determine the current location based on the magnetic field strength issued by all the magnetic field beacon devices for a certain period of time. It should be noted that the magnetic field beacon device may be disposed in advance at various positions within the area covered by the architectural structure diagram, and each magnetic field beacon device is set to have a certain difference in longitude, latitude, and altitude.

An embodiment of the present invention provides a method for acquiring location information. As shown in FIG. 1 , the method is implemented by the magnetic field beacon device and the terminal device. The method includes:

101. The magnetic field beacon device generates a magnetic field characteristic according to the input parameter.

Wherein the input parameters include parameters for indicating the location of the magnetic field beacon device, and the hardware sequence identification code of the magnetic field beacon device, the magnetic field characteristics being in the time dimension Three-axis spatial magnetic induction value.

In the embodiment of the present invention, the parameter indicating the position of the magnetic field beacon device may be the longitude, latitude and altitude information of the position where the magnetic field beacon device is located, or other position that can be used to indicate the position of the magnetic field beacon device. The parameter of the hardware sequence identification code used to represent the magnetic field beacon device is unique, that is, each magnetic field beacon device has a unique hardware sequence identification code and is different from the hardware sequence identification code of other magnetic field beacon devices.

102. The magnetic field beacon device generates a magnetic field using magnetic field characteristics.

Wherein, the magnetic field is used for the terminal device to perform magnetic field induction and acquire the magnetic field characteristics of the magnetic field beacon device.

103. The terminal device senses a magnetic field generated by the magnetic field beacon device to acquire a magnetic field characteristic of the magnetic field.

Among them, the magnetic field is characterized by a three-axis spatial magnetic induction value in the time dimension.

A magnetic field detecting sensor capable of detecting a magnetic field characteristic may be disposed inside the terminal device, such as a magnetic sensor integrated in the terminal, and then the terminal device may receive magnetic field characteristics transmitted from the magnetic field beacon device and other devices capable of generating a magnetic field. That is, the value of the three-axis spatial magnetic induction in the time dimension, that is, the values of X, Y, and Z, which can be detected by the position of the terminal.

104. The terminal device acquires an identifier of the magnetic field beacon device according to the magnetic field characteristic.

105. The terminal device acquires a location of the magnetic field beacon device according to the identifier and the corresponding relationship.

Wherein, the correspondence relationship is a correspondence between the identifier and the position of the magnetic field beacon device.

It should be noted that before the positioning process of the magnetic field beacon device is performed, the digitization and gridding position calibration of each building area structure map is performed in advance, and at the same time, the actual deployment situation of the magnetic field beacon device needs to be grasped. The processed structural building map may also be pre-stored locally in the terminal device, so that the terminal device determines the location of the magnetic field beacon device according to the collected data, and subsequently determines the location of the terminal device.

The invention can be provided with a magnetic field beacon device capable of generating an artificial magnetic field, and the user can control the same magnetic field beacon device by controlling the input parameters of the magnetic field beacon device. The magnetic field characteristics of the magnetic field generated at the moment, that is, by generating a controlled and variable magnetic field, change the magnetic field characteristics at different times. In this way, the identity of the magnetic field beacon device can be determined by acquiring the magnetic field characteristics of the magnetic field to determine the position of the magnetic field beacon device. Therefore, it is possible to solve the problem that the terminal device cannot perform the subsequent positional positioning and the like due to the inability to sense the earth's own magnetic field by providing a magnetic field beacon device that can generate a magnetic field.

In an implementation manner of the embodiment of the present invention, a specific implementation manner of determining a magnetic field beacon device according to a magnetic field characteristic is provided. On the basis of the implementation manner shown in FIG. 1 , it can also be implemented as shown in FIG. 2 . The implementation of the instructions. The magnetic field beacon device of step 101 generates a magnetic field characteristic according to the input parameter, which may be specifically implemented as step 1011 and step 1012. In step 104, the terminal device acquires the identifier of the magnetic field beacon device according to the magnetic field characteristic, which may be specifically implemented as step 1041 and step 1042. :

1011. The magnetic field beacon device generates an information coding sequence by digitally encoding the input parameters.

1012. The magnetic field beacon device converts the information coding sequence into a magnetic field characteristic.

1041. The terminal device determines, according to the magnetic field characteristic, an information coding sequence used by the magnetic field beacon device to transmit the magnetic field characteristic.

1042. The terminal device acquires an identifier of the magnetic field beacon device according to the information coding sequence.

It should be noted that the information coding sequence includes a signal carrying a magnetic field characteristic and a silence signal, and the silence signal indicates that the current magnetic field beacon device does not generate a magnetic field. In the information coding sequence, the signal carrying the magnetic field characteristic and the silence signal are alternately arranged.

的信息编码序列的形式。其中，n为大于或者等于0的正整数。在本发明实施例中，为了达到信号交错发送的效果，n的取值通常为大于或等于0的正整数。其 中，

为head头数据的特征值，用于表示携带有磁场特征的信号，

用于表示静默信号，即在t₁、t_n+1时刻，发送上述信息编码序列的磁场信标装置不产生磁场。In the present invention, the magnetic field characteristic may specifically be a magnetic induction intensity value on a three-axis spatial scale in a time dimension, that is, a magnetic induction intensity. For example, in the 1 second time dimension, it is divided into 100 time slots, each time slot is 10 milliseconds, and each time slot has X, Y, Z three-axis spatial magnetic induction values, that is, magnetic waves on each time slot. The inductive intensity can be expressed as the magnetic intensities of the three axes of X, Y, and Z. The data sent by each magnetic field beacon device can be used, for example.

