CN103501538B - Based on the indoor orientation method of multipath energy fingerprint - Google Patents
Based on the indoor orientation method of multipath energy fingerprint Download PDFInfo
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Abstract
A kind of indoor orientation method based on multipath energy fingerprint, belong to indoor wireless field of locating technology and wireless communication technology field, comprise step: S1. off-lined signal acquisition phase, obtain corresponding to the multipath parameter of the k bar channel of each base station by the wireless signal estimation collected and calculate RSSI, measuring corresponding position simultaneously and obtain hyperspace fingerprint base; S2. on-line stage, by measured signal, utilizes channel estimation method to estimate obtain user's current location channel multi-path parameter and calculate RSSI, compares actual measurement and the RSSI of fingerprint base, obtains front 10% similar fingerprint point; S3. the fingerprint point filtered out in S2 is carried out to the comparison of channel parameter, obtain the average coordinates of several the most similar points as customer location estimated value, indoor channel multipath parameter information has been dissolved in indoor positioning algorithms by method of the present invention well, can improve positioning precision and stability comparatively significantly.
Description
Technical field
The present invention relates to indoor wireless field of locating technology and wireless communication technology field, mainly utilize fingerprint base indoor positioning algorithms, in conjunction with indoor channel multipath parameter estimation technique, provide a kind of indoor orientation method based on multipath energy fingerprint.
Background technology
Along with the high speed development of data and multimedia service, people increase day by day for the demand of position & navigation, various location Based service (LBS) emerges like the mushrooms after rain, as the navigation in market, museum, transport hub, all kinds of location-based social networks application, factory's telemanagement, auxiliary rescue in emergency circumstances etc.Along with the fast development of mobile communications industry, indoor environment wireless signal coverage rate is also improving constantly, and therefore indoor environment location also becomes possibility.Meanwhile, MIMO MIMO technology is as one of key technology in mobile communication system, effectively can utilize the space resources of channel, just progressively be used widely, and MIMO technology introduces spatial resolving power also for the lifting of indoor wireless positioning performance provides possibility.
Current indoor wireless targeting scheme mainly contains two kinds of mentalities of designing: the first thinking utilizes merely reception of wireless signals signal strength signal intensity to indicate (ReceivedSignalStrengthIndication, RSSI) location is realized, common methods comprises fingerprint base, mode etc., complicated mathematical method can be added in addition, as neural net, machine learning etc., carry out a series of computing in RSSI space, and then realize location; The second thinking is the estimation utilizing the channel parameter such as the angle of arrival (AOA), the time of advent poor (TDOA), utilizes the geometrical relationship in wave transmissions path, is finally inversed by the position of user.
But these methods existing all more or less having some limitations property: the first thinking positioning precision is general, and stability is not very high, fingerprint base and this two schemes of mode design very simple, computing time, complexity was low, when utilizing neural net and machine learning, want to obtain very high precision, more complicated algorithm must be adopted, cause computation complexity high, real-time differs and ensures surely; Under the second thinking is then mainly used in the scene of sighting distance (LOS), when pure non line of sight (NLOS) then because reflection, diffraction cause larger geometric error, in view of NLOS scene in actual environment is comparatively general, therefore its practicality is had a greatly reduced quality.
Summary of the invention
For overcoming the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of indoor orientation method based on multipath energy fingerprint, it is that a kind of precision is higher, the better indoor positioning algorithms of stability.
To achieve these goals, the technical solution used in the present invention is:
Based on an indoor orientation method for multipath energy fingerprint, it is characterized in that, the method comprising the steps of:
S1. off-lined signal acquisition phase, obtain signal specific sequence by the reception response after system, this response is utilized to obtain RSSI and k group channel multi-path parameter corresponding to each base station, often organize channel multi-path parameter and include time delay and amplitude information, gather the positional information (x, y coordinate namely under this environment) of current point simultaneously, jointly set up hyperspace fingerprint base as finger print information, comparison during for locating;
S3. carry out second to the fingerprint point filtered out in S2 to take turns and compare, compare actual estimated to multipath parameter and fingerprint base in the similarity degree of multipath parameter, by the coordinate computed user locations estimated value of the highest several fingerprint points of similarity degree.
In described step S1, for a certain indoor environment, be similar to and be divided into some blockages, carry out the collection of finger print data at the center of each square, size and the indoor environment size of square are closely related.
