CN104462281A - Distributed type parallel surveying system for fingerprint positioning - Google Patents
Distributed type parallel surveying system for fingerprint positioning Download PDFInfo
- Publication number
- CN104462281A CN104462281A CN201410697202.6A CN201410697202A CN104462281A CN 104462281 A CN104462281 A CN 104462281A CN 201410697202 A CN201410697202 A CN 201410697202A CN 104462281 A CN104462281 A CN 104462281A
- Authority
- CN
- China
- Prior art keywords
- fingerprint
- survey
- exploration
- path
- mobile terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/21—Design, administration or maintenance of databases
Landscapes
- Engineering & Computer Science (AREA)
- Databases & Information Systems (AREA)
- Theoretical Computer Science (AREA)
- Data Mining & Analysis (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Collating Specific Patterns (AREA)
Abstract
The invention relates to a distributed type parallel surveying system for fingerprint positioning. The distributed type parallel surveying system comprises a fingerprint surveying management server which is used for fingerprint surveying task distribution and surveying data storage, analysis and processing, a fingerprint data base, a map data base, a management terminal, a surveying mobile terminal and an access interface. The distributed type parallel surveying system has the advantages that the fingerprint surveying management server conducts fingerprint surveying task distribution, surveying data storage, analysis and processing and fingerprint data access service providing; the management terminal conducts fingerprint surveying task planning and fingerprint data base and map data base management, mending and updating; the surveying mobile terminal is used for executing a fingerprint surveying task and collecting and uploading surveying data; the access interface is used for conducting fingerprint and map data exchange between the fingerprint surveying management server and other systems, the distributed type parallel surveying system can be suitable for engineering surveying parts of any fingerprint positioning system supported by an intelligent mobile terminal, the technical threshold of surveying work is greatly reduced, the manual cost for surveying is reduced, and the surveying data collision can be avoided.
Description
Technical field
The present invention relates to a kind of distributed parallel survey system for fingerprint location.
Background technology
Based on the fingerprinting localization algorithm of wireless signal and Geomagnetic signal, hereinafter referred to as fingerprint location technology, it is a kind of high feasibility, high precision, low cost, with indoor and the outdoor precise positioning technology of high reliability, be widely used at present and business, industry, medical treatment, with public services, the ultimate principle of fingerprint location technology is as follows: according to by locating area wireless signal strength from unlike signal source on different positions, or the difference that Geomagnetic signal is respective in the vertical and horizontal directions, collect and set up the fingerprint vector database of position and signal, hereinafter referred to as fingerprint database, the received signals fingerprint vector detected by positioning stage is compared with fingerprint database, according to the type of fingerprint database, based on the calculating of following methods, including, but not limited to: vector distance recently, maximum probability etc., find out fingerprint vector immediate with detection signal fingerprint vector in database, acquisition position candidate is estimated, according to other location householder method, including, but not limited to: triangle polyester fibre, inertial navigation, location filtering etc., the estimation position, location that screening is best, fingerprint location is implemented usually to be divided into two parts, training part, namely collected by the finger print data of locating area by field exploring under concentrated line, generate the fingerprint database for location, localization part, based on the fingerprint database generated, carry out fingerprint location, at present, the exploration of finger print data is surveyed and data acquisition under usually needing to implement by professional equipment and personnel team the line concentrated, its hardware and technical threshold higher, improve hardware and the human cost of exploration, and survey inefficiency, along with positioning system disposes the increase of area, lower deployment cost can increase rapidly, this inherently have impact on the deployment scale of positioning system.
Summary of the invention
The technical problem to be solved in the present invention is just to provide a kind of distributed parallel survey system for fingerprint location, the exploration inefficiency that the localization method that the exploration that can solve existing finger print data uses exists, the defect that cost is high.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions: a kind of distributed parallel survey system for fingerprint location, comprise for the distribution of fingerprint exploration task, survey data stores, analyze, process and provide the fingerprint exploration management server of finger print data access services, the fingerprint database that management server is connected is surveyed respectively with fingerprint, map data base, office terminal, exploration mobile terminal, access interface, store in described fingerprint database received signals fingerprint vector original survey data and treated with synthesis after synthesis finger print data for locating, map datum is stored in described map data base, described office terminal is used for fingerprint exploration mission planning, the management of fingerprint database and map data base, amendment and renewal, described exploration mobile terminal is used for fingerprint exploration task to carry out, survey data collection with upload, described access interface is used for fingerprint exploration management server and other system carries out fingerprint and map datum exchanges.
Preferably, fingerprint exploration management server realizes the fingerprint investigation method of locating area, comprises the following steps successively:
1) plan: first office terminal obtains the map datum of locating area from fingerprint exploration management server, required locating area is covered by many survey path, and the planning of survey path is uploaded to fingerprint exploration management server carry out exploration distribute;
2) distribution and exploration: one or more fingerprint survey mobile terminal by ask fingerprint to survey management server, independently of one another foundation obtaining step 1) the middle planning of survey path and the distribution of system, fetching portion survey path; Each fingerprint exploration mobile terminal completes the fingerprint signal collection in its survey path of distributing independently;
3) upload and merge with data: each fingerprint surveys mobile terminal after completing the fingerprint signal collection in current survey path, utilize mobile network or Wi-Fi network that data upload is surveyed management server to fingerprint, and with the following data of fingerprint survey data synchronized upload, data include but not limited to acquisition time, fingerprint exploration mobile terminal ardware model number, survey crew's identity information, first the original survey data of fingerprint vector that exploration mobile terminal is uploaded stores by fingerprint exploration management server, again according to above synchrodata, the merging of data is carried out with existing fingerprint database, additions and deletions, upgrade.
