CN106885575A - A kind of indoor positioning bootstrap technique and system - Google Patents
A kind of indoor positioning bootstrap technique and system Download PDFInfo
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- CN106885575A CN106885575A CN201710086767.4A CN201710086767A CN106885575A CN 106885575 A CN106885575 A CN 106885575A CN 201710086767 A CN201710086767 A CN 201710086767A CN 106885575 A CN106885575 A CN 106885575A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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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
- G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- 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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of indoor positioning bootstrap technique and system, described method and system obtains the unique sequence numbers that UWB positions label by mobile phone, complete the virtual binding that mobile phone positions label with the UWB, coordinate information is sent to background server or high in the clouds by UWB positioning labels by UWB locating base station networks, mobile phone obtains positional information from high in the clouds or background server, are crossed into calculating from several rice grain patterns by mobile phone indoor position accuracy for the present invention and weighted average is integrated and brought up to less than 30cm, can serve ordinary consumer；System architecture is simple, stable work in work, and strong antijamming capability is the infrastructure for building indoor LBS, with huge commercial application prospect.
Description
Technical field
The invention belongs to field of locating technology, and in particular to a kind of indoor positioning bootstrap technique and system.
Background technology
The Geographic mapping ability of mobile phone is navigation and LBS (the location-based clothes of Location Based Service
Business) application technical foundation, be capable of achieving the various services related to position, for example check neighbouring restaurant etc..
The outdoor positioning of mobile phone relies primarily on GPS completions.But gps signal is declined significantly by the masking of building indoors
Subtract, so traditional outdoor positioning technology is almost unavailable indoors.
The indoor positioning mode that presently, there are mainly has：WIFI, bluetooth, LED bulb, laser, UWB.
(1) WIFI, bluetooth, LED bulb, it is indoor fixed that these three modes can be carried out directly using existing hardware in mobile phone
Position, obtains larger concern, and many company's inputs wherein study how to improve positioning precision.But by related physical property
Influence, the positioning precision of current these modes is too low, and generally more than several meters, and stability and antijamming capability are weak, it is impossible to full
The demand of sufficient precision indoor LBS.And also do not see can increase substantially the sign of positioning precision up to now.
(2) the accuracy highest of laser positioning, can arrive Centimeter Level, but laser radar cost also highest.Because can not
Directly mobile phone is positioned, so laser positioning is mainly used in the relatively not very sensitive equipment positioning of the costs such as robot, unmanned vehicle.
(3) UWB (Ultra-Wideband ultra wide bands) positioning precision is ranged up to<10cm.But because the not integrated UWB of mobile phone
Transceiver, so the personnel and equipment that have worn UWB labels are positioned in specific area mainly at present, such as to plant area people
Member and the indoor positioning of assets.This technology is less in the exploration of commercial field application.
Indoor orientation method and system (application number 201310234240.3) based on mobile phone sensor disclose a kind of base
In the indoor locating system of mobile phone sensor, mobile phone sensor includes gyro sensor, direction sensor and acceleration sensing
Device.It is this kind of to only rely on the method that the integrated inertial sensor of mobile phone does indoor positioning, it is impossible to solve the problems, such as that accumulated error is big, no
It is practical.
Existing mobile phone indoor positioning scheme, generally existing positioning precision is low, the problem that is easily disturbed, actual location error
Generally more than several meters.Such positioning precision can only meet limited LBS applications, for example, looked for reluctantly in a shopping center
To the approximate location scope in certain restaurant.If by positioning precision further stablize bring up to decimeter grade (<0.5m), then can expire
Foot navigates to the precision of supermarket shelves, with bigger business imagination space.
The content of the invention
In order to solve the above problems, the present invention provides a kind of indoor positioning bootstrap technique, and methods described is obtained by mobile phone
UWB positions the unique sequence numbers of label, completes the virtual binding that mobile phone positions label with the UWB, and UWB positioning labels believe coordinate
Breath is sent to background server or high in the clouds by UWB locating base station networks, and mobile phone obtains position letter from high in the clouds or background server
Breath；
Further, methods described includes：
S1：The unique sequence numbers that UWB positions the Quick Response Code acquisition label on label are scanned by mobile phone, realization is virtually tied up
It is fixed；
S2：UWB locating base stations in UWB locating base station networks, label is positioned by correspondence connection UWB, gathers RRSI values,
And parameter processing is carried out to it using averaging method and Gaussian Profile method；
S3：Calculated by triangle centroid method and obtain the first coordinate parameters；
S4：First data described in S3 are weighted with centroid calculation, the second coordinate parameters are obtained；
S5：The 3rd coordinate parameters to being obtained in S4 carry out Integration obtaining gps data, and carry out gps data compression；
S6：Compressed data in S5 is transferred to background server or high in the clouds；
S7：Background server or high in the clouds carry out gps data decompression, obtain location information；
Further, the S2 is specially collection RRSI values and calculates：
Wherein, d between receiving terminal and transmitting terminal away from
From；d0It is reference distance；Pr (d) is the received signal power of receiving terminal；Pr(d0) it is reference distance d0The corresponding reception signal of point
Power；XdBmIt is Gaussian random variable that average value is 0, n is path loss index, itself and environmental correclation, indoor view distance n
It is 1.6~1.8, has and stop that the space n of obstacle is 4~6；
Further, the S3 is specially：Known mobile node is believed to three physical distances of beaconing nodes with these three
Mark node does three round centers of circle, and the physical distance to mobile node is radius, draws three circles, and these three are justified and mobile node phase
Hand over, three round common intersections are the position of mobile node MS；
Further, the S4 is specially：
Wherein, Pi(x, y) is the coordinate of unknown node estimated location, Bj(x, y) is
The coordinate of anchor node j, wijIt is weights；
Further, wherein wijIt is weights,dijIt is the distance between unknown node i and anchor node, g is
According to the parameter that actual environment is adjusted；
Further, data compression method is specially effective GPS location data is arranged by acquisition time in the S6
Sequence, a packet is constituted per the n data at time point, and then each packet is compressed；
Further, data decompression method is specially in the S7：
S71:Calculate each time point shaping form deflection and speed；
S72：Each point is calculated with respect to cartesian coordinate；
S73：Each point cartesian coordinate is smoothed；
S74:Calculate each time point GPS longitudes and latitudes；
Further, a kind of indoor positioning guiding system, the system includes being arranged in the UWB locating base station nets of interior
Network, UWB positioning label and background server, the UWB positioning label connect the UWB locating base stations network, the UWB positioning
Base station network is connected with background server or high in the clouds, mobile phone connection background server or high in the clouds, the UWB locating base stations network bag
Multiple UWB locating base stations are included, the multiple UWB locating base stations are arranged in the known point of indoor location fixation；
Further, UWB positioning label is shaped as wristband type universal serial, card form or boxlike；
Beneficial effects of the present invention are as follows：
1) mobile phone indoor position accuracy is crossed into calculating and weighted average integration from several rice grain patterns to bring up to less than 30cm, can services
In ordinary consumer；
2) system architecture is simple, stable work in work, and strong antijamming capability is the infrastructure for building indoor LBS, is had
Huge commercial application prospect；
3) by the compression in the Compress softwares method and decompression procedure, the n data pressure at time point in a packet
Size is a 25n byte before contracting, and the size after compression is 4n+12 byte, and the size of compression ratio is (4n+12)/25n, false
If every 20 seconds form a packet, then compression ratio is 18.4%, 80% for not only at least being saved in data transmission procedure
Data transfer throughput, and the treatment for passing through offline platform, can be good at recovering the GPS location data at each time point, together
When reached purpose of both saving data transfer cost and efficiency.
Brief description of the drawings
Fig. 1 is the structure chart of system of the present invention；
Fig. 2 is the circle model figure of the method for the invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is explained in further detail.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, and
It is not used in the restriction present invention.Conversely, the present invention cover it is any be defined by the claims done in spirit and scope of the invention
Replacement, modification, equivalent method and scheme.Further, in order that the public has a better understanding to the present invention, below to this
It is detailed to describe some specific detail sections in the detailed description of invention.It is thin without these for a person skilled in the art
The description for saving part can also completely understand the present invention.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as a limitation of the invention.
Below most preferred embodiment is enumerated for of the invention：
As Figure 1-Figure 2, