CN105866733A - Method and device for determining indoor position - Google Patents

Method and device for determining indoor position Download PDF

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Publication number
CN105866733A
CN105866733A CN201610397509.3A CN201610397509A CN105866733A CN 105866733 A CN105866733 A CN 105866733A CN 201610397509 A CN201610397509 A CN 201610397509A CN 105866733 A CN105866733 A CN 105866733A
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China
Prior art keywords
mean shift
vector
determined
signal
terminal
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CN201610397509.3A
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Chinese (zh)
Inventor
王琪
孙瑞
陆小军
刘晓婷
刘志鹏
张铁
孙艳蕊
张祥德
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Northeastern University China
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Northeastern University China
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Priority to CN201610397509.3A priority Critical patent/CN105866733A/en
Publication of CN105866733A publication Critical patent/CN105866733A/en
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0273—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves using multipath or indirect path propagation signals in position determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/10—Small scale networks; Flat hierarchical networks
    • H04W84/12—WLAN [Wireless Local Area Networks]

Abstract

The invention provides a method and device for determining an indoor position, and belongs to the technical field of positioning. The method and the device are used for solving the problem of low positioning precision of indoor positioning in the prior art. The method comprises the following steps that a first terminal obtains a first signal emitted by an emitting end at a pre-determined reference point; the first signal obtained by the first terminal is stored into a database; a second terminal obtains second signals emitted by at least one group of emitting end in a position to be determined; according to the mean vector and the standard deviation vector after the second signal deviation standardization, the emitting end weight is determined; according to the emitting end weight, the second signal and the first signal, a weighted K nearest neighbor algorithm is performed, and the coordinate point set of the position to be determined is determined; any one point of the coordinate point set of the position to be determined is determined into an initial point; a normal core function is selected by using the determined initial point as the center; the mean shift vector is determined; when the mean shift vector is smaller than the set threshold value, the minuend at the right side of the equation of the mean shift vector is determined to be the coordinate of the position to be determined.

Description

A kind of method and device determining indoor location
Technical field
The present invention relates to field of locating technology, more particularly relate to a kind of method determining indoor location and dress Put.
Background technology
Indoor positioning refers to realize location, position in indoor environment, mainly use wireless telecommunications, architecture, The multiple technologies such as inertial navigation location are integrated to form a set of indoor location locating system, thus realize personnel, object etc. Monitoring position in the interior space.Owing to satellite fix cannot be used in indoor environment so that indoor positioning Technology as the auxiliary positioning mode of satellite fix, solve satellite-signal arrive ground time more weak, can not wear The problem of building thoroughly.
At present, indoor positioning technologies specifically includes that (English is: Radio Frequency based on RF identification Identification, English abbreviation: RFID), ZigBee, (English is WLAN: Wireless Local AreaNetworks, English abbreviation: WLAN), infrared technology etc..The common ground of above-mentioned technology is all Utilize the signal message that multiple signal source is launched, determine the position of terminal by calculating the overlay area of superposition Put.Thus it is little to cause the indoor positioning of above technology to there is signal cover, the problem that positioning precision is low.
In sum, prior art indoor positioning technologies, there is the problem that positioning precision is low.
Summary of the invention
The embodiment of the present invention provides a kind of method and device determining indoor location, in order to solve prior art room , there is the problem that positioning precision is low in inner position technology.
The embodiment of the present invention provides a kind of method determining indoor location, including:
First terminal obtains, in predetermined reference point, the first signal that least one set transmitting terminal is launched, by institute Described first signal stating first terminal acquisition stores database, and wherein, described first terminal gets Described first signal is corresponding with described reference point locations；
The secondary signal that second terminal is launched at transmitting terminal described in position acquisition least one set to be determined, according to institute State the mean vector after the standardization of secondary signal deviation and standard deviation vector, determine described transmitting terminal weight；Root According to described transmitting terminal weight, described secondary signal and described first signal, it is weighted k nearest neighbor algorithm, really Fixed described position coordinates point set to be determined；
Any point of described position coordinates point set to be determined is defined as initial point, with described determine initial Centered by Dian, choose normal state kernel function, determine that Mean shift is vectorial and vectorial with described Mean shift Corresponding Mean shift equality of vector；When described Mean shift vector is less than when setting threshold value, by described Minuend on the right side of Mean shift equality of vector is defined as described position coordinates to be determined.