Exploration speed can be increased exponentially by above-mentioned steps.
Preferably, the fingerprint investigation method of fingerprint exploration management server realizing route, comprise survey path division methods and received signals fingerprint acquisition method, described survey path division methods, comprises the following steps successively:
1) grid will the map of survey area being needed evenly to be divided into equal shape and size, non-overlapping copies, and ensure that grid radius should be not more than fingerprint location precision;
2) according to landform, buildings, the POI information of map, can be connected in series by a continuous print survey path by the grid in traffic areas, realize covering the survey path of locating area;
3) except two end points of survey path, article one, survey path can comprise some critical paths point, critical path point is for indicating the end points of subpath, for preventing due to environment and the operation uncontinuity of signals collecting that causes of reason and the cumulative error of signals collecting, whole survey path generates and completes by generating its each subpath successively.
Can realize carrying out high efficiency finger print data exploration to large area locating area by above-mentioned steps.
Preferably, described received signals fingerprint acquisition method comprises the following steps successively:
1) survey mobile terminal and first select a survey path, system obtains grid and critical path point that this survey path covers by survey path division methods;
2) surveying mobile terminal selects a critical path point in survey path as the starting point of exploration, to start collection signal fingerprint;
3) the hand-held exploration mobile terminal of user, moves along current survey path, guarantees the grid number that system displacement in a signal acquisition periods is no more than system and specifies;
4) when user arrives next critical path point, notice exploration mobile terminal, signal, according to its speed of travel and the received signals fingerprint collected, is prorated to each grid of this subpath by exploration mobile terminal;
5) repeat step 3), step 4) until arrive the end points in whole path, or manually exit current exploration;
6) survey mobile terminal and be uploaded to fingerprint exploration management server by surveying finger print data.
Can realize carrying out high efficiency finger print data exploration to large area locating area by above-mentioned steps.
Preferably, step 4) in signal distribute and adopt following two kinds of distribution methods:
At the uniform velocity distribute: according to system suggestion, survey crew walk with even speed in exploration process, the start time of system log (SYSLOG) two critical path points and termination time, and time of wireless signal that period is detected at every turn, according to above information, signal constant duration is assigned on grid that current exploration subpath covers;
Non-at the uniform velocity distribution: survey crew walk with free velocity, exploration mobile terminal is changed by the translational speed of gait detection algorithm estimator, after survey crew complete the exploration of a paths, system is according to the start time of two critical path points and termination time, the time of the wireless signal that period is detected at every turn, and the speed change of survey crew's speed of travel, the signal of detection time between t1 and t2 is dispensed to
grid in, wherein: D is the physical length of whole piece survey path, d is the distance of grid distance starting point in survey path, and T is the exploration time span of whole piece survey path.
Can distribute signal according to different sights, improve the accuracy that survey path divides, Practical Performance is strong.
Preferably, survey mobile terminal and realize received signals fingerprint collection by following steps:
1) by the radio-frequency communication module of exploration mobile terminal inside, electrical compass module, accelerometer and gyro module, the wireless signal of collecting device periphery or Geomagnetic signal fingerprint vector, wherein: communication module is responsible for the acknowledge(ment) signal strength information (RSSI) gathering wireless signal, electrical compass module be responsible for locality magnetic signal in the horizontal direction with the intensity in vertical direction, accelerometer and gyro module estimate the angle of inclination of positive north direction and mobile phone by Kalman filter auxiliary electron compass module, world coordinates for projecting to the Geomagnetic signal of collection based on direct north is fastened,
2) different mobile terminals collects the difference of RSSI due to hardware differences in same position, corrected by preset gain calibration database, updating formula is RSSI_P=G*RSSI_L, wherein: RSSI_L is the original survey data from mobile phone, G is compared with reference terminal equipment, the mobile phone gain correction coefficient established according to following parameter, including, but not limited to mobile phone model, Wi-Fi working channel, Wi-Fi source location and direction of travel;
3) due to the Geomagnetic signal intensity projection in all directions that the hardware differences surveying mobile terminal produces, by [t_n t_z t_e]
t=M [s_n s_z s_e]
tcorrect, wherein [s_n s_z s_e] is the projection vector of not calibrated Geomagnetic signal on Zheng Bei, the earth's core, direction, three, due east gathered by exploration mobile terminal, M is the rotation matrix for correcting, [t_n t_z t_e] is the projection vector of Geomagnetic signal on Zheng Bei, the earth's core, direction, three, due east after calibrated, T is matrix transpose operation symbol, the hardware differences of energy abatement apparatus, improves the data reliability of low cost exploration mobile terminal effectively.
Preferably, fingerprint exploration management server realizes fingerprint database synthesis by following steps:
1) method of original fingerprint survey data according to received signals fingerprint collection is corrected;
2) corresponding according to uploading data survey path, extract from fingerprint database path cover finger print data on grid;
3) if corresponding grid does not have finger print data, then the survey data after correction is added into corresponding grid;
4) if corresponding grid has finger print data, then according to system convention, the survey data corrected and existing finger print data are merged.
When the survey data quality corrected unreliable (as disturbed too much, data variation degree is excessive), then abandon merging.