In described step S1, reception response is calibrated, and adopts space-alternating generalized expectation-maximization to complete channel parameter estimation.
In described step S2, compare surveying the RSSI that obtains with RSSI in fingerprint base, the situation of consideration n base station, then RSSI is n-dimensional vector, is expressed as (rssi
1, rssi
2, L, rssi
n), use Euclidean distance d to weigh similarity degree, namely solve:
The Euclidean distance d tried to achieve is less, then fingerprint point is more similar to absolute fix.
Adopt probability match method in described step S3, with the multipath parameter in fingerprint base for average, multidiameter delay and gaussian kernel function corresponding to amplitude are respectively
with
wherein σ
τrepresent the standard deviation of multidiameter delay, τ
arepresent the amplitude of multidiameter delay respectively, τ
0represent the average of multidiameter delay, a
0represent the amplitude of multidiameter delay, comprehensively weigh the gap of current multi-path parameter and fingerprint base parameter with the product of P (τ) and P (a), its value is larger, then represent that similarity degree is higher.
The selection of multidiameter delay standard deviation is relevant to indoor environment size, the differentiation degree of time delay is calculated by the size of indoor environment and the light velocity, namely this differentiation degree can be used as multidiameter delay standard deviation, and the selection of multipath amplitude criteria difference can carry out value according to 10 of overall magnitude level.
In described step S3, when indoor environment can change, the similarity of multipath parameter order is reset, at least need to select a comparatively similar multipath, be used for weighing global similarity level, the coordinate of 1-2 the fingerprint point that similar level is the highest will be used for obtaining the apparent position of user.Travel through all corresponding situations, find out similarity degree the highest time total product kernel function, as the index weighing current finger print point similarity degree.
Compared with prior art, indoor orientation method based on multipath energy fingerprint of the present invention, the basis of conventional fingerprint storehouse localization method is merged indoor wireless channels multipath parameter and has estimated strategy, significantly improve the amount of information of usage data in position fixing process, effectively improve the precision and stability of indoor positioning algorithms.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention arrangement of base stations and establishment of coordinate system situation.
Fig. 2 is the indoor orientation method flow chart based on multipath energy fingerprint according to one embodiment of the present invention.
Fig. 3 is the locating effect of a kind of indoor orientation method based on multipath energy fingerprint that conventional fingerprint storehouse indoor orientation method and the present invention propose, wherein ordinate represents that position error adds up functional value, abscissa represents position error size, new diagram represents the locating effect that the present invention is based on the indoor orientation method of multipath energy fingerprint, and traditional diagram represents conventional fingerprint storehouse indoor orientation method.
Embodiment
The present invention propose a kind of indoor orientation method based on multipath energy fingerprint, by reference to the accompanying drawings and embodiment be described in detail as follows.
Indoor positioning experiment is by the mimo channel measuring equipment by means of Tsing-Hua University's wireless center laboratory, distributed 61 receipts systems are arranged to through simple refit, what experimental situation was selected is office building corridor environment, and arrangement of base stations and establishment of coordinate system situation are as shown in Figure 1.Experimental situation is office block corridor environment, width of corridor is about 3.2m, south-north direction is about 30 meters, east-westly be about 40 meters, it limit, corridor is office, in office, corridor south-north direction and east-west be distributed with antenna for base station distribution, antenna put the various situations having taken into full account that indoor signal transmits, during test will there is a large amount of multi-path information in Received signal strength.In figure, Tx represents antenna for base station, and have Tx1 ~ Tx6 six antenna for base station respectively, ringlet is the position that antenna is specifically put, the rectangular coordinate system that X-Axis and Y-Axis sets up under representing this environment respectively, sets up coordinate system like this and is convenient to record relevant positional information.
As shown in Figure 2, the indoor orientation method based on multipath energy fingerprint according to one embodiment of the present invention comprises step:
S1. off-lined signal acquisition phase, obtain signal specific sequence by the reception response after system, this response is utilized to obtain different base station signal corresponding RSSI and 3 group channel multi-path parameter successively, often organize channel multi-path parameter and include time delay and amplitude information, also need the positional information (x, y coordinate namely under this environment) obtaining this point simultaneously, the comparison that these information will be used for as finger print information when locating, finally acquires altogether 100 fingerprint points;
S2. real-time positioning stage, user receives the signal of Base Transmitter, processes the signal received, calculate RSSI and carry out channel estimating and obtain coherent multipath parameter, by comparing in actual measurement RSSI and fingerprint base, finding out 10% the most similar fingerprint point, is 10 in this experiment;
S3. 10 the fingerprint points filtered out S2 kind carry out second takes turns and compares, compare actual estimated to multipath parameter and fingerprint base in the similarity degree of multipath parameter, the coordinate of the fingerprint point that similarity degree is the highest will be used for computed user locations estimated value.