Preferably, before the signal that described first terminal obtains is stored database successively, also include:
The first signal obtaining described first terminal carries out Kalman filtering.
Preferably, when described Mean shift vector is more than when setting threshold value, according to initial Mean shift core Window width updates described Mean shift vector sum Mean shift core window width；Wherein, described initial Mean shift Preset value when core window width is to calculate described Mean shift vector for the first time.
The embodiment of the present invention also provides for a kind of device determining indoor location, including:
Creating unit, obtains what least one set transmitting terminal was launched for first terminal in predetermined reference point First signal, described first signal obtained by described first terminal stores database, wherein, described Described first signal that one terminal gets is corresponding with described reference point locations；
Computing unit, the launched at transmitting terminal described in position acquisition least one set to be determined for the second terminal Binary signal, the mean vector after standardizing according to described secondary signal deviation and standard deviation vector, determine described Transmitting terminal weight；According to described transmitting terminal weight, described secondary signal and described first signal, it is weighted K nearest neighbor algorithm, determines described position coordinates point set to be determined；
Determine unit, for any point of described position coordinates point set to be determined is defined as initial point, with Centered by the described initial point determined, choose normal state kernel function, determine Mean shift vector and with described The Mean shift equality of vector that Mean shift vector is corresponding；When described Mean shift vector is less than setting threshold During value, the minuend on the right side of described Mean shift equality of vector is defined as described position coordinates to be determined.
Preferably, described creating unit is additionally operable to:
The first signal obtaining described first terminal carries out Kalman filtering.
Preferably, described determine that unit is additionally operable to:
When described Mean shift vector is more than when setting threshold value, update according to initial Mean shift core window width Described Mean shift vector sum Mean shift core window width；Wherein, described initial Mean shift core window width For calculating preset value during described Mean shift vector for the first time.
In the embodiment of the present invention, it is provided that a kind of method and device determining indoor location, exist including first terminal Predetermined reference point obtains the first signal that least one set transmitting terminal is launched, and is obtained by described first terminal Described first signal store database, wherein, described first signal that described first terminal gets with Described reference point locations is corresponding；Second terminal is launched at transmitting terminal described in position acquisition least one set to be determined Secondary signal, the mean vector after standardizing according to described secondary signal deviation and standard deviation vector, determine institute State transmitting terminal weight；According to described transmitting terminal weight, described secondary signal and described first signal, add Power k nearest neighbor algorithm, determines described position coordinates point set to be determined；By described position coordinates point set to be determined Any point closed is defined as initial point, centered by the described initial point determined, chooses normal state kernel function, depends on Secondary determine Mean shift vector sum Mean shift core window width；When described Mean shift vector is less than setting During threshold value, the minuend on the right side of described Mean shift equality of vector is defined as described position coordinates to be determined； Wherein, described Mean shift core window width is according to all coordinate points in described position coordinates point set to be determined Determine with the standard deviation of described initial point.In the above-mentioned methods, k nearest neighbor algorithm will be weighted and window width will be adaptive Answer Mean shift to combine to position, first pass through weighting k nearest neighbor algorithm and determine position coordinates point set to be determined Close, then determined the final coordinate of position to be determined by window width adaptive M ean shift.Above by algorithm Position, simple to operate, improve positioning precision simultaneously.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below In accompanying drawing be only some embodiments of the present invention, for those of ordinary skill in the art, do not paying On the premise of going out creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
A kind of method flow schematic diagram determining indoor location that Fig. 1 provides for the embodiment of the present invention；
A kind of apparatus structure schematic diagram determining indoor location that Fig. 2 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation The every other embodiment obtained under property work premise, broadly falls into the scope of protection of the invention.
Before introducing a kind of method determining indoor location that the embodiment of the present invention is provided, first introduce several The technical term that the present embodiments relate to:
1) RF identification, also known as radio frequency identification, is a kind of communication technology, can pass through radio signals Identify specific objective and read and write related data, and setting up machinery or light between system and specific objective without identifying Learn contact.