The information is encoded in the form of a sequence. Where n is a positive integer greater than or equal to zero. In the embodiment of the present invention, in order to achieve the effect of signal interleaving, the value of n is usually a positive integer greater than or equal to zero. among them,

The characteristic value of the head header data, which is used to represent the signal carrying the magnetic field characteristic,

It is used to indicate a silent signal, that is, at time t ₁ , t _n+1 , the magnetic field beacon device transmitting the above-described information coding sequence does not generate a magnetic field.

It should be noted that, in order to improve the reliability of information transmission, in the present invention, the signal carrying the magnetic field characteristic can be repeatedly transmitted, and the more the number of repeated transmissions, the higher the reliability of information transmission. In addition, since the magnetic induction intensity of the magnetic field generated by the magnetic field beacon device may change with time, and the values of X, Y, and Z generated by the same magnetic field beacon device may be different at the same time, therefore, for each generation The magnetic induction intensity needs to be transmitted in the above manner. It should be noted that the value of the head may not be different or the same at different times, and the value of the head generated by the same magnetic field beacon device may be the same or different at the same time, which is not limited herein.

In order to ensure that the terminal can receive the magnetic induction intensity generated by the magnetic field beacon device at each sampling point within a certain period of time, in the present invention, after the complete set of information encoding sequences is transmitted, the transmitted group can be sent. The information coding sequence is repeatedly transmitted at least once, thereby improving the success rate of the terminal for accurate demodulation. It should be noted that the manner of repeated transmission is not limited to the above one manner, and the data collected at each sampling point may be continuously transmitted when the information coding sequence is constructed. In addition, in the embodiment of the present invention, the number of times of repeated transmission is not limited, and the number of times that the transmission needs to be repeated may be determined by the user or the staff according to the accuracy requirement of the current data transmission, which is not limited herein.

At the same time, the terminal device may receive the magnetic induction strength transmitted from the plurality of magnetic field beacon devices, and when the terminal device determines the information coding sequence, the information coding sequence transmitted from the different magnetic field beacon devices may be distinguished, and at the same time It filters out external electronic devices such as computers and other electronic devices that exist in the outside world, as well as interference caused by magnetic components. That is to say, after step 1041, the terminal can determine the information coding sequence transmitted by each magnetic field beacon device received by itself.

In the present invention, the introduced information coding sequence can be used as a reference for effectively distinguishing between artificial magnetic fields and other magnetic fields, considering that the information coding sequence can carry the magnetic field beacon device. The parameters are input. Therefore, after the terminal device reverses the information coding sequence according to the magnetic field characteristics, the representation of the magnetic field beacon device can also be obtained therefrom, so that the position of the magnetic field beacon device can be accurately determined.

In order to ensure the controllability of the artificial magnetic field, in one implementation of the embodiment of the invention, the information coding sequence can be converted to a magnetic field characteristic by controlling the parameters that generate the magnetic field. Based on the implementation shown in FIG. 2, an implementation as shown in FIG. 3 can also be implemented. In step 1012, the magnetic field beacon device converts the information coding sequence into a magnetic field characteristic, which may be specifically implemented as step 10121:

10121. The magnetic field beacon device converts the information coding sequence into a magnetic field characteristic by controlling at least one of a current, a coil, an energization time, and a current interval.

Since the magnetic field beacon device is a programmable magnetic field beacon device, one or more of parameters such as current intensity, current direction, energization time, energization interval, coil energization parameters, coil radius, coil space position vector angle, and the like can be controlled. The parameters are used to adjust the magnetic induction intensity that each magnetic field beacon device can output, while using the magnetic induction coil, the conductor and the power supply unit to generate a magnetic field that is controllable in the time dimension. As shown in FIG. 4, it is a circuit diagram of a magnetic field beacon device. The switch connected in series between the coil and the control unit can be used to adjust the number of turns of the coil. As shown in FIG. 5, it is a schematic diagram of the connection between the magnetic induction coil and the power supply unit, and the switch can also be used to control the radius of the energized coil. It should be noted that, except that the magnetic induction intensity outputted by the magnetic field beacon device can be adjusted as shown in FIG. 4 and FIG. 5, the magnetic parameters can be adjusted by using the above other parameters, which is not limited herein.

In the present invention, the parameters mentioned in step 10121 can be used as parameters for controlling the input of magnetic field characteristics, and are also necessary conditions for controllable artificial magnetic fields. It is precisely because the staff can adjust the magnetic field characteristics of the magnetic field beacon device in real time according to actual needs, so that the terminal device can perceive the artificial magnetic field generated by the invention without external interference, thereby effectively positioning the magnetic field beacon. The location of the device, which in turn determines the location of the terminal device.

Considering that in order to reduce the interference of other electromagnetic objects in the space to the magnetic field characteristics transmitted by the magnetic field beacon device, in the information coding sequence, the signal carrying the magnetic field characteristics is The silence signal is interleaved. Therefore, in order to accurately determine the position of the magnetic field beacon device, in an implementation manner of the embodiment of the present invention, the magnetic field beacon device can be obtained by performing differential operation on the signal in the information coding sequence. The identification of the magnetic beacon device is then determined based on the identification. Therefore, based on the implementation shown in FIG. 2 or FIG. 3, FIG. 2 can also be implemented as an implementation as shown in FIG. 6. Step 1042: The terminal device acquires the identifier of the magnetic field beacon device according to the information coding sequence, which may be specifically implemented as step 10421:

10421. The terminal device obtains the identifier of the magnetic field beacon device by performing a differential operation on the signal carrying the magnetic field characteristic and the next silent signal adjacent to the signal carrying the magnetic field characteristic.