Preferably, fingerprint database realizes synthesis by following steps:
1) method of original fingerprint survey data according to received signals fingerprint collection is corrected;
2) according to the exploration time of survey data, pass through correcting rear fingerprint survey data in same grid
carry out priority aggregation, wherein, s is the finger print data of synthesis, s
t-nfor the exploration finger print data obtained at time t_n, w
nfor weight coefficient, w
ncalculate according to the empirical function with exploration time correlation;
3) to the survey data in different grids, pass through
carry out priority aggregation, wherein s
pos_nfinger print data on the grid of to be position be pos_n, v
nfor weight coefficient, v
nfoundation current grid and position are the empirical function calculating of the distance between the grid of pos_n.
Preferably, fingerprint exploration management server comprises exclusive reconnaissance mode, non-exclusive reconnaissance mode:
Exclusive reconnaissance mode, when a mobile terminal obtains a survey path, fingerprint exploration management server locks by this path, and before current mobile terminal does not complete path exploration, other mobile terminals again can not obtain this survey path and survey;
Non-exclusive reconnaissance mode, each paths can be distributed to multiple exploration mobile terminal simultaneously, when surveying mobile terminal and uploading survey path, fingerprint exploration management server stored survey data according to the path exploration time, synthesized for further survey data.
Contribute to by exclusive reconnaissance mode the conflict reducing Data Synthesis, contribute to by non-exclusive reconnaissance mode the speed improving exploration.
Preferably, described fingerprint exploration management server can by home server and distributed server erection, during home server erection, described fingerprint database, map data base, office terminal, exploration mobile terminal, access interface and fingerprint are surveyed management server and are all connected by routine interface, during distributed server erection, described fingerprint database, map data base, office terminal, exploration mobile terminal, access interface and fingerprint are surveyed management server and are connected by network communication interface, described fingerprint exploration management server is also provided with selftest module and position application performance estimation module, follow-up maintenance can be realized, decrease maintenance cost, ensure that the sustainable validity of database.
In sum, advantage of the present invention: by fingerprint exploration management server to the distribution of fingerprint exploration task, survey data stores, analyze, process and finger print data access services is provided, office terminal surveys mission planning to fingerprint, the management of fingerprint database and map data base, amendment and renewal, exploration mobile terminal is used for fingerprint exploration task to carry out, survey data collection with upload, access interface is used for fingerprint exploration management server and other system carries out fingerprint and map datum exchanges, the engineering survey part of any fingerprint location system by intelligent mobile terminal support can be adapted to, the technical threshold of great reduction exploration work, reduce the cost of labor of exploration, survey data conflict can be avoided.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described:
Fig. 1 is the structural representation of a kind of distributed parallel survey system for fingerprint location of the present invention.
Embodiment
As shown in Figure 1: a kind of distributed parallel survey system for fingerprint location, comprise for the distribution of fingerprint exploration task, survey data stores, analyze, process and provide the fingerprint exploration management server 1 of finger print data access services, the fingerprint database 2 that management server 1 is connected is surveyed respectively with fingerprint, map data base 3, office terminal 4, exploration mobile terminal 5, access interface 6, store in described fingerprint database 2 received signals fingerprint vector original survey data and treated with synthesis after synthesis finger print data for locating, store map datum in described map data base 3, described office terminal 4 is for fingerprint exploration mission planning, the management of fingerprint database and map data base, amendment and renewal, described exploration mobile terminal 5 carries out for fingerprint exploration task, survey data collection with upload, described access interface 6 is for fingerprint exploration management server and other system carries out fingerprint and map datum exchanges, described fingerprint exploration management server can be set up by home server and distributed server, during home server erection, and described fingerprint database, map data base, office terminal, exploration mobile terminal, access interface and fingerprint are surveyed management server and are all connected by routine interface, during distributed server erection, and described fingerprint database, map data base, office terminal, exploration mobile terminal, access interface and fingerprint are surveyed management server and are connected by network communication interface, described fingerprint exploration management server is also provided with selftest module and position application performance estimation module, follow-up maintenance can be realized, decrease maintenance cost, ensure that the sustainable validity of database.
Fingerprint exploration management server realizes the fingerprint investigation method of locating area, comprises the following steps successively:
1) plan: first office terminal obtains the map datum of locating area from fingerprint exploration management server, required locating area is covered by many survey path, and the planning of survey path is uploaded to fingerprint exploration management server carry out exploration distribute;
2) distribution and exploration: one or more fingerprint survey mobile terminal by ask fingerprint to survey management server, independently of one another foundation obtaining step 1) the middle planning of survey path and the distribution of system, fetching portion survey path; Each fingerprint exploration mobile terminal completes the fingerprint signal collection in its survey path of distributing independently;
3) upload and merge with data: each fingerprint surveys mobile terminal after completing the fingerprint signal collection in current survey path, utilize mobile network or Wi-Fi network that data upload is surveyed management server to fingerprint, and with the following data of fingerprint survey data synchronized upload, data include but not limited to acquisition time, fingerprint exploration mobile terminal ardware model number, survey crew's identity information, first the original survey data of fingerprint vector that exploration mobile terminal is uploaded stores by fingerprint exploration management server, again according to above synchrodata, the merging of data is carried out with existing fingerprint database, additions and deletions, upgrade.
Exploration speed can be increased exponentially by above-mentioned steps.
The fingerprint investigation method of fingerprint exploration management server realizing route, comprise survey path division methods and received signals fingerprint acquisition method, described survey path division methods, comprises the following steps successively:
1) grid will the map of survey area being needed evenly to be divided into equal shape and size, non-overlapping copies, and ensure that grid radius should be not more than fingerprint location precision;
2) according to landform, buildings, the POI information of map, can be connected in series by a continuous print survey path by the grid in traffic areas, realize covering the survey path of locating area;
3) except two end points in path, one paths can comprise some critical paths point, critical path point is for indicating the end points of subpath, for preventing due to environment and the operation uncontinuity of signals collecting that causes of reason and the cumulative error of signals collecting, whole survey path generates and completes by generating its each subpath successively.
Grid can be arranged to square or regular hexagon, survey path can be arranged to single position, straight line, broken line, curve, broken line and curve blending, can realize carrying out high efficiency finger print data exploration to large area locating area by above-mentioned steps.
Described received signals fingerprint acquisition method comprises the following steps successively:
1) survey mobile terminal and first select a survey path, system obtains grid and critical path point that this survey path covers by survey path division methods;
2) surveying mobile terminal selects a critical path point in survey path as the starting point of exploration, to start collection signal fingerprint;
3) the hand-held exploration mobile terminal of user, along current path to move, guarantees the grid number that system displacement in a signal acquisition periods is no more than system and specifies;
4) when user arrives next critical path point, notice exploration mobile terminal, signal, according to its speed of travel and the received signals fingerprint collected, is prorated to each grid of this subpath by exploration mobile terminal;
5) repeat step 3), step 4) until arrive the end points in whole path, or manually exit current exploration;
6) survey mobile terminal and be uploaded to fingerprint exploration management server by surveying finger print data.
Can realize carrying out high efficiency finger print data exploration to large area locating area by above-mentioned steps.
Step 4) in signal distribute and adopt following two kinds of distribution methods:
At the uniform velocity distribute: according to system suggestion, survey crew walk with even speed in exploration process, the start time of system log (SYSLOG) two critical path points and termination time, and time of wireless signal that period is detected at every turn, according to above information, signal constant duration is assigned on grid that current exploration subpath covers;
Non-at the uniform velocity distribution: survey crew walk with free velocity, exploration mobile terminal is changed by the translational speed of gait detection algorithm estimator, after survey crew complete the exploration of a paths, system is according to the start time of two critical path points and termination time, the time of the wireless signal that period is detected at every turn, and the speed change of survey crew's speed of travel, the signal of detection time between t1 and t2 is dispensed to
grid in, wherein: D is the physical length of whole piece survey path, d is the distance of grid distance starting point in survey path, T is the exploration time span of whole piece survey path, be provided with in exploration mobile terminal accelerometer, gyroscope, with the sensor such as electronic compass, be convenient to the translational speed change of gait detection algorithm estimator.
Exploration mobile terminal realizes received signals fingerprint collection by following steps:
1) by exploration mobile terminal internal radio frequency communication module, electrical compass module, accelerometer and gyro module, the wireless signal of collecting device periphery or Geomagnetic signal fingerprint vector, wherein: communication module is responsible for the acknowledge(ment) signal strength information (RSSI) gathering wireless signal, electrical compass module be responsible for locality magnetic signal in the horizontal direction with the intensity in vertical direction, accelerometer and gyro module estimate the angle of inclination of positive north direction and mobile phone by Kalman filter auxiliary electron compass module, world coordinates for projecting to the Geomagnetic signal of collection based on direct north is fastened,
2) different mobile terminals collects the difference of RSSI due to hardware differences in same position, corrected by preset gain calibration database, updating formula is RSSI_P=G*RSSI_L, wherein: RSSI_L is the original survey data from mobile phone, G is compared with reference terminal equipment, the mobile phone gain correction coefficient established according to following parameter, including, but not limited to mobile phone model, Wi-Fi working channel, Wi-Fi source location and direction of travel, also survey crew's survey data quality in the past can be passed through;
3) due to the Geomagnetic signal intensity projection in all directions that the hardware differences surveying mobile terminal produces, by [t_n t_z t_e]
t=M [s_n s_z s_e]
tcorrect, wherein [s_n s_z s_e] is the projection vector of not calibrated Geomagnetic signal on Zheng Bei, the earth's core, direction, three, due east gathered by exploration mobile terminal, M is the rotation matrix for correcting, [t_n t_z t_e] is the projection vector of Geomagnetic signal on Zheng Bei, the earth's core, direction, three, due east after calibrated, and T is matrix transpose operation symbol.
Fingerprint exploration management server realizes fingerprint database synthesis by following steps:
1) method of original fingerprint survey data according to received signals fingerprint collection is corrected;
2) corresponding according to uploading data survey path, extract from fingerprint database path cover finger print data on grid;
3) if corresponding grid does not have finger print data, then the survey data after correction is added into corresponding grid;
4) if corresponding grid has finger print data, then according to system convention, the survey data corrected and existing finger print data are merged.
When the survey data quality corrected unreliable (as disturbed too much, data variation degree is excessive), then abandon merging.