2) WLAN, it is particularly convenient data transmission system, it utilize radio frequency (English is: Radio Frequency, English abbreviation: RF) technology, use electromagnetic wave, replace old-fashioned getting in the way Copper twisted pairs (English is the Coaxial) LAN constituted, and is aloft communicatively coupled so that WLAN can utilize simple access architecture to allow user pass through it, reaches, and " information is changed with oneself, facility Walk all over the world " ideal state.
3) Zigbee is low-power consumption LAN protocol based on IEEE802.15.4 standard.According to this agreement The technology of regulation is the wireless communication technology of a kind of short distance, low-power consumption.This title derives from the eight of honeybee Word wave, due to honeybee (bee) be by circle in the air and " drone " (zig) shake wing " dancing " and companion Transmission pollen place azimuth information, say, that honeybee relies on such mode to constitute the communication in colony. Be characterized in closely, low complex degree, self-organizing, low-power consumption, low data rate, low cost.Main suitable Share in automatically controlling and remote control field, various equipment can be embedded.In brief, ZigBee is exactly A kind of cheap, the near radio networking mechanics of communication of low-power consumption.
What Fig. 1 was exemplary shows that a kind of method flow determining indoor location that the embodiment of the present invention provides shows Being intended to, the method can apply in indoor positioning.
As it is shown in figure 1, a kind of method determining indoor location that the embodiment of the present invention provides, including following step Rapid:
Step 101, first terminal obtains the first of least one set transmitting terminal transmitting in predetermined reference point Signal, described first signal obtained by described first terminal stores database, and wherein, described first eventually Described first signal that end gets is corresponding with described reference point locations；
Step 102, the second letter that the second terminal is launched at transmitting terminal described in position acquisition least one set to be determined Number, the mean vector after standardizing according to described secondary signal deviation and standard deviation vector, determine described transmitting End weight；According to described transmitting terminal weight, described secondary signal and described first signal, it is weighted K near Adjacent algorithm, determines described position coordinates point set to be determined；
Step 103, is defined as initial point, with described by any point of described position coordinates point set to be determined Centered by the initial point determined, choose normal state kernel function, determine Mean shift vector sum Mean shift successively Core window width；When described Mean shift vector is less than when setting threshold value, by described Mean shift equality of vector The minuend on right side is defined as described position coordinates to be determined；Wherein, described Mean shift core window width is root Determine according to the standard deviation of all coordinate points in described position coordinates point set to be determined Yu described initial point.
It should be noted that terminal can be smart mobile phone, it is also possible to be panel computer, implement in the present invention In example, the concrete form of terminal is not limited.
In a step 101, first terminal obtains what least one set transmitting terminal was launched in predetermined reference point First signal, wherein, the reference point residing for first terminal is predetermined, and the quantity of reference point is permissible Including multiple, in embodiments of the present invention, the particular number of the reference point residing for first terminal is not limited.
First terminal obtains, in reference point, the first signal that least one set transmitting terminal is launched, and wherein, transmitting terminal can Multiple to include, in embodiments of the present invention, the quantity of transmitting terminal is not limited.First terminal will obtain To many groups signal be respectively stored in database, if it should be noted that first terminal is will to obtain for the first time The signal got stores database, then need first to set up database, wherein first terminal get first Signal is corresponding with reference point locations.Such as, when the first letter that first terminal will get first reference point Number set up database, then can be the first database by the database identification of foundation, wherein, the first data In storehouse, the first signal of storage is corresponding with first terminal place reference point locations, and first terminal is second reference The signal that point gets is corresponding with the position obtaining signal, stores in the first database.
It should be noted that the letter of the first signal that first terminal can be received due to complicated indoor environment Number intensity interferes, and therefore, in embodiments of the present invention, needs the first letter receiving first terminal Number carry out Kalman filtering, the noise filtering in the signal received by first terminal.
Further, when carrying out Kalman filtering, in the first signal that first terminal is received, have prominent So the signal strength signal intensity of change judges, (is somebody's turn to do when certain point prediction value and its measured value differ by more than a certain numerical value The determination of numerical value is relevant with the signal strength values received), and multiple measured values that this value is below are pre-with current When the difference of measured value is more than this numerical value, it is judged that this point is normal transition point, now, the measured value that will currently put It is set to the predicted value currently put；It is otherwise abnormal transition point, proceeds filtering according to original process.