该磁场信标装置在t₀时刻发送的磁感强度的X、Y、Z的取值分别为a_x0、a_y0、a_z0，在t₁时刻发送的磁感强度的X、Y、Z的取值均为0，在t_n时刻发送的磁感强度的X、Y、Z的取值分别为a_xn、a_yn、a_zn，在t_n+1时刻发送的磁感强度的X、Y、Z的取值均为0。其中，a_x0、a_y0、a_z0的取值与a_xn、a_yn、a_zn的取值对应相等，即在t₀时刻发送的磁感强度与在t_n时刻发送的磁感强度相同，以此来增加信息传输的可靠性。Referring to the information coding sequence mentioned above, taking a single character “a” as a sequence, the terminal device determines that the information coding sequence sent by a certain magnetic field beacon device is specifically

The values of X, Y, and Z of the magnetic induction intensity transmitted by the magnetic field beacon device at time t ₀ are a _x0 , a _y0 , and a _z0 , respectively, and X, Y, and Z of the magnetic induction intensity transmitted at time t ₁ . The values are all 0, and the values of X, Y, and Z of the magnetic induction intensity transmitted at time t _n are a _xn , a _yn , and a _zn , respectively, and X and Y of the magnetic induction intensity transmitted at time t _n+1 . The value of Z is 0. The values of a _x0 , a _y0 , and a _z0 are equal to the values of a _xn , a _yn , and a _zn , that is, the magnetic intensity transmitted at time t ₀ is the same as the magnetic intensity transmitted at time t _n . In order to increase the reliability of information transmission.

得到X、Y、Z的取值分别为a_x0、a_y0、a_z0，从而得到t₀时刻所发送的磁场强度在三轴的取值分别为a_x0、a_y0、a_z0，并根据上述X、Y、Z的取值来确定所对应的唯一的一个字符“a”，即信息编码序列对应的该磁场信标装置的标识。需要说明的是，为了提高信息传输的可靠性，可以分别确定多组相邻信号之间的关系，得到多个字符，并选取多个字符中出现次数最高的字符作为该磁场信标装置所产生磁场的磁场特征。In the embodiment of the present invention, the magnetic induction intensity of the magnetic field generated by the magnetic field beacon device at each time from time t _{0 to} time t _n+1 can be obtained by using a differential operation method. For example: through

The values of X, Y, and Z are obtained as a _x0 , a _y0 , and a _z0 , respectively, so that the values of the magnetic field strengths transmitted at time t ₀ are respectively a _x0 , a _y0 , a _z0 , and according to the above The values of X, Y, and Z are used to determine a unique one of the characters "a", that is, the identifier of the magnetic field beacon device corresponding to the information coding sequence. It should be noted that, in order to improve the reliability of information transmission, the relationship between multiple sets of adjacent signals may be separately determined, multiple characters are obtained, and the character with the highest number of occurrences among the plurality of characters is selected as the magnetic field beacon device. The magnetic field characteristics of the magnetic field.

It should be noted that each of the above moments may be an instantaneous value of the magnetic field signal sampled by the magnetic field detecting sensor at regular intervals, and then in time The analog signal is discretized to obtain the magnetic induction intensity corresponding to each of the above moments. The collection interval of the magnetic field detecting sensor can be set by the user or the staff according to the degree of change of the magnetic induction intensity, which is not limited herein.

In addition, considering that there may be more than one character corresponding to a magnetic field beacon device, multiple characters can also be obtained in the above manner. For example, in a series of information coding sequences, division is performed according to a certain interval, such as 100 time slots. In each case, every 20 time slots can represent one character after differential operation, and every 20 time slots is equivalent to repeating 20/2=10 times for the same valid signal, and finally 5 consecutive characters can be obtained. The characters are arranged in the order in which the information coding sequences are generated, and the magnetic field beacon device represented by the above five characters is obtained.

It should be noted that, for the operation of demodulating and decoding the terminal, the discrete sample sequence needs to be converted into digital code by the difference calculation. After that, the terminal can arrange the digital codes, solve the information header, and de-duplicate the digital information stream to obtain the data information carried by the magnetic field, that is, the address coding information of the magnetic field beacon device, that is, the identifier of the magnetic field beacon device. .

In the present invention, the signal carrying the magnetic field characteristics and the silence signal are interleaved. After the terminal device reverses the information coding sequence according to the magnetic field characteristic, the signal encoding sequence can be obtained by performing a difference operation between the signal carrying the magnetic field characteristic and the next silent signal adjacent to the signal carrying the magnetic field characteristic. Identification of the magnetic field beacon device. The transmission mode of the magnetic field feature described above can effectively prevent other electromagnetic objects in the space from interfering with the magnetic field characteristics transmitted by the magnetic field beacon device. The terminal device can then determine the position of the magnetic field beacon device that transmits the magnetic field signature based on the identification of each magnetic field beacon device in the digital building map.

In one implementation of an embodiment of the invention, after determining the position of the magnetic field beacon device, the position of the terminal device can be determined based on the position of the magnetic field beacon device. Therefore, based on the implementations shown in FIG. 1, FIG. 2, FIG. 3, and FIG. 6, FIG. 1 can be used as an implementation as shown in FIG. After the step 105 is performed, the terminal device acquires the location of the magnetic field beacon device according to the identifier and the corresponding relationship, and may perform step 106:

106. The terminal device determines the location of the terminal device according to the location of the magnetic field beacon device.

The terminal device can determine the location of the terminal device according to the position of the magnetic field beacon device and the strength of the transmitted signal. The specific implementation manner will be mentioned later, and will not be described herein.

In the present invention, determining the position of the magnetic field beacon device is mainly for realizing the positioning of the terminal device. Therefore, after determining the position of the magnetic field beacon device that generates the magnetic field, the position of the magnetic field beacon device can also be used to determine the terminal. The possible location of the device.

Considering that the number of magnetic field beacon devices affects the location of the terminal, in one implementation of the embodiments of the present invention, different ones are provided for determining when the number of magnetic field beacon devices is one or more. The implementation of the location of the terminal device. Therefore, on the basis of the implementation shown in FIG. 7, it can also be implemented as shown in FIG. 8 to FIG. The step 106 determines the location of the terminal device according to the location of the magnetic field beacon device, which may be specifically implemented as step 1061, or step 1062 and step 1063, or step 1064 to step 1066:

1061. When the number of magnetic field beacon devices is one, the terminal device determines the location of the magnetic field beacon device as the location of the terminal device.

In the embodiment of the present invention, the terminal device may directly determine the longitude of the magnetic field beacon device as the longitude of the terminal device, determine the latitude of the magnetic field beacon device as the latitude of the terminal device, and determine the height of the magnetic field beacon device as The height of the terminal device.

It should be noted that the current location of the terminal device that is located by the location location solution provided by the present invention belongs to a relative location, that is, the latitude and longitude and height of the magnetic field beacon device are used as the latitude and longitude and height of the terminal device, A possible location of the terminal device can be obtained, that is, the current location of the terminal device may be the location determined by the present invention, or may be a certain location near the location determined by the present invention.

It can be seen that after the terminal device determines the position of the magnetic field beacon device, if the number of the magnetic field beacon devices is one, the latitude and longitude and the height of the magnetic field beacon device are directly determined as the latitude and longitude and the height of the position of the terminal device, thereby determining The location of the terminal device.

1062. When the number of magnetic field beacon devices is two, the magnetic field beacon device comprises a first magnetic field beacon device and a second magnetic field beacon device, and the terminal device is installed according to the first magnetic field beacon The magnetic field characteristic is determined, the signal strength of the first magnetic field beacon device is determined, and the signal strength of the second magnetic field beacon device is determined according to the magnetic field characteristics of the second magnetic field beacon device.

In the present invention, the signal strength may specifically be the sum of all the magnetic induction intensity components in the magnetic induction intensity, or other parameters that can be used to indicate the strength of the magnetic field characteristic generated by the magnetic field beacon device generating the magnetic field. Make a limit.

1063. The terminal device determines a location of the terminal device according to a difference between a signal strength of the first magnetic field beacon device and a signal strength of the second magnetic field beacon device.

Wherein, the center point deviation position is a position of the magnetic field beacon device with a signal intensity closest to the linear distance.

It should be noted that, similar to the implementation scheme corresponding to step 1061, the current location of the terminal device that is located by the location location solution provided by the present invention belongs to a relative location, which means that the location of the terminal device may be located. The position determined by the use of the present invention may also be a certain position near the position determined by the present invention.

In the present invention, after the terminal device determines the location of the magnetic field beacon device, if the number of magnetic field beacon devices is two, considering that the magnetic induction intensity transmitted by each magnetic field beacon device can be used to determine where the terminal is located Position, therefore, the terminal device can determine its position based on the signal strength of the two magnetic field beacon devices. That is, according to the signal strength of the signal received by the terminal, it is determined which magnetic field beacon device the terminal device is closer to, and then the position of the terminal device is determined according to the difference between the signal strengths of the two magnetic field beacon devices, for example: located at two The magnetic field beacon device is near the center point of the linear distance and is close to the position of the magnetic field beacon device with a higher signal strength from the center point.

1064. When the number of magnetic field beacon devices is three, the magnetic field beacon device comprises a first magnetic field beacon device, a second magnetic field beacon device and a third magnetic field beacon device, and the terminal device is configured according to the magnetic field of the first magnetic field beacon device. Characterizing, determining a signal strength of the first magnetic field beacon device, and determining a signal strength of the second magnetic field beacon device according to a magnetic field characteristic of the second magnetic field beacon device, and determining a first according to a magnetic field characteristic of the third magnetic field beacon device The signal strength of the three magnetic field beacon device.

1065. The terminal device is configured according to a signal strength of the first magnetic field beacon device and a second magnetic field. a magnitude relationship between a signal strength of the beacon device and a signal strength of the third magnetic field beacon device, determining a line of the terminal device with the first magnetic field beacon device, the second magnetic field beacon device, and the third magnetic field beacon device, respectively The relationship between the distances.

Among them, the relationship between the magnitude of the linear distance and the magnitude relationship between the signal strengths is negatively correlated.

1066. The terminal device determines, according to the relationship between the linear distances, the location of the terminal device as a designated area in the triangular area.

Wherein, the triangular region is a triangular region formed by vertices of a position of the first magnetic field beacon device, a position of the second magnetic field beacon device, and a position of the third magnetic field beacon device. In the designated region, the terminal respectively and the first The linear distance of the magnetic field beacon device, the second magnetic field beacon device, and the third magnetic field beacon device satisfies the magnitude relationship between the linear distances.

Taking the magnetic induction intensity of the magnetic field generated by the three magnetic field beacon devices as an example, the terminal device is shown as a schematic diagram of the positional relationship between the three magnetic field beacon devices and the terminal device. The two magnetic field beacon devices are a magnetic field beacon device 1, a magnetic field beacon device 2, and a magnetic field beacon device 3, respectively. Through step 1064, the size relationship between the distance 1, the distance 2, and the distance 3 in the figure can be determined, and the triangular area in the figure can be drawn according to the size relationship between the distance 1, the distance 2, and the distance 3. In the triangular region, the location of the terminal device must be close to the position of the magnetic field beacon device with a large signal strength. Considering that the signal from the magnetic induction beacon device 2 that the terminal device can receive is stronger, the terminal device is located closer to the magnetic field beacon device 2, so that the position of the terminal is as shown in the figure. The location shown. Therefore, the position indicated by the cross in the figure can be regarded as a possible position of the terminal device.