Step S1 comprises further:
This indoor environment is divided into the blockage (the wide about 2.4m in corridor) of some 1.2m*1.2m by S1.1, then carries out the collection of finger print data at the center of each square;
The data that S1.2 collects obtain channel multi-path parameter through a series of process, mainly comprise the use of relevant calibration operation and channel multi-path parameter estimation algorithm, can adopt herein and can adopt space-alternating generalized expectation-maximization (Space-AlternatingGeneralizedExpectation-maximization herein, SAGE) algorithm completes channel parameter estimation, the performances such as multipath number and the receive-transmit system resolution considered are relevant, systemic resolution is higher, then can estimate that multipath number is also more accurately.Specific to the actual performance of this test macro, the multipath number of estimation elects 3 as;
S1.3 processes RSSI that data obtain and the position with collection signal is stored in server by channel multi-path parameter in the lump, waits for that real-time positioning stage uses.
Step S2 comprises further:
S2.1 adopts the method the same with S1.2 to calculate RSSI and estimates to obtain channel multi-path parameter;
S2.2 will survey the RSSI that obtains and comparing in fingerprint base, and the situation of consideration 6 base stations, then RSSI is 6 dimensional vectors, is expressed as (rssi
1, rssi
2..., rssi
6), Euclidean distance can be used weigh when comparing similarity degree, namely solve:
(3)
The Euclidean distance that formula (3) is tried to achieve is less, then fingerprint point is more similar to absolute fix, picks out 10 the most similar fingerprint points, gives over to when next round compares and uses.
Step S3 comprises further:
S3.1 adopts probability match method, and with the multipath parameter in fingerprint base for average, multidiameter delay and gaussian kernel function corresponding to amplitude are expressed as follows respectively:
(4)
σ
τand σ
arepresenting the standard deviation of multidiameter delay and amplitude respectively, being taken as 10 and 20, τ respectively by calculating
0and a
0represent the average of multidiameter delay and amplitude respectively, be taken as the analog value in fingerprint base respectively, the product of formula (4) can be used to the gap comprehensively weighing current multi-path parameter and fingerprint base parameter, and its value is larger, then represent that similarity degree is higher;
S3.2 not in the same time indoor environment can there is certain change, and generally these changes are local, therefore can there is larger change in part multipath parameter, the correspondence of multipath parameter is caused to occur in sequence certain change, therefore need to reset the order of multipath parameter, find relative strategy the most suitable;
S3.3 survey multipath parameter order with in fingerprint base corresponding well after, just need to start to calculate overall kernel function value, mention part multipath parameter in S3.2 and larger change can occur, therefore the kernel function value that this part is corresponding can be very little, obtain global similarity degree owing to adopting product method and weigh numerical value, this a part of little value relatively can bring considerable influence to global similarity characteristic, so need selectively to reject, final at least need to select a comparatively similar multipath, be used for weighing global similarity level, the coordinate of the fingerprint point that similar level is the highest will be user coordinates estimated value.
Positioning experiment compared for a kind of indoor orientation method based on multipath energy fingerprint that conventional fingerprint storehouse indoor orientation method and the present invention propose, and locating effect as shown in Figure 3.
The indoor orientation method based on multipath energy fingerprint is utilized described in the embodiment of the present invention, different from conventional method, introduce indoor channel multipath parameter algorithm for estimating, positioning precision is improve more than 20 percentage point, mean error reduces more than 20 percentage point, improves positioning performance widely.