In a step 102, the second terminal launch at transmitting terminal described in position acquisition least one set to be determined the Binary signal, the mean vector after standardizing according to described secondary signal deviation and standard deviation vector, determine described Transmitting terminal weight；According to described transmitting terminal weight, described secondary signal and described first signal, it is weighted K nearest neighbor algorithm, determines described position coordinates point set to be determined.
Further, the mean vector of the secondary signal that the second terminal receives and standard deviation vector are carried out from Difference standardization, and then calculate transmitting terminal weight in weighting k nearest neighbor algorithm, the second terminal is received many The first signal that individual signal stores up with databases mates, and returns location point to be determined.
Assuming that the second terminal some location point to be determined receive the signal strength signal intensity of m secondary signal to Amount, each signal strength signal intensity vector has n to arrange, and n is transmitting terminal number herein, then this signal matrix is m × n. This matrix is taken average by row, then obtains the mean vector of 1 × n.Therefrom select the number that signal strength values is minimum A and several B of signal strength values maximum.Each signal strength values in mean vector is all deducted A, and removes With (B-A).In like manner, this matrix is taken standard deviation by row, do identical calculating.By by above-mentioned process Signal strength values vector, is identified as the standard after the mean vector after deviation standardization standardizes with deviation Difference vector.
Further, secondary signal is weighted k nearest neighbor algorithm, specifically includes procedure below:
First, the weights omega of jth transmitting terminal in multiple transmitting terminals is calculated by following first formulaj:
ω j = 1 - μ j + s j 2 - - - ( 1 )
In formula (1), μjFor receive in position to be determined transmitting terminal deviation standardization after average The jth number of vector, sjThe jth number of standard deviation vector after standardizing for deviation.
Then, the signal received at a certain reference point and position to be determined are calculated by following equation (2) Put Euclidean distance a little:
d i = 1 n ( Σ j = 1 n ω j | R i j - R j ′ | 2 ) 1 / 2 - - - ( 2 )
In formula (2), diRepresent the Euclidean distance of i-th reference point and location point to be determined, Rij Represent that i-th reference point receives jth number in the mean vector of signal,Represent in position to be determined Receive jth number in the mean vector of signal.
Finally, according to weighting k nearest neighbor algorithm, by formula (3), described position coordinates to be determined is calculated:
Y = Σ p = 1 K Y p d p + ϵ Σ p = 1 K 1 d p + ϵ - - - ( 3 )
In formula (3), YpBeing the coordinate of pth point in K closest approach, ε is the least number, keeps away Exempting from denominator is 0.
In step 103, any point of position coordinates point set to be determined is defined as initial point, to determine Initial point centered by, choose normal state kernel function, determine Mean shift successively by following equation (4) Vector sum Mean shift core window width:
m h , G ( x ) = Σ i = 1 n x i g ( | | x - x i h | | 2 ) Σ i = 1 n g ( | | x - x i h | | 2 ) - x - - - ( 4 )
Wherein, mh,GX () is Mean shift vector, n is the number at current region midpoint, xiFor current region The coordinate of middle i-th point, g (x) is the profile function of normal state kernel function, and h is Mean shift core window width, and x is The position of current region Midst density maximum point, when Mean shift vector is more than threshold value, is updated to public affairs by x Minuend on the right side of formula (4) equation.
Further, normal state kernel function is determined by following equation (5):
G ( x ) = ( 2 π ) - d 2 · exp ( - 1 2 | | x | | 2 ) , x ≥ 0 - - - ( 5 )
Wherein, d representation space dimension, his profile function can pass through following equation (6) and determine:
g ( | | x - x i h | | 2 ) = 1 2 π exp ( - 1 2 | | x - x i h | | 2 ) - - - ( 6 )
In formula (6), Mean shift core window width is that h, h can use following equation (7) to represent:
h = exp ( 1 s ) - - - ( 7 )
In formula (7), s be current region centered by x standard deviation a little, can be by following public affairs Formula (8) determines:
s 2 = 1 n Σ i = 1 n | | x - x i | | 2 - - - ( 8 )
When Mean shift vector is less than when setting threshold value, by the minuend on the right side of Mean shift equality of vector It is defined as position coordinates to be determined；Wherein, Mean shift equality of vector is formula (4), formula (4) The minuend on right side is the point that current region Midst density is maximum, will the position of the maximum point of region Midst density true It is set to position coordinates to be determined.