It should be noted that, similarly to the implementation scheme corresponding to step 1061 and step 1062 and step 1063, the current location of the terminal device that is located by the location location solution provided by the present invention belongs to a relative location, that is, The location at which the terminal device is currently located may be the location determined by the present invention, or may be a location near the location determined by the present invention.

In addition, for the terminal device, when the magnetic field beacon device is not limited to the above one, For two or three, the terminal device can also refer to the above scheme, combined with the signal strength of the magnetic field beacon device and the position of each magnetic field beacon device to determine the possible location of the terminal device, or the region where the terminal device may be located. . It is to be understood that the above-mentioned implementations are only illustrative of the technical solutions provided by the present invention as an example, but are not intended to limit the application scenarios of the present invention.

The embodiment of the present invention may divide the function module of the terminal device and the magnetic field beacon device according to the foregoing method example. For example, each function module may be divided according to each function, or two or more functions may be integrated into one processing module. in. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of the module in the embodiment of the present invention is schematic, and is only a logical function division, and the actual implementation may have another division manner.

FIG. 12 is a schematic diagram showing a possible structure of a terminal device involved in the foregoing embodiment. The terminal device 20 includes a communication module 21 and a processing module 22. The communication module 21 is for supporting communication of the terminal device 20 with the magnetic field beacon device, such as the process 103 of FIG. The processing module 22 is configured to control and manage the actions of the terminal device 20, such as supporting the terminal device 20 to perform the processes 104 and 105 in FIG. 1, the processes 1041 and 1042 in FIG. 2, the process 10421 in FIG. 6, and the process in FIG. Process 106, process 1061 in FIG. 8, processes 1062 and 1063 in FIG. 9, processes 1064 through 1066 in FIG. 10, and/or other processes for the techniques described herein. The terminal device 20 may further include a storage module 23 for storing related program codes and data. All the related content of the steps involved in the foregoing method embodiments may be referred to the functional descriptions of the corresponding functional modules, and details are not described herein again.

The processing module 22 may be a processor or a controller, for example, a central processing unit (English: Central Processing Unit, CPU for short), a general-purpose processor, and a digital signal processor (English: Digital Signal Processor, referred to as DSP). , Application-Specific Integrated Circuit (ASIC), Field Programmable Gate Array (English: Field Programmable Gate) Array, referred to as: FPGA) or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It is possible to implement or carry out the various illustrative logical blocks, modules and circuits described in connection with the present disclosure. The processor may also be a combination of computing functions, for example, including one or more microprocessor combinations, a combination of a DSP and a microprocessor, and the like. The communication module 21 may specifically be a transceiver, a transceiver circuit, a communication interface, or the like. The storage module 23 can be a memory.

FIG. 13 shows a possible structural diagram of the magnetic field beacon apparatus involved in the above embodiment, and the magnetic field beacon apparatus 30 includes: a processing module 31 and a communication module, in a case where each functional module is divided by corresponding functions. 32. The processing module 31 is configured to control and manage the action of the magnetic field beacon device 30. For example, the support magnetic field beacon device 30 performs the process 101 in FIG. 1, FIG. 7, FIG. 8, FIG. 9, FIG. 10, FIG. 2, FIG. Processes 1011 and 1012, processes 1011 and 10121 in FIG. 3, and/or other processes for the techniques described herein. The communication module 32 is configured to support communication of the magnetic field beacon device 30 with the terminal device, such as the process 102 of FIGS. 1, 2, 3, 6, 7, 8, 9, and 10. The magnetic field beacon device 30 can also include a storage module 33 for storing associated program codes and data. All the related content of the steps involved in the foregoing method embodiments may be referred to the functional descriptions of the corresponding functional modules, and details are not described herein again.

The processing module 31 can be a processor or a controller, such as a central processing unit, a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, or a hardware. A component or any combination thereof. It is possible to implement or carry out the various illustrative logical blocks, modules and circuits described in connection with the present disclosure. The processor may also be a combination of computing functions, for example, including one or more microprocessor combinations, a combination of a DSP and a microprocessor, and the like. The communication module 32 can be implemented by a communication module, which can be specifically a transceiver, a transceiver circuit or a communication interface. The storage module 33 can be a memory.

When the communication module 21 is a transceiver, the processing module 22 is a processor, and the storage module 23 is a memory, the terminal device involved in the embodiment of the present invention may be the end shown in FIG. End device.

Referring to FIG. 14, the terminal device 40 includes a processor 41, a transceiver 42, a memory 43, and a bus 44. The processor 41, the transceiver 42, and the memory 43 are connected to each other through a bus 44. The bus 44 may be a Peripheral Component Interconnect (PCI) bus or an extended industry standard structure (English: Extended) Industry Standard Architecture, referred to as EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is shown in Figure 14, but it does not mean that there is only one bus or one type of bus.

The steps of a method or algorithm described in connection with the present disclosure may be implemented in a hardware, or may be implemented by a processor executing software instructions. The software instructions may be composed of corresponding software modules, and the software modules may be stored in a random access memory (English: Random Access Memory, RAM for short), flash memory, read only memory (English: Read Only Memory, referred to as: ROM), Erase programmable read-only memory (English: Erasable Programmable ROM, referred to as: EPROM), electrically erasable programmable read-only memory (English: Electrically EPROM, referred to as: EEPROM), registers, hard disk, mobile hard disk, read-only optical disk (referred to as : CD-ROM) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor to enable the processor to read information from, and write information to, the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. Additionally, the ASIC can be located in a core network interface device. Of course, the processor and the storage medium may also exist as discrete components in the core network interface device.

When the communication module 32 is a transceiver, the processing module 31 is a processor, and the storage module 33 is a memory, the magnetic field beacon device according to the embodiment of the present invention may be the magnetic field beacon device shown in FIG.

Referring to FIG. 15, the magnetic field beacon apparatus 50 includes a processor 51, a transceiver 52, a memory 53, and a bus 54. Wherein, the processor 51, the transceiver 52, and the memory 53 are connected to each other through a bus 54; the bus 54 may be a peripheral component interconnect standard Line or extended industry standard structure bus. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is shown in Figure 15, but it does not mean that there is only one bus or one type of bus.

The steps of a method or algorithm described in connection with the present disclosure may be implemented in a hardware, or may be implemented by a processor executing software instructions. Software instructions may be comprised of corresponding software modules that may be stored in random access memory, flash memory, read only memory, erasable programmable read only memory, electrically erasable programmable read only memory, registers, hard disk, mobile A hard disk, a read-only optical disk, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor to enable the processor to read information from, and write information to, the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. Additionally, the ASIC can be located in a core network interface device. Of course, the processor and the storage medium may also exist as discrete components in the core network interface device.

Those skilled in the art will appreciate that in one or more examples described above, the functions described herein can be implemented in hardware, software, firmware, or any combination thereof. When implemented in software, the functions may be stored in a computer readable medium or transmitted as one or more instructions or code on a computer readable medium. Computer readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one location to another. A storage medium may be any available media that can be accessed by a general purpose or special purpose computer.

The specific embodiments of the present invention have been described in detail with reference to the preferred embodiments of the present invention. The scope of the protection, any modifications, equivalent substitutions, improvements, etc., which are made on the basis of the technical solutions of the present invention, are included in the scope of the present invention.

Claims (36)

A method for obtaining location information, the method comprising: The terminal device senses a magnetic field generated by the magnetic field beacon device to acquire a magnetic field characteristic of the magnetic field, the magnetic field characteristic being a three-axis spatial magnetic induction value in a time dimension; Obtaining, by the terminal device, an identifier of the magnetic field beacon device according to the magnetic field feature; And acquiring, by the terminal device, a location of the magnetic field beacon device according to the identifier and a corresponding relationship, wherein the correspondence relationship is a correspondence between the identifier and a location of the magnetic field beacon device. The method according to claim 1, wherein the acquiring, by the terminal device, the identifier of the magnetic field beacon device according to the magnetic field characteristic comprises: Determining, by the terminal device, the information coding sequence used by the magnetic field beacon device to transmit the magnetic field feature according to the magnetic field characteristic; The terminal device acquires an identifier of the magnetic field beacon device according to the information coding sequence. The method according to claim 2, wherein said information coding sequence comprises a signal carrying said magnetic field characteristic and a silence signal, said silence signal indicating that said magnetic field beacon device does not generate a magnetic field, said In the information coding sequence, the signal carrying the magnetic field characteristic is interleaved with the silence signal. The method according to claim 3, wherein the terminal device acquires the identifier of the magnetic field beacon device according to the information coding sequence, including: The terminal device obtains the identifier of the magnetic field beacon device by performing a differential operation on the signal carrying the magnetic field characteristic and the next silent signal adjacent to the signal carrying the magnetic field characteristic. The method according to any one of claims 1 to 4, further comprising: The terminal device determines the location of the terminal device according to the location of the magnetic field beacon device. The method according to claim 5, wherein the determining, by the terminal device, the location of the terminal device according to the location of the magnetic field beacon device comprises: When the number of the magnetic field beacon devices is one, the terminal device determines the location of the magnetic field beacon device as the location of the terminal device. The method according to claim 5, wherein the determining, by the terminal device, the location of the terminal device according to the location of the magnetic field beacon device comprises: When the number of the magnetic field beacon devices is two, the magnetic field beacon device comprises a first magnetic field beacon device and a second magnetic field beacon device, and the terminal device according to the magnetic field characteristics of the first magnetic field beacon device Determining a signal strength of the first magnetic field beacon device and determining a signal strength of the second magnetic field beacon device according to a magnetic field characteristic of the second magnetic field beacon device; The terminal device determines the location of the terminal device according to a difference between a signal strength of the first magnetic field beacon device and a signal strength of the second magnetic field beacon device. The method according to claim 5, wherein the determining, by the terminal device, the location of the terminal device according to the location of the magnetic field beacon device comprises: When the number of the magnetic field beacon devices is three, the magnetic field beacon device includes a first magnetic field beacon device, a second magnetic field beacon device, and a third magnetic field beacon device, and the terminal device is configured according to the first a magnetic field characteristic of the magnetic field beacon device, determining a signal strength of the first magnetic field beacon device, and determining a signal strength of the second magnetic field beacon device according to a magnetic field characteristic of the second magnetic field beacon device, and according to Determining a signal strength of the third magnetic field beacon device by a magnetic field characteristic of the third magnetic field beacon device; Determining, by the terminal device, the terminal according to a relationship between a signal strength of the first magnetic field beacon device, a signal strength of the second magnetic field beacon device, and a signal strength of the third magnetic field beacon device a magnitude relationship between the device and the linear distance between the first magnetic field beacon device, the second magnetic field beacon device, and the third magnetic field beacon device, wherein the magnitude relationship between the linear distances Negatively related to the magnitude relationship between the signal strengths; Determining, by the terminal device, a location of the terminal device as a designated area in a triangular area according to a size relationship between the linear distances, where the triangular area is a position of the first magnetic field beacon device, the first a position of the second magnetic field beacon device and a position of the third magnetic field beacon device being a triangular region formed by a vertex, wherein in the designated region Within the domain, a linear distance between the terminal and the first magnetic field beacon device, the second magnetic field beacon device, and the third magnetic field beacon device respectively satisfies a magnitude relationship between the linear distances. A method for obtaining location information, the method comprising: The magnetic field beacon device generates a magnetic field signature based on the input parameter, the input parameter including a parameter for indicating a location of the magnetic field beacon device, and a hardware sequence identification code of the magnetic field beacon device, the magnetic field characteristic being Three-axis spatial magnetic induction values in the time dimension; The magnetic field beacon device utilizes the magnetic field features to generate a magnetic field for the terminal device to perform magnetic field sensing and to acquire the magnetic field characteristics of the magnetic field beacon device. The method of claim 9 wherein said magnetic field beacon means generates magnetic field characteristics based on the input parameters, comprising: The magnetic field beacon device generates the information coding sequence by digitizing the input parameter; The magnetic field beacon device converts the information encoded sequence into the magnetic field signature. The method according to claim 10, wherein said information coding sequence comprises a signal carrying said magnetic field characteristic and a silence signal, said silence signal indicating that said magnetic field beacon device does not generate a magnetic field, said In the information coding sequence, the signal carrying the magnetic field characteristic is interleaved with the silence signal. The method according to claim 10 or 11, wherein the magnetic field beacon device converts the information coding sequence into the magnetic field characteristics, comprising: The magnetic field beacon device converts the information encoded sequence into the magnetic field signature by controlling at least one of a current, a coil, an energization time, and a energization interval. A terminal device, the terminal device includes: a communication module for sensing a magnetic field generated by the magnetic field beacon device to acquire a magnetic field characteristic of the magnetic field, the magnetic field characteristic being a three-axis spatial magnetic induction value in a time dimension; a processing module, configured to acquire an identifier of the magnetic field beacon device according to the magnetic field feature; The processing module is further configured to acquire the magnetic field according to the identifier and the corresponding relationship a location of the beacon device, wherein the correspondence is a correspondence between the identifier and a location of the magnetic field beacon device. The terminal device according to claim 13, wherein the processing module is specifically configured to: Determining, according to the magnetic field characteristic, an information coding sequence used by the magnetic field beacon device to transmit the magnetic field feature; And obtaining an identifier of the magnetic field beacon device according to the information coding sequence. The terminal device according to claim 14, wherein said information coding sequence comprises a signal carrying said magnetic field characteristic and a silence signal, said silence signal indicating that said magnetic field beacon device does not generate a magnetic field at present In the information coding sequence, the signal carrying the magnetic field characteristic is interleaved with the silence signal. The terminal device according to claim 15, wherein the processing module is configured to: pass the signal carrying the magnetic field characteristic and adjacent to the signal carrying the magnetic field characteristic The next silence signal is subjected to a differential operation to obtain an identification of the magnetic field beacon device. The terminal device according to any one of claims 13 to 16, wherein the processing module is further configured to determine a location of the terminal device according to a location of the magnetic field beacon device. The terminal device according to claim 17, wherein the processing module is specifically configured to: When the number of the magnetic field beacon devices is one, the position of the magnetic field beacon device is determined as the position of the terminal device. The terminal device according to claim 17, wherein the processing module is specifically configured to: When the number of the magnetic field beacon devices is two, the magnetic field beacon device includes a first magnetic field beacon device and a second magnetic field beacon device, and the magnetic field characteristics of the first magnetic field beacon device are determined according to the magnetic field characteristics of the first magnetic field beacon device Determining a signal strength of the first magnetic field beacon device and determining a signal strength of the second magnetic field beacon device according to a magnetic field characteristic of the second magnetic field beacon device; And loading according to the signal strength of the first magnetic field beacon device and the second magnetic field beacon The difference in signal strength is determined to determine the location of the terminal device. The terminal device according to