Above execution mode is only for illustration of the present invention; and be not limitation of the present invention; the those of ordinary skill of relevant technical field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all equivalent technical schemes also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (6)
1. based on an indoor orientation method for multipath energy fingerprint, it is characterized in that, the method comprising the steps of:
S1. off-lined signal acquisition phase, obtain signal specific sequence by the reception response after system, this response is utilized to obtain RSSI and k group channel multi-path parameter corresponding to each base station, often organize channel multi-path parameter and include time delay and amplitude information, gather the positional information of current point simultaneously, jointly set up hyperspace fingerprint base as finger print information, comparison during for locating;
S2. real-time positioning stage, user receives the signal of Base Transmitter, processes the signal received, and calculates RSSI and carry out channel estimating to obtain coherent multipath parameter, is compared by RSSI in actual measurement RSSI and fingerprint base, finds out the fingerprint point of the most similar 10%;
S3. carry out second to the fingerprint point filtered out in S2 to take turns and compare, compare actual estimated to multipath parameter and fingerprint base in the similarity degree of multipath parameter, by the coordinate computed user locations estimated value of the highest several fingerprint points of similarity degree;
Adopt probability match method in described step S3, with the multipath parameter in fingerprint base for average, multidiameter delay and gaussian kernel function corresponding to amplitude are respectively
with
wherein σ
trepresent the standard deviation of multidiameter delay, σ
arepresent the amplitude of multidiameter delay respectively, τ
0represent the average of multidiameter delay, a
0represent the amplitude of multidiameter delay, comprehensively weigh the gap of current multi-path parameter and fingerprint base parameter with the product of P (τ) and P (a), its value is larger, then represent that similarity degree is higher.
2. indoor orientation method as claimed in claim 1, is characterized in that, in described step S1, for a certain indoor environment, be similar to and be divided into some blockages, carry out the collection of finger print data at the center of each square.
3. indoor orientation method as claimed in claim 1, is characterized in that, in described step S1, calibrates, and adopt space-alternating generalized expectation-maximization to complete channel parameter estimation to reception response.
4. indoor orientation method as claimed in claim 1, it is characterized in that, calculated the differentiation degree of time delay by the size of indoor environment and the light velocity, using this differentiation degree as multidiameter delay standard deviation, the value of multipath amplitude criteria difference is 10 of overall magnitude level.
5. indoor orientation method as claimed in claim 1, it is characterized in that, in described step S3, when indoor environment can change, the similarity order of multipath parameter is reset, at least need to select a comparatively similar multipath, be used for weighing global similarity level, the coordinate of 1-2 the fingerprint point that similar level is the highest will be used for obtaining the apparent position of user.
6. indoor orientation method as claimed in claim 5, is characterized in that, travel through all corresponding situations, find out similarity degree the highest time total product kernel function, as the index weighing current finger print point similarity degree.
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| CN103777175B (en) * | 2014-01-22 | 2016-02-24 | 三星电子（中国）研发中心 | Based on indoor orientation method and the device of wireless signal similarity |
| CN103945332B (en) * | 2014-04-28 | 2017-08-11 | 清华大学 | A kind of received signal strength and multi-path information united NNs indoor orientation method |
| CN104954983B (en) * | 2015-05-14 | 2018-10-02 | 清华大学 | Dynamic base-station method of controlling switch based on fingerprint database and device |
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| CN107135540B (en) * | 2016-02-29 | 2020-06-16 | 富士通株式会社 | Positioning device and method and electronic equipment |
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| CN106250746B (en) * | 2016-08-01 | 2019-04-05 | 上海交通大学 | The security protection system of Behavior-based control fingerprint |
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| CN107087276A (en) * | 2017-03-17 | 2017-08-22 | 上海斐讯数据通信技术有限公司 | A kind of fingerprint base method for building up and device based on WiFi indoor positionings |
| CN107592611B (en) * | 2017-09-11 | 2020-06-09 | 东南大学 | Wireless positioning method and system for broadband large-scale MIMO system |
| CN107958040B (en) * | 2017-11-22 | 2020-11-03 | 深圳慧智星晨科技有限公司 | Intelligent system for positioning, managing and analyzing indoor articles |
| CN108614237B (en) * | 2018-03-19 | 2020-12-04 | 西北大学 | Fingerprint database establishment and RFID positioning method based on compressed sensing |
| CN111385757B (en) * | 2020-03-20 | 2021-06-22 | 浙江大学城市学院 | Technology for eliminating heterogeneity of indoor positioning WiFi fingerprint database equipment |
| CN111491367B (en) * | 2020-04-20 | 2021-03-30 | 电子科技大学 | Indoor positioning method based on crowd sensing and multi-fusion technology |
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