Further, when Mean shift vector is more than when setting threshold value, according to initial Mean shift core window Wide renewal Mean shift vector sum Mean shift core window width；Wherein, initial Mean shift core window width is Calculate preset value during described Mean shift vector for the first time.
It should be noted that before calculating Mean shift vector for the first time, an initial Mean can be given Shift core window width, according to given initial value, calculates the Mean shift vector under circulation for the first time.? In circulation every time afterwards, all can calculate Mean shift vector sum Mean shift core window successively according to formula Wide.When the Mean shift vector updated in previous cycle, can circulate, according to last time, the Mean shift obtained Core window width calculates.
In the embodiment of the present invention, it is provided that a kind of method and device determining indoor location, weighting k nearest neighbor is calculated Method and window width adaptive M ean shift combine and position, and first pass through weighting k nearest neighbor algorithm and determine to be determined Position coordinates point set, the more final coordinate of position to be determined is determined by window width adaptive M ean shift. Position above by algorithm, simple to operate, improve positioning precision simultaneously.
Based on same inventive concept, embodiments provide a kind of device determining indoor location, due to This device solves the principle of technical problem and determines that the method for indoor location is similar to a kind of, the therefore reality of this device Execute the enforcement of the method for may refer to, repeat no more in place of repetition.
As in figure 2 it is shown, a kind of apparatus structure schematic diagram determining indoor location provided for the embodiment of the present invention, Including creating unit 201, computing unit 202 and determine unit 203.
Creating unit 201, obtains least one set transmitting terminal for first terminal in predetermined reference point and sends out The first signal penetrated, described first signal obtained by described first terminal stores database, wherein, institute State described first signal that first terminal gets corresponding with described reference point locations；
Computing unit 202, launches at transmitting terminal described in position acquisition least one set to be determined for the second terminal Secondary signal, mean vector and the standard deviation vector after standardizing according to described secondary signal deviation, determine Described transmitting terminal weight；According to described transmitting terminal weight, described secondary signal and described first signal, carry out Weighting k nearest neighbor algorithm, determines described position coordinates point set to be determined；
Determine unit 203, for any point of described position coordinates point set to be determined is defined as initial point, Centered by the described initial point determined, choose normal state kernel function, determine Mean shift vector and with institute State the Mean shift equality of vector that Mean shift vector is corresponding；When described Mean shift vector is less than setting When determining threshold value, the minuend on the right side of described Mean shift equality of vector is defined as described position to be determined and sits Mark.
Preferably, described creating unit 201 is additionally operable to:
The first signal obtaining described first terminal carries out Kalman filtering.
Preferably, described determine that unit 203 is additionally operable to:
When described Mean shift vector is more than when setting threshold value, update according to initial Mean shift core window width Described Mean shift vector sum Mean shift core window width；Wherein, described initial Mean shift core window width For calculating preset value during described Mean shift vector for the first time.
Should be appreciated that the function realized according to unit that one of the above determines that the device of indoor location includes is only The logical partitioning carried out, in actual application, can carry out superposition or the fractionation of said units.And this enforcement A kind of method one determining indoor location that the function that the device that example provides is realized provides with above-described embodiment One is corresponding, the more detailed handling process realized for this device, in said method embodiment one It is described in detail, is not described in detail herein.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or meter Calculation machine program product.Therefore, the present invention can use complete hardware embodiment, complete software implementation or knot The form of the embodiment in terms of conjunction software and hardware.And, the present invention can use and wherein wrap one or more Computer-usable storage medium containing computer usable program code (include but not limited to magnetic disc store, CD-ROM, optical memory etc.) form of the upper computer program implemented.
The present invention is with reference to method, equipment (system) and computer program product according to embodiments of the present invention The flow chart of product and/or block diagram describe.It should be understood that can by computer program instructions flowchart and / or block diagram in each flow process and/or flow process in square frame and flow chart and/or block diagram and/ Or the combination of square frame.These computer program instructions can be provided to all-purpose computer, special-purpose computer, embedding The processor of formula processor or other programmable data processing device is to produce a machine so that by calculating The instruction that the processor of machine or other programmable data processing device performs produces for realizing at flow chart one The device of the function specified in individual flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions may be alternatively stored in and computer or the process of other programmable datas can be guided to set In the standby computer-readable memory worked in a specific way so that be stored in this computer-readable memory Instruction produce and include the manufacture of command device, this command device realizes in one flow process or multiple of flow chart The function specified in flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device, makes Sequence of operations step must be performed to produce computer implemented place on computer or other programmable devices Reason, thus the instruction performed on computer or other programmable devices provides for realizing flow chart one The step of the function specified in flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know base This creativeness concept, then can make other change and amendment to these embodiments.So, appended right is wanted Ask and be intended to be construed to include preferred embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification without deviating from this to the present invention Bright spirit and scope.So, if the present invention these amendment and modification belong to the claims in the present invention and Within the scope of its equivalent technologies, then the present invention is also intended to comprise these change and modification.

Claims (7)

1. the method determining indoor location, it is characterised in that including:
First terminal obtains, in predetermined reference point, the first signal that least one set transmitting terminal is launched, by institute Described first signal stating first terminal acquisition stores database, and wherein, described first terminal gets Described first signal is corresponding with described reference point locations；
The secondary signal that second terminal is launched at transmitting terminal described in position acquisition least one set to be determined, according to institute State the mean vector after the standardization of secondary signal deviation and standard deviation vector, determine described transmitting terminal weight；Root According to described transmitting terminal weight, described secondary signal and described first signal, it is weighted k nearest neighbor algorithm, really Fixed described position coordinates point set to be determined；
Any point of described position coordinates point set to be determined is defined as initial point, with described determine initial Centered by Dian, choose normal state kernel function, determine that Mean shift is vectorial and vectorial with described Mean shift Corresponding Mean shift equality of vector；When described Mean shift vector is less than when setting threshold value, by described Minuend on the right side of Mean shift equality of vector is defined as described position coordinates to be determined.
2. the method for claim 1, it is characterised in that described in described first terminal is obtained Before first signal stores database, also include:
The first signal obtaining described first terminal carries out Kalman filtering.
3. the method for claim 1, it is characterised in that described determine Mean shift vector, also Including determining Mean shift core window width, wherein, described Mean shift core window width is according to described to be determined In position coordinates point set, the standard deviation of all coordinate points and described initial point determines.
4. method as claimed in claim 3, it is characterised in that when described Mean shift vector is more than setting When determining threshold value, update described Mean shift vector sum Mean shift according to initial Mean shift core window width Core window width；Wherein, described initial Mean shift core window width is for calculating described Mean shift vector for the first time Time preset value.
5. the device determining indoor location, it is characterised in that including:
Creating unit, obtains what least one set transmitting terminal was launched for first terminal in predetermined reference point First signal, described first signal obtained by described first terminal stores database, wherein, described Described first signal that one terminal gets is corresponding with described reference point locations；
Computing unit, the launched at transmitting terminal described in position acquisition least one set to be determined for the second terminal Binary signal, the mean vector after standardizing according to described secondary signal deviation and standard deviation vector, determine described Transmitting terminal weight；According to described transmitting terminal weight, described secondary signal and described first signal, it is weighted K nearest neighbor algorithm, determines described position coordinates point set to be determined；
Determine unit, for any point of described position coordinates point set to be determined is defined as initial point, with Centered by the described initial point determined, choose normal state kernel function, determine Mean shift vector and with described The Mean shift equality of vector that Mean shift vector is corresponding；When described Mean shift vector is less than setting threshold During value, the minuend on the right side of described Mean shift equality of vector is defined as described position coordinates to be determined.
6. device as claimed in claim 5, it is characterised in that described creating unit is additionally operable to:
The first signal obtaining described first terminal carries out Kalman filtering.
7. device as claimed in claim 5, it is characterised in that described determine that unit is additionally operable to:
When described Mean shift vector is more than when setting threshold value, update according to initial Mean shift core window width Described Mean shift vector sum Mean shift core window width；Wherein, described initial Mean shift core window width For calculating preset value during described Mean shift vector for the first time.
CN201610397509.3A 2016-06-07 2016-06-07 Method and device for determining indoor position Pending CN105866733A (en)

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