Fingerprint database realizes synthesis by following steps:
1) method of original fingerprint survey data according to received signals fingerprint collection is corrected;
2) according to the exploration time of survey data, pass through correcting rear fingerprint survey data in same grid
carry out priority aggregation, wherein, s is the finger print data of synthesis, s
t-nfor the exploration finger print data obtained at time t_n, w
nfor weight coefficient, w
ncalculate according to the empirical function with exploration time correlation;
3) to the survey data in different grids, pass through
carry out priority aggregation, wherein s
pos_nfinger print data on the grid of to be position be pos_n, v
nfor weight coefficient, v
nfoundation current grid and position are the empirical function calculating of the distance between the grid of pos_n.
Can distribute signal according to different sights, improve the accuracy that survey path divides, Practical Performance is strong.
Fingerprint exploration management server comprises exclusive reconnaissance mode, non-exclusive reconnaissance mode:
Exclusive reconnaissance mode, when a mobile terminal obtains a survey path, fingerprint exploration management server locks by this path, and before current mobile terminal does not complete path exploration, other mobile terminals again can not obtain this survey path and survey;
Non-exclusive reconnaissance mode, each paths can be distributed to multiple exploration mobile terminal simultaneously, when surveying mobile terminal and uploading survey path, fingerprint exploration management server stored survey data according to the path exploration time, synthesized for further survey data.
Contribute to by exclusive reconnaissance mode the conflict reducing Data Synthesis, contribute to by non-exclusive reconnaissance mode the speed improving exploration.
By fingerprint exploration management server to the distribution of fingerprint exploration task, survey data stores, analyze, process and finger print data access services is provided, office terminal surveys mission planning to fingerprint, the management of fingerprint database and map data base, amendment and renewal, exploration mobile terminal is used for fingerprint exploration task to carry out, survey data collection with upload, access interface is used for fingerprint exploration management server and other system carries out fingerprint and map datum exchanges, the engineering survey part of any fingerprint location system by intelligent mobile terminal support can be adapted to, the technical threshold of great reduction exploration work, reduce the cost of labor of exploration, survey data conflict can be avoided.
Claims (10)
1. for a distributed parallel survey system for fingerprint location, it is characterized in that: comprise for the distribution of fingerprint exploration task, survey data stores, analyze, process and provide fingerprint exploration management server (1) of finger print data access services, the fingerprint database (2) that management server (1) is connected is surveyed respectively with fingerprint, map data base (3), office terminal (4), exploration mobile terminal (5), access interface (6), store in described fingerprint database (2) received signals fingerprint vector original survey data and treated with synthesis after synthesis finger print data for locating, described map data base stores map datum in (3), and described office terminal (4) are for fingerprint exploration mission planning, the management of fingerprint database and map data base, amendment and renewal, described exploration mobile terminal (5) is carried out for fingerprint exploration task, survey data collection with upload, described access interface (6) is for fingerprint exploration management server and other system carries out fingerprint and map datum exchanges.
2. a kind of distributed parallel survey system for fingerprint location according to claim 1, is characterized in that: fingerprint exploration management server realizes the fingerprint investigation method of locating area, comprises the following steps successively:
1) plan: first office terminal obtains the map datum of locating area from fingerprint exploration management server, required locating area is covered by many survey path, and the planning of survey path is uploaded to fingerprint exploration management server carry out exploration distribute;
2) distribution and exploration: one or more fingerprint survey mobile terminal by ask fingerprint to survey management server, independently of one another foundation obtaining step 1) the middle planning of survey path and the distribution of system, fetching portion survey path; Each fingerprint exploration mobile terminal completes the fingerprint signal collection in its survey path of distributing independently;
3) upload and merge with data: each fingerprint surveys mobile terminal after completing the fingerprint signal collection in current survey path, utilize mobile network or Wi-Fi network that data upload is surveyed management server to fingerprint, and with the following data of fingerprint survey data synchronized upload, data include but not limited to acquisition time, fingerprint exploration mobile terminal ardware model number, survey crew's identity information, first the original survey data of fingerprint vector that exploration mobile terminal is uploaded stores by fingerprint exploration management server, again according to above synchrodata, the merging of data is carried out with existing fingerprint database, additions and deletions, upgrade.
3. a kind of distributed parallel survey system for fingerprint location according to claim 1, it is characterized in that: the fingerprint investigation method of fingerprint exploration management server realizing route, comprise survey path division methods and received signals fingerprint acquisition method, described survey path division methods, comprises the following steps successively:
1) grid will the map of survey area being needed evenly to be divided into equal shape and size, non-overlapping copies, and ensure that grid radius should be not more than fingerprint location precision;
2) according to landform, buildings, the POI information of map, can be connected in series by a continuous print survey path by the grid in traffic areas, realize covering the survey path of locating area;
3) except two end points of survey path, article one, survey path can comprise some critical paths point, critical path point is for indicating the end points of subpath, for preventing due to environment and the operation uncontinuity of signals collecting that causes of reason and the cumulative error of signals collecting, whole survey path generates and completes by generating its each subpath successively.
4. a kind of distributed parallel survey system for fingerprint location according to claim 3, is characterized in that: described received signals fingerprint acquisition method comprises the following steps successively:
1) survey mobile terminal and first select a survey path, system obtains grid and critical path point that this survey path covers by survey path division methods;
2) surveying mobile terminal selects a critical path point in survey path as the starting point of exploration, to start collection signal fingerprint;
3) the hand-held exploration mobile terminal of user, moves along current survey path, guarantees the grid number that system displacement in a signal acquisition periods is no more than system and specifies;
4) when user arrives next critical path point, notice exploration mobile terminal, signal, according to its speed of travel and the received signals fingerprint collected, is prorated to each grid of this survey path by exploration mobile terminal;
5) repeat step 3), step 4) until arrive the end points of whole survey path, or manually exit current exploration;
6) survey mobile terminal and be uploaded to fingerprint exploration management server by surveying finger print data.
