CN106872938B - A kind of indoor locating system - Google Patents
A kind of indoor locating system Download PDFInfo
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- CN106872938B CN106872938B CN201710115132.2A CN201710115132A CN106872938B CN 106872938 B CN106872938 B CN 106872938B CN 201710115132 A CN201710115132 A CN 201710115132A CN 106872938 B CN106872938 B CN 106872938B
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of indoor locating systems, including tag location module and positioning evaluation module, the tag location module to obtain positioning result for positioning to unknown position label；The positioning evaluation module assesses the accuracy of the positioning result for establishing evaluation index；The tag location module is completed to position using known location label and reader when positioning unknown position label to unknown position label, which includes signal strength calculating unit, tag distances seek unit and unit is sought in position；The signal strength calculates unit for calculating known location label and unknown position label the received signal intensity on each reader；The tag distances seek unit for seeking the distance between signal receiving strength and signal receiving strength of known location label of unknown position label；Unit is sought for seeking the position of unknown position label in the position.The present invention can be realized more accurate indoor positioning.
Description
Technical field
The present invention relates to indoor positioning technologies fields, and in particular to a kind of indoor locating system.
Background technique
Along with the deep development of wireless technology, mobile communication technology and " context-aware services ", people increasingly thirst for
At any time and any place, the acquisition and processing of information are carried out to any object in environment in any way.In situation sense
Know service technology field, the location information of service object is one of most important environmental parameter, and decides that can situation service
Effectively, it accurately implements.The prior art mostly uses greatly satellite-based positioning system and the positioning system based on cellular network to obtain
Take the location information of service object.However for some indoor public environment for needing situation service, as school, hospital, warehouse,
Supermarket, prison, drive, either satellite-based positioning system and the positioning system based on cellular network, standard error phase
Larger for lesser indoor environment, synchronous signal is influenced to be greatly attenuated very faint stage by building,
Make must to extract directly from satellite or base station broadcast as outdoor navigation data and temporal information substantially can not, therefore it is fixed
Position precision is extremely restricted, it is difficult to directly apply to indoor positioning.
Summary of the invention
In view of the above-mentioned problems, the present invention is intended to provide a kind of indoor locating system.
The purpose of the present invention is realized using following technical scheme:
Provide a kind of indoor locating system, including tag location module and positioning evaluation module, the tag location mould
Block obtains positioning result for positioning to unknown position label；The positioning evaluation module is for establishing evaluation index pair
The accuracy of the positioning result is assessed.
Preferably, the tag location module is when positioning unknown position label, using known location label and
Reader is completed to position to unknown position label, which includes that signal strength calculates unit, tag distances are sought
Unit is sought in unit and position；The signal strength calculates unit for calculating known location label and unknown position label each
Received signal intensity on reader；The tag distances seek unit for seeking the signal receiving strength of unknown position label
The distance between signal receiving strength of known location label；Unit is sought for seeking unknown position label in the position
Position.
The invention has the benefit that can be realized more accurate indoor positioning.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is structure connection diagram of the invention；
Appended drawing reference:
Tag location module 10, positioning evaluation module 20, signal strength calculates unit 100, tag distances seek unit
200, unit 300 is sought in position.
Specific embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of indoor locating system of the present embodiment, including tag location module 10 and positioning evaluation module
20, the tag location module 10 obtains positioning result for positioning to unknown position label；The positioning evaluation module
20 assess the accuracy of the positioning result for establishing evaluation index.
Preferably, the tag location module 10 utilizes known location label when positioning to unknown position label
With reader to unknown position label complete position, the tag location module 10 include signal strength calculate unit 100, label away from
From seeking unit 200 and unit 300 is sought in position；The signal strength calculate unit 100 for calculate known location label and
Unknown position label received signal intensity on each reader；The tag distances seek unit 200 for seeking unknown bits
Set the distance between signal receiving strength and the signal receiving strength of known location label of label；Seek unit in the position
300 for seeking the position of unknown position label.
Preferably, the signal strength calculates unit 100 and is respectively readding in calculating known location label and unknown position label
Read device on received signal intensity when, using path loss model reflection transmitting interrogation signals collection of letters field strength indoors channel pass
Strength Changes during broadcasting, the calculation formula of the signal receiving strength S of reader are as follows:
In formula, PfFor the signal transmission power of label, d is reader and tag distances, PL (d0) it is reader in reference point
d0Place receives the signal receiving strength attenuation of signal, PL (d0') it is reader in reference point d0The signal that ' place receives signal connects
Strength retrogression's amount is received, σ indicates the standard deviation of ambient noise, unit dB；
Before actual location, several test position labels are chosen, the test position label is recorded and is connect on each reader
The signal strength received establishes the discrete relationship database on each test position label with signal strength, will be by the reading
In the signal strength and discrete relationship database of the test position label that the calculation formula of the signal receiving strength S of device obtains
Based on signal strength, signal strength correction factor is calculated, if each test position label in discrete relationship database
CSρThe standard deviation of signal strength on each reader is σ (CSρ), ρ=1 ..., m, m are the quantity of test position label, by institute
State the test position label C S that the calculation formula of the signal receiving strength S of reader obtainsρSignal strength on each reader
Standard deviation be σ*(CSρ), then the signal strength correction factor are as follows:
When actual location, the calculation formula of the signal receiving strength of the reader after the optimization of use are as follows:
S '=Γ × S
Then according to the calculation formula of the signal receiving strength of the reader after optimization, certain calculated unknown position label
WZiReceived signal intensity vector on each readerAre as follows:
In formula,Indicate the WZ being calculatediIn reader RlOn signal receiving strength, l=1,2 ..., L；
According to the calculation formula of the signal receiving strength of the reader after optimization, calculated certain known location label YZj
Received signal intensity vector on each readerAre as follows:
In formula,Indicate the YZ being calculatedjIn reader RlOn signal receiving strength, l=1,2 ..., L.
This preferred embodiment has fully considered electromagnetism in environment indoors in the calculating process for carrying out signal receiving strength
The transmission environment complexity of wave, and calculated in conjunction with 2 reference points, reduction that can be more accurate emits signal；Carry out
When the signal strength of unknown position label and known location label calculates, signal strength correction factor is introduced, so that signal strength
Calculating it is more accurate.
The distance between signal receiving strength and the signal receiving strength of known location label of the unknown position label
It is calculated according to the following formula:
In formula,Indicate unknown position label WZiSignal receiving strength and known location label YZjSignal receive
The distance between intensity, M indicate known location label YZjQuantity.
This preferred embodiment has fully considered reader at a distance from label during calculating signal receiving strength distance
The tag distances reliability of influence to signal receiving strength confidence level, acquisition is higher.
The position for seeking unknown position label, specifically includes:
(1) by the distance between the signal receiving strength of unknown position label and the signal receiving strength of known location label
It is expressed as vector form:
(2) it calculatesIn the smallest k element, as with unknown position label WZiThe label of arest neighbors, by each distance
It is expressed as vector form:
(3) known location label difference weight is assigned according to proximity, to estimate WZiCoordinate
In formula,For known location label YZjCoordinate；
This preferred embodiment has fully considered known location label and unknown position during seeking unknown position label
Tag distances, the position sought are more accurate.
Preferably, the evaluation index of establishing assesses the accuracy of the positioning result, specifically: periodically using system
System evaluated error WC assesses positioning accuracy,
In formula,For WZiEstimated position,For WZiActual position, E are desired value.
This preferred embodiment assesses positioning accuracy, ensure that the long-term reliability of system, and facilitates to being
System improves, and obtains relatively reliable positioning system.
Preferably, the positioning evaluation module 20 is additionally provided with positioning failure alarm mechanism, the positioning failure alarm mechanism are as follows:
Setting positions permitted error threshold, and the system estimation error WC that record a period of time is periodically calculated tires out
Product record is greater than the quantity β of the system estimation error WC of the error threshold, if certain system estimation error being once calculated is
WCλ, η is to meetSystem estimation error quantity, whereinWCmax、WCminRespectively
For average value, maximum value and the minimum value of system estimation error WC in a period of time periodic logging, then when meeting following judge
When formula, judge that positioning failure occurs in indoor locating system, and carry out corresponding warning note:
In formula, ξ is the quantity of the system estimation error WC of a period of time periodic logging, λ=1 ..., ξ.
Positioning failure alarm mechanism is arranged in this preferred embodiment, which is estimated according to legacy system
The accuracy for counting error information prompt positioning provides more scientific foundation to the improvement of indoor locating system.
Indoor positioning is carried out using the present invention, and the positioning scenarios of L difference value are statisticallyd analyze, compared to tradition
Indoor orientation method, generation has the beneficial effect that shown in table:
| L | Indoor position accuracy improves | The indoor positioning time shortens |
| 15 | 30% | 25% |
| 16 | 32% | 24% |
| 17 | 33% | 23% |
| 18 | 35% | 22% |
| 19 | 36% | 20% |
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (2)
1. a kind of indoor locating system, it is characterized in that: including tag location module and positioning evaluation module, the tag location mould
Block obtains positioning result for positioning to unknown position label；The positioning evaluation module is for establishing evaluation index pair
The accuracy of the positioning result is assessed；
The tag location module is when positioning unknown position label, using known location label and reader to unknown
Location tags complete positioning, which includes signal strength calculating unit, tag distances seek unit and position is asked
Take unit；The signal strength calculating unit is used to calculate known location label and unknown position label receives on each reader
Signal strength；The tag distances seek unit for seeking the signal receiving strength and known location mark of unknown position label
The distance between signal receiving strength of label；Unit is sought for seeking the position of unknown position label in the position；
The signal strength calculates unit and is calculating known location label and unknown position the label received letter on each reader
When number intensity, using the collection of letters field strength intensity during dissemination channel indoors of path loss model reflection transmitting interrogation signals
Variation, the calculation formula of the signal receiving strength S of reader are as follows:
In formula, PfFor the signal transmission power of label, d is reader and tag distances, PL (d0) it is reader in reference point d0Place
Receive the signal receiving strength attenuation of signal, PL (d0') it is reader in reference point d0The signal that ' place receives signal receives strong
Attenuation is spent, σ indicates the standard deviation of ambient noise, unit dB；
Before actual location, several test position labels are chosen, the test position label is recorded and is received on each reader
Signal strength, establish the discrete relationship database on each test position label with signal strength, will be by the reader
The signal strength for the test position label that the calculation formula of signal receiving strength S obtains and the signal in discrete relationship database
Based on intensity, signal strength correction factor is calculated, if each test position label C S in discrete relationship databaseρ?
The standard deviation of signal strength on each reader is σ (CSρ), ρ=1 ..., m, m are the quantity of test position label, by described
The test position label C S that the calculation formula of the signal receiving strength S of reader obtainsρSignal strength on each reader
Standard deviation is σ*(CSρ), then the signal strength correction factor are as follows:
When actual location, the calculation formula of the signal receiving strength of the reader after the optimization of use are as follows:
S '=Γ × S
Then according to the calculation formula of the signal receiving strength of the reader after optimization, calculated certain unknown position label WZiEach
Received signal intensity vector on readerAre as follows:
In formula,Indicate the WZ being calculatediIn reader RlOn signal receiving strength, l=1,2 ..., L；
According to the calculation formula of the signal receiving strength of the reader after optimization, calculated certain known location label YZjRespectively readding
Read the received signal intensity vector on deviceAre as follows:
In formula,Indicate the YZ being calculatedjIn reader RlOn signal receiving strength, l=1,2 ..., L.
2. a kind of indoor locating system according to claim 1, it is characterized in that: the signal of the unknown position label receives
The distance between intensity and the signal receiving strength of known location label are calculated according to the following formula:
In formula,Indicate unknown position label WZiSignal receiving strength and known location label YZjSignal receiving strength
The distance between, M indicates known location label YZjQuantity.
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| CN103389487A (en) * | 2013-07-24 | 2013-11-13 | 北京科技大学 | Indoor positioning method and device |
| CN103885028A (en) * | 2014-04-17 | 2014-06-25 | 哈尔滨工业大学 | Joint centroid positioning method suitable for wireless sensor network node positioning based on error correction |
| CN104330771A (en) * | 2014-10-31 | 2015-02-04 | 富世惠智科技（上海）有限公司 | Indoor RFID precise positioning method and device |
| CN104977561A (en) * | 2014-04-04 | 2015-10-14 | 江苏中科泛联物联网科技股份有限公司 | Positioning algorithm based on virtual tags and cyclic check |
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| WO2016206340A1 (en) * | 2015-06-26 | 2016-12-29 | 中国矿业大学 | Method of double-tag high-precision positioning moving object facing mine |
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| CN102928813A (en) * | 2012-10-19 | 2013-02-13 | 南京大学 | RSSI (Received Signal Strength Indicator) weighted centroid algorithm-based passive RFID (Radio Frequency Identification Device) label locating method |
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| CN104977561A (en) * | 2014-04-04 | 2015-10-14 | 江苏中科泛联物联网科技股份有限公司 | Positioning algorithm based on virtual tags and cyclic check |
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Denomination of invention: Indoor positioning system and method Effective date of registration: 20191112 Granted publication date: 20181207 Pledgee: Nanjing Bank Co., Ltd. Chengnan Branch Pledgor: NANJING CHIEBOT TECHNOLOGIES CO., LTD. Registration number: Y2019320000272 |
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