claim 17, wherein the processing module is specifically configured to: When the number of the magnetic field beacon devices is three, the magnetic field beacon device includes a first magnetic field beacon device, a second magnetic field beacon device, and a third magnetic field beacon device according to the first magnetic field beacon device a magnetic field characteristic, determining a signal strength of the first magnetic field beacon device, and determining a signal strength of the second magnetic field beacon device based on a magnetic field characteristic of the second magnetic field beacon device, and according to the third Determining a signal strength of the third magnetic field beacon device by a magnetic field characteristic of the magnetic field beacon device; Determining, according to the relationship between the signal strength of the first magnetic field beacon device, the signal strength of the second magnetic field beacon device, and the signal strength of the third magnetic field beacon device, determining that the terminal device is respectively a magnitude relationship between a linear distance of the first magnetic field beacon device, the second magnetic field beacon device, and the third magnetic field beacon device, wherein a magnitude relationship between the linear distances and the signal The magnitude relationship between the intensities is inversely related; Determining, according to the magnitude relationship between the linear distances, a location of the terminal device as a designated area in a triangular area, where the triangular area is a position of the first magnetic field beacon device, and the second magnetic field beacon a position of the device and a position of the third magnetic field beacon device being a triangular region formed by a vertex, wherein the terminal is respectively associated with the first magnetic field beacon device and the second magnetic field in the designated region The beacon device, and the linear distance of the third magnetic field beacon device, satisfy a magnitude relationship between the linear distances. A magnetic field beacon device, characterized in that the magnetic field beacon device comprises: a processing module, configured to generate a magnetic field characteristic according to the input parameter, the input parameter comprising a parameter for indicating a location of the magnetic field beacon device, and a hardware sequence identification code of the magnetic field beacon device, the magnetic field characteristic a three-axis spatial magnetic induction value in the time dimension; The communication module is further configured to generate a magnetic field by using the magnetic field characteristic, the magnetic field being used by the terminal device to perform magnetic field induction and acquiring the magnetic field characteristic of the magnetic field beacon device. The magnetic field beacon apparatus according to claim 21, wherein said said magnetic field beacon apparatus Processing module, specifically for: Generating the information encoding sequence by digitizing the input parameter; Converting the information encoded sequence to the magnetic field signature. The magnetic field beacon apparatus according to claim 22, wherein said information coding sequence comprises a signal carrying said magnetic field characteristic and a silence signal, said silence signal indicating that said magnetic field beacon device does not generate a magnetic field, In the information coding sequence, the signal carrying the magnetic field characteristic is interleaved with the silence signal. The magnetic field beacon apparatus according to claim 22 or 23, wherein the communication module is specifically configured to: The information encoded sequence is converted to the magnetic field signature by at least one of controlling current, coil, energization time, and energization interval. A terminal device, the terminal device includes: a transceiver for sensing a magnetic field generated by the magnetic field beacon device to acquire a magnetic field characteristic of the magnetic field, the magnetic field characteristic being a three-axis spatial magnetic induction value in a time dimension; a processor, configured to acquire an identifier of the magnetic field beacon device according to the magnetic field characteristic; The processor is further configured to acquire a location of the magnetic field beacon device according to the identifier and a corresponding relationship, where the correspondence relationship is a correspondence between the identifier and a location of the magnetic field beacon device. The terminal device according to claim 25, wherein the processor is specifically configured to: Determining, according to the magnetic field characteristic, an information coding sequence used by the magnetic field beacon device to transmit the magnetic field feature; And obtaining an identifier of the magnetic field beacon device according to the information coding sequence. The terminal device according to claim 26, wherein said information coding sequence comprises a signal carrying said magnetic field characteristic and a silence signal, said silence signal indicating that said magnetic field beacon device does not generate a magnetic field at present In the information coding sequence, the signal carrying the magnetic field characteristic is interleaved with the silence signal. The terminal device according to claim 27, wherein the processor is specifically configured to: by using the signal carrying the magnetic field characteristic, and The next silent signal adjacent to the signal carrying the magnetic field characteristic is subjected to a differential operation to obtain an identification of the magnetic field beacon device. The terminal device according to any one of claims 25 to 28, wherein the processor is further configured to determine a location of the terminal device according to a location of the magnetic field beacon device. The terminal device according to claim 29, wherein the processor is specifically configured to: When the number of the magnetic field beacon devices is one, the position of the magnetic field beacon device is determined as the position of the terminal device. The terminal device according to claim 29, wherein the processor is specifically configured to: When the number of the magnetic field beacon devices is two, the magnetic field beacon device includes a first magnetic field beacon device and a second magnetic field beacon device, and the magnetic field characteristics of the first magnetic field beacon device are determined according to the magnetic field characteristics of the first magnetic field beacon device Determining a signal strength of the first magnetic field beacon device and determining a signal strength of the second magnetic field beacon device according to a magnetic field characteristic of the second magnetic field beacon device; And determining a location of the terminal device according to a difference between a signal strength of the first magnetic field beacon device and a signal strength of the second magnetic field beacon device. The terminal device according to claim 29, wherein the processor is specifically configured to: When the number of the magnetic field beacon devices is three, the magnetic field beacon device includes a first magnetic field beacon device, a second magnetic field beacon device, and a third magnetic field beacon device according to the first magnetic field beacon device a magnetic field characteristic, determining a signal strength of the first magnetic field beacon device, and determining a signal strength of the second magnetic field beacon device based on a magnetic field characteristic of the second magnetic field beacon device, and according to the third Determining a signal strength of the third magnetic field beacon device by a magnetic field characteristic of the magnetic field beacon device; Determining, according to the relationship between the signal strength of the first magnetic field beacon device, the signal strength of the second magnetic field beacon device, and the signal strength of the third magnetic field beacon device, determining that the terminal device is respectively a magnitude relationship between a linear distance of the first magnetic field beacon device, the second magnetic field beacon device, and the third magnetic field beacon device, wherein The magnitude relationship between the linear distances is inversely related to the magnitude relationship between the signal strengths; Determining, according to the magnitude relationship between the linear distances, a location of the terminal device as a designated area in a triangular area, where the triangular area is a position of the first magnetic field beacon device, and the second magnetic field beacon a position of the device and a position of the third magnetic field beacon device being a triangular region formed by a vertex, wherein the terminal is respectively associated with the first magnetic field beacon device and the second magnetic field in the designated region The beacon device, and the linear distance of the third magnetic field beacon device, satisfy a magnitude relationship between the linear distances. A magnetic field beacon device, characterized in that the magnetic field beacon device comprises: a processor for generating a magnetic field characteristic based on the input parameter, the input parameter including a parameter for indicating a location of the magnetic field beacon device, and a hardware sequence identification code of the magnetic field beacon device, the magnetic field characteristic a three-axis spatial magnetic induction value in the time dimension; The transceiver is further configured to generate a magnetic field using the magnetic field characteristic, the magnetic field being used by the terminal device to perform magnetic field induction and acquire the magnetic field characteristic of the magnetic field beacon device. The magnetic field beacon apparatus according to claim 33, wherein the processor is specifically configured to: Generating the information encoding sequence by digitizing the input parameter; Converting the information encoded sequence to the magnetic field signature. The magnetic field beacon apparatus according to claim 34, wherein said information coding sequence comprises a signal carrying said magnetic field characteristic and a silence signal, said silence signal indicating that said magnetic field beacon device does not generate a magnetic field, In the information coding sequence, the signal carrying the magnetic field characteristic is interleaved with the silence signal. The magnetic field beacon apparatus according to claim 34 or 35, wherein the transceiver is specifically configured to: The information encoded sequence is converted to the magnetic field signature by at least one of controlling current, coil, energization time, and energization interval.

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