5. a kind of distributed parallel survey system for fingerprint location according to claim 4, is characterized in that: step 4) in signal distribute and adopt following two kinds of distribution methods:
At the uniform velocity distribute: according to system suggestion, survey crew walk with even speed in exploration process, the start time of system log (SYSLOG) two critical path points and termination time, and time of wireless signal that period is detected at every turn, according to above information, signal constant duration is assigned on grid that current exploration subpath covers;
Non-at the uniform velocity distribution: survey crew walk with free velocity, exploration mobile terminal is changed by the translational speed of gait detection algorithm estimator, after survey crew complete a survey path, system is according to the start time of two critical path points and termination time, the time of the wireless signal that period is detected at every turn, and the speed change of survey crew's speed of travel, the signal of detection time between t1 and t2 is dispensed to
grid in, wherein: D is the physical length of whole piece survey path, d is the distance of grid distance starting point in survey path, and T is the exploration time span of whole piece survey path.
6. a kind of distributed parallel survey system for fingerprint location according to claim 1, is characterized in that: exploration mobile terminal realizes received signals fingerprint collection by following steps:
1) by the radio-frequency communication module of exploration mobile terminal inside, electrical compass module, accelerometer and gyro module, the wireless signal of collecting device periphery or Geomagnetic signal fingerprint vector, wherein: communication module is responsible for the acknowledge(ment) signal strength information (RSSI) gathering wireless signal, electrical compass module be responsible for locality magnetic signal in the horizontal direction with the intensity in vertical direction, accelerometer and gyro module estimate the angle of inclination of positive north direction and mobile phone by Kalman filter auxiliary electron compass module, world coordinates for projecting to the Geomagnetic signal of collection based on direct north is fastened,
2) different exploration mobile terminals collects the difference of RSSI due to hardware differences in same position, corrected by preset gain calibration database, updating formula is RSSI_P=G*RSSI_L, wherein: RSSI_L is the original survey data from mobile phone, G is compared with reference terminal equipment, the mobile phone gain correction coefficient established according to following parameter, including, but not limited to mobile phone model, Wi-Fi working channel, Wi-Fi source location and direction of travel;
3) due to the Geomagnetic signal intensity projection in all directions that the hardware differences surveying mobile terminal produces, by [t_n t_z t_e]
t=M [s_n s_z s_e]
tcorrect, wherein [s_n s_zs_e] is the projection vector of not calibrated Geomagnetic signal on Zheng Bei, the earth's core, direction, three, due east gathered by exploration mobile terminal, M is the rotation matrix for correcting, [t_n t_z t_e] is the projection vector of Geomagnetic signal on Zheng Bei, the earth's core, direction, three, due east after calibrated, and T is matrix transpose operation symbol.
7. a kind of distributed parallel survey system for fingerprint location according to claim 1, is characterized in that: fingerprint exploration management server realizes fingerprint database synthesis by following steps:
1) method of original fingerprint survey data according to received signals fingerprint collection is corrected;
2) corresponding according to uploading data survey path, extract from fingerprint database path cover finger print data on grid;
3) if corresponding grid does not have finger print data, then the survey data after correction is added into corresponding grid;
4) if corresponding grid has finger print data, then according to system convention, the survey data corrected and existing finger print data are merged.
8. a kind of distributed parallel survey system for fingerprint location according to claim 1, is characterized in that: fingerprint database realizes synthesis by following steps:
1) method of original fingerprint survey data according to received signals fingerprint collection is corrected;
2) according to the exploration time of survey data, pass through correcting rear fingerprint survey data in same grid
carry out priority aggregation, wherein, s is the finger print data of synthesis, s
t-nfor the exploration finger print data obtained at time t_n, w
nfor weight coefficient;
3) to the survey data in different grids, pass through
carry out priority aggregation, wherein s
pos_nfinger print data on the grid of to be position be pos_n, v
nfor weight coefficient.
9. a kind of distributed parallel survey system for fingerprint location according to claim 1, is characterized in that: fingerprint exploration management server comprises exclusive reconnaissance mode, non-exclusive reconnaissance mode:
Exclusive reconnaissance mode, when a mobile terminal obtains a survey path, fingerprint exploration management server locks by this path, and before current mobile terminal does not complete path exploration, other mobile terminals again can not obtain this survey path and survey;
Non-exclusive reconnaissance mode, each paths can be distributed to multiple exploration mobile terminal simultaneously, when surveying mobile terminal and uploading survey path, fingerprint exploration management server stored survey data according to the path exploration time, synthesized for further survey data.
