# US 12,120,587 B2 · Method, apparatus, and non-transitory computer readable medium for indoor positioning

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- Number: US 12,120,587 B2
- Document ID: US12120587B2
- Status: Granted
- Kind: B2
- Application number: 17/585,880
- Filed: 2022-01-27
- Published: 2023-05-04
- Granted: 2024-10-15
- Earliest claimed: 2021-10-28
- Assignees: Fu Tai Hua Industry (Shenzhen) Co., Ltd.; Hon Hai Precision Industry Co., Ltd.
- Applicants: Fu Tai Hua Industry (Shenzhen) Co., Ltd.; Hon Hai Precision Industry Co., Ltd.
- Inventors: Ke Wang; Sheng-Fu Ding
- Web page: https://patentgrep.com/patent/US12120587B2

## CPC

- G01S 5/0263: {by combining or switching between positions derived from two or more separate positioning systems}
- H04W 4/33: for indoor environments, e.g. buildings
- G01S 5/0027: {of actual mobile position, i.e. position determined on mobile}
- G01S 5/013: {Identifying areas in a building}
- G01S 5/0205: {Details}
- G01S 5/14: Determining absolute distances from a plurality of spaced points of known location
- H04W 4/023: {using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds}
- H04W 4/029: Location-based management or tracking services
- H04W 64/00: Locating users or terminals {or network equipment} for network management purposes, e.g. mobility management
- H04W 84/12: WLAN [Wireless Local Area Networks]
- Y02D 30/70: in wireless communication networks
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)
- Y02D: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE

## Abstract

A method for indoor positioning includes obtaining a WI-FI positioning result of an apparatus, the WI-FI positioning result comprising first position information of the apparatus; determining at least three base stations according to the WI-FI positioning result; determining a base station positioning result of the apparatus according to the at least three base stations, the base station positioning result comprising second position information of the apparatus; and determining an actual position of the apparatus according to the first position information and the second position information. An apparatus and a non-transitory computer readable medium comprising the method of establishing a precise indoor positioning of the apparatus are also disclosed.

## Claims

### Claim 1

A method for indoor positioning comprising:
obtaining a WI-FI positioning result of an apparatus, the WI-FI positioning result comprising first position information of the apparatus, the first position information comprising information of at least three first position points;
determining at least three base stations according to the WI-FI positioning result;
determining a base station positioning result of the apparatus according to the at least three base stations, the base station positioning result comprising second position information of the apparatus, the second position information comprising information of at least three second position points; and
determining an actual position of the apparatus according to the first position information and the second position information;
wherein the determining at least three base stations according to the WI-FI positioning result comprises:
determining position information of a first central point corresponding to the information of at least three first position points;
wherein the determining the actual position of the apparatus according to the first position information and the second position information comprises:
determining position information of a second central point corresponding to the information of at least three second position points;
determining a first position area according to the information of at least three first position points;
determining whether the second central point is in the first position area;
if the second central point being in the first position area is determined, determining distances between the second central point and each of the at least three second position points and the first central point;
determining a position point closest to the first central point;
determining the closest position point as the actual position of the apparatus; and
if the second central point being not in the first position area is determined, determining the second central point as the actual position of the apparatus.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the determining at least three base stations according to the WI-FI positioning result further comprises:
obtaining position information of a predetermined quantity of base stations, the position information of the base stations comprises a base station identifier and a position corresponding to the base station identifier, the predetermined quantity is greater than or equal to three;
based on the position information of the first central point and the position information of the predetermined quantity of base stations, determining distances between the first central point and the predetermined quantity of base stations;
determining at least three base station identifiers with a least distance; and
determining the at least three base stations according to the at least three base station identifiers.

### Claim 3 (depends on 2)

The method according to claim 2, wherein the determining at least three base stations according to the WI-FI positioning result comprises:
transmitting directed wave beams to the at least three base stations respectively, and determining receiving time periods of the at least three base stations, the receiving time periods mean a transmitting time period of the directed wave beams transmitted from the apparatus to the at least three base stations;
based on the receiving time periods of the at least three base stations, determining distances between the apparatus and the at least three base stations; and
based on the distances between the apparatus and the at least three base stations and positions of the at least three base stations, determining the base station positioning result of the apparatus.

### Claim 4 (depends on 3)

The method according to claim 3, wherein the based on the distances between the apparatus and the at least three base stations and positions of the at least three base stations, determining the base station positioning result of the apparatus comprises:
regarding the positions of the at least three base stations as centers of circles, and regarding distances of the at least three base stations as radiuses, to generate spherical functions corresponding to the at least three base stations; and
based on the spherical functions, determining the base station positioning result of the apparatus.

### Claim 5 (depends on 3)

The method according to claim 3, wherein the transmitting the directed wave beams to the at least three base stations comprises:
determining directions of the at least three base stations relative to the first central point;
adjusting a direction of the antenna of the apparatus; and
if the direction of the antenna of the apparatus is the same as one of the directions of the at least three base stations, transmitting the directed wave beams in the direction of the antenna of the apparatus to the corresponding base station.

### Claim 6 (depends on 5)

The method according to claim 5, wherein the adjusting the direction of the antenna of the apparatus comprises:
adjusting a relative phase difference between two adjacent antenna elements of the antenna; and
adjusting the direction of the antenna of the apparatus according to the relative phase difference.

### Claim 7 (depends on 3)

The method according to claim 3, wherein the determining receiving time periods of the at least three base stations comprises:
obtaining a transmitting moment of the apparatus transmitting the directed wave beams to each of the at least three base stations;
obtaining receiving moments of the at least three base stations; and
based on the receiving moments of the at least three base stations and the corresponding transmitting moments of the apparatus, determining the receiving time periods of the at least three base stations.

### Claim 8

An apparatus for indoor positioning comprising:
at least one processor; and
at least one memory coupled to the at least one processor and storing program instructions;
the at least one memory and the program instructions configured to, with the at least one processor, cause the apparatus to perform:
obtaining a WI-FI positioning result of an apparatus, the WI-FI positioning result comprising first position information of the apparatus, the first position information comprising information of at least three first position points;
determining at least three base stations according to the WI-FI positioning result;
determining a base station positioning result of the apparatus according to the at least three base stations, the base station positioning result comprising second position information of the apparatus, the second position information comprising information of at least three second position points; and
determining an actual position of the apparatus according to the first position information and the second position information;
wherein the determining at least three base stations according to the WI-FI positioning result comprises:
determining position information of a first central point corresponding to the information of at least three first position points;
wherein the determining the actual position of the apparatus according to the first position information and the second position information comprises:
determining position information of a second central point corresponding to the information of at least three second position points;
determining a first position area according to the information of at least three first position points;
determining whether the second central point is in the first position area;
if the second central point being in the first position area is determined, determining distances between the second central point and each of the at least three second position points and the first central point;
determining a position point closest to the first central point;
determining the closest position point as the actual position of the apparatus; and
if the second central point being not in the first position area is determined, determining the second central point as the actual position of the apparatus.

### Claim 9 (depends on 8)

The apparatus according to claim 8, wherein the determining at least three base stations according to the WI-FI positioning result further comprises:
obtaining position information of a predetermined quantity of base stations, the position information of the base stations comprises a base station identifier and a position corresponding to the base station identifier, the predetermined quantity is greater than or equal to three;
based on the position information of the first central point and the position information of the predetermined quantity of base stations, determining distances between the first central point and the predetermined quantity of base stations;
determining at least three base station identifiers with a least distance; and
determining the at least three base stations according to the at least three base station identifiers.

### Claim 10 (depends on 9)

The apparatus according to claim 9, wherein the determining at least three base stations according to the WI-FI positioning result comprises:
transmitting directed wave beams to the at least three base stations respectively, and determining receiving time periods of the at least three base stations, the receiving time periods mean a transmitting time period of the directed wave beams transmitted from the apparatus to the at least three base stations;
based on the receiving time periods of the at least three base stations, determining distances between the apparatus and the at least three base stations; and
based on the distances between the apparatus and the at least three base stations and positions of the at least three base stations, determining the base station positioning result of the apparatus.

### Claim 11 (depends on 10)

The apparatus according to claim 10, wherein the based on the distances between the apparatus and the at least three base stations and positions of the at least three base stations, determining the base station positioning result of the apparatus comprises:
regarding the positions of the at least three base stations as centers of circles, and regarding distances of the at least three base stations as radiuses, to generate spherical functions corresponding to the at least three base stations; and
based on the spherical functions, determining the base station positioning result of the apparatus.

### Claim 12 (depends on 10)

The apparatus according to claim 10, wherein the transmitting the directed wave beams to the at least three base stations comprises:
determining directions of the at least three base stations relative to the first central point;
adjusting a direction of the antenna of the apparatus; and
if the direction of the antenna of the apparatus is the same as one of the directions of the at least three base stations, transmitting the directed wave beams in the direction of the antenna of the apparatus to the corresponding base station.

### Claim 13 (depends on 12)

The apparatus according to claim 12, wherein the adjusting the direction of the antenna of the apparatus comprises:
adjusting a relative phase difference between two adjacent antenna elements of the antenna; and
adjusting the direction of the antenna of the apparatus according to the relative phase difference.

### Claim 14 (depends on 10)

The apparatus according to claim 10, wherein the determining receiving time periods of the at least three base stations comprises:
obtaining a transmitting moment of the apparatus transmitting the directed wave beams to each of the at least three base stations;
obtaining receiving moments of the at least three base stations; and
based on the receiving moments of the at least three base stations and the corresponding transmitting moments of the apparatus, determining the receiving time periods of the at least three base stations.

### Claim 15

A non-transitory computer readable medium comprising program instructions for causing an apparatus to perform at least the follow:
obtaining a WI-FI positioning result of an apparatus, the WI-FI positioning result comprising first position information of the apparatus, the first position information comprising information of at least three first position points;
determining at least three base stations according to the WI-FI positioning result;
determining a base station positioning result of the apparatus according to the at least three base stations, the base station positioning result comprising second position information of the apparatus, the second position information comprising information of at least three second position points; and
determining an actual position of the apparatus according to the first position information and the second position information;
wherein the determining at least three base stations according to the WI-FI positioning result comprises:
determining position information of a first central point corresponding to the information of at least three first position points;
wherein the determining the actual position of the apparatus according to the first position information and the second position information comprises:
determining position information of a second central point corresponding to the information of at least three second position points;
determining a first position area according to the information of at least three first position points;
determining whether the second central point is in the first position area;
if the second central point being in the first position area is determined, determining distances between the second central point and each of the at least three second position points and the first central point;
determining a position point closest to the first central point;
determining the closest position point as the actual position of the apparatus; and
if the second central point being not in the first position area is determined, determining the second central point as the actual position of the apparatus.