10. a kind of distributed parallel survey system for fingerprint location according to claim 1, it is characterized in that: described fingerprint exploration management server can by home server and distributed server erection, during home server erection, described fingerprint database, map data base, office terminal, exploration mobile terminal, access interface and fingerprint are surveyed management server and are all connected by routine interface, during distributed server erection, described fingerprint database, map data base, office terminal, exploration mobile terminal, access interface and fingerprint are surveyed management server and are connected by network communication interface, described fingerprint exploration management server is also provided with selftest module and position application performance estimation module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410697202.6A CN104462281B (en) | 2014-11-26 | 2014-11-26 | A kind of distributed parallel survey system for fingerprint location |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410697202.6A CN104462281B (en) | 2014-11-26 | 2014-11-26 | A kind of distributed parallel survey system for fingerprint location |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104462281A true CN104462281A (en) | 2015-03-25 |
| CN104462281B CN104462281B (en) | 2017-11-24 |
Family
ID=52908317
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410697202.6A Expired - Fee Related CN104462281B (en) | 2014-11-26 | 2014-11-26 | A kind of distributed parallel survey system for fingerprint location |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104462281B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105222787A (en) * | 2015-09-10 | 2016-01-06 | 上海市计量测试技术研究院 | Based on the location fingerprint base construction method of matrix fill-in |
| CN105516929A (en) * | 2016-01-25 | 2016-04-20 | 赵佳 | Indoor map data building method and device and indoor positioning method and device |
| CN105547301A (en) * | 2016-02-25 | 2016-05-04 | 华南理工大学 | Indoor map construction method and device based on geomagnetism |
| CN105916202A (en) * | 2016-06-20 | 2016-08-31 | 天津大学 | Probabilistic WiFi indoor positioning fingerprint database construction method |
| CN106255203A (en) * | 2016-09-19 | 2016-12-21 | 哈尔滨工业大学 | The localization method of terminal RSRP disparity compensation based on MDS |
| CN106792465A (en) * | 2016-12-26 | 2017-05-31 | 华中科技大学 | A kind of indoor fingerprint map constructing method based on mass-rent fingerprint |
| CN106778596A (en) * | 2016-12-12 | 2017-05-31 | 北京羲和科技有限公司 | Self adaptation earth magnetism fingerprint base method for building up and device |
| CN108109423A (en) * | 2017-12-26 | 2018-06-01 | 武汉创驰蓝天信息科技有限公司 | Underground parking intelligent navigation method and system based on WiFi indoor positionings |
| CN108829100A (en) * | 2018-06-06 | 2018-11-16 | 杭州晶智能科技有限公司 | Indoor mobile robot traverse path planing method based on wireless network and Geomagnetic signal |
| CN109188349A (en) * | 2018-07-24 | 2019-01-11 | 杭州十域科技有限公司 | Indoor positioning technologies fingerprint collecting method and device |
| CN111611204A (en) * | 2020-04-30 | 2020-09-01 | 中国舰船研究设计中心 | Distributed task progress data acquisition and analysis method |
| CN111669747A (en) * | 2020-05-25 | 2020-09-15 | 伟志股份公司 | Digital management system and method for surveying and mapping archives |
| CN111666463A (en) * | 2020-05-25 | 2020-09-15 | 伟志股份公司 | Urban survey digital management system and method |
| CN111837459A (en) * | 2018-03-06 | 2020-10-27 | 昕诺飞控股有限公司 | System and method for initializing lighting nodes using wireless signal characteristics for automatic re-network entry |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102340868A (en) * | 2011-11-09 | 2012-02-01 | 广州市香港科大霍英东研究院 | Indoor positioning method based on channel state information of wireless network |
| CN102348160A (en) * | 2011-07-15 | 2012-02-08 | 中国电信股份有限公司 | Multimode signal-based positioning method, system and positioning platform |
| CN103384358A (en) * | 2013-06-25 | 2013-11-06 | 云南大学 | Indoor positioning method based on virtual reality and WIFI space field strength |
| CN103476113A (en) * | 2013-09-06 | 2013-12-25 | 上海万畅交通科技有限公司 | Indoor positioning system and method based on MNL probability identification and positioning model establishing system |
-
2014
- 2014-11-26 CN CN201410697202.6A patent/CN104462281B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102348160A (en) * | 2011-07-15 | 2012-02-08 | 中国电信股份有限公司 | Multimode signal-based positioning method, system and positioning platform |
| CN102340868A (en) * | 2011-11-09 | 2012-02-01 | 广州市香港科大霍英东研究院 | Indoor positioning method based on channel state information of wireless network |
| CN103384358A (en) * | 2013-06-25 | 2013-11-06 | 云南大学 | Indoor positioning method based on virtual reality and WIFI space field strength |
| CN103476113A (en) * | 2013-09-06 | 2013-12-25 | 上海万畅交通科技有限公司 | Indoor positioning system and method based on MNL probability identification and positioning model establishing system |
Non-Patent Citations (1)
| Title |
|---|
| ZHENG YANG等: "Locating in Fingerprint Space: Wireless Indoor Localization with Little Human Intervention", 《INTERNATIONAL CONFERENCE ON MOBILE COMPUTING & NETWORKING》 * |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105222787A (en) * | 2015-09-10 | 2016-01-06 | 上海市计量测试技术研究院 | Based on the location fingerprint base construction method of matrix fill-in |
| CN105516929A (en) * | 2016-01-25 | 2016-04-20 | 赵佳 | Indoor map data building method and device and indoor positioning method and device |
| CN105516929B (en) * | 2016-01-25 | 2019-08-27 | 图优化(北京)科技有限公司 | Establish method, indoor orientation method and the corresponding intrument of indoor map data |
| CN105547301B (en) * | 2016-02-25 | 2018-09-14 | 华南理工大学 | Indoor map construction method based on earth magnetism and device |
| CN105547301A (en) * | 2016-02-25 | 2016-05-04 | 华南理工大学 | Indoor map construction method and device based on geomagnetism |
| CN105916202A (en) * | 2016-06-20 | 2016-08-31 | 天津大学 | Probabilistic WiFi indoor positioning fingerprint database construction method |
| CN106255203A (en) * | 2016-09-19 | 2016-12-21 | 哈尔滨工业大学 | The localization method of terminal RSRP disparity compensation based on MDS |
| CN106255203B (en) * | 2016-09-19 | 2019-07-02 | 哈尔滨工业大学 | The localization method of terminal RSRP disparity compensation based on MDS |
| CN106778596B (en) * | 2016-12-12 | 2020-06-19 | 北京羲和科技有限公司 | Self-adaptive geomagnetic fingerprint database establishing method and device |
| CN106778596A (en) * | 2016-12-12 | 2017-05-31 | 北京羲和科技有限公司 | Self adaptation earth magnetism fingerprint base method for building up and device |
| CN106792465B (en) * | 2016-12-26 | 2019-08-30 | 华中科技大学 | A kind of indoor fingerprint map constructing method based on crowdsourcing fingerprint |
| CN106792465A (en) * | 2016-12-26 | 2017-05-31 | 华中科技大学 | A kind of indoor fingerprint map constructing method based on mass-rent fingerprint |
| CN108109423A (en) * | 2017-12-26 | 2018-06-01 | 武汉创驰蓝天信息科技有限公司 | Underground parking intelligent navigation method and system based on WiFi indoor positionings |
| CN108109423B (en) * | 2017-12-26 | 2021-04-06 | 武汉创驰蓝天信息科技有限公司 | Underground parking lot intelligent navigation method and system based on WiFi indoor positioning |
| CN111837459A (en) * | 2018-03-06 | 2020-10-27 | 昕诺飞控股有限公司 | System and method for initializing lighting nodes using wireless signal characteristics for automatic re-network entry |
| CN111837459B (en) * | 2018-03-06 | 2023-06-16 | 昕诺飞控股有限公司 | System, method and computer readable medium for initializing lighting nodes using wireless signal characteristics for automatic re-networking |
| CN108829100A (en) * | 2018-06-06 | 2018-11-16 | 杭州晶智能科技有限公司 | Indoor mobile robot traverse path planing method based on wireless network and Geomagnetic signal |
| CN108829100B (en) * | 2018-06-06 | 2021-01-12 | 杭州晶一智能科技有限公司 | Indoor mobile robot traversal path planning method based on wireless network and geomagnetic signals |
| CN109188349A (en) * | 2018-07-24 | 2019-01-11 | 杭州十域科技有限公司 | Indoor positioning technologies fingerprint collecting method and device |
| CN111611204A (en) * | 2020-04-30 | 2020-09-01 | 中国舰船研究设计中心 | Distributed task progress data acquisition and analysis method |
| CN111611204B (en) * | 2020-04-30 | 2024-03-01 | 中国舰船研究设计中心 | Distributed task progress data acquisition and analysis method |
| CN111666463A (en) * | 2020-05-25 | 2020-09-15 | 伟志股份公司 | Urban survey digital management system and method |
| CN111669747A (en) * | 2020-05-25 | 2020-09-15 | 伟志股份公司 | Digital management system and method for surveying and mapping archives |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104462281B (en) | 2017-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104462281A (en) | Distributed type parallel surveying system for fingerprint positioning | |
| CN105516887B (en) | Localization method and its device based on bluetooth | |
| EP3347677B1 (en) | Navigate, track, and position mobile devices in gps-denied or gps-inaccurate areas with automatic map generation | |
| CN101033971B (en) | Mobile robot map building system and map building method thereof | |
| CN103200678B (en) | The Android device WiFi indoor orientation method of position-based algorithm for recognizing fingerprint | |
| KR20190053470A (en) | Positioning system based on deep learnin and construction method thereof | |
| CN106793086A (en) | A kind of indoor orientation method | |
| CN105704652B (en) | Fingerprint base acquisition and optimization method in a kind of positioning of WLAN/ bluetooth | |
| CN104796866A (en) | Indoor positioning method and device | |
| KR102110813B1 (en) | SLAM method and apparatus robust to wireless environment change | |
| CN105182288B (en) | A kind of RSSI kalman filter methods based on indoor locating system | |
| CN104333906A (en) | Positioning system and method based on indoor wireless signal | |
| CN108120436A (en) | Real scene navigation method in a kind of iBeacon auxiliary earth magnetism room | |
| CN106878951A (en) | User trajectory analysis method and system | |
| CN105973246A (en) | Drawing method and apparatus of geomagnetic map, and robot | |
| CN105737833A (en) | Indoor navigation method and indoor navigation device | |
| KR20170091811A (en) | An indoor positioning method using the weighting the RSSI of Bluetooth beacon and pedestrian pattern | |
| CN105813194A (en) | Indoor positioning method based on fingerprint database secondary correction | |
| CN104105067A (en) | Real-time positioning system and method based on geomagnetic information | |
| CN103996036A (en) | Map data acquisition method and device | |
| CN111698774B (en) | Indoor positioning method and device based on multi-source information fusion | |
| CN105163382A (en) | Indoor region location optimization method and system | |
| CN102695272A (en) | Matching location method and mobile terminal | |
| KR102134414B1 (en) | Apparatus for measuring location using signal strength of access point and method thereof | |
| JP5881541B2 (en) | Information processing system and information processing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171124 Termination date: 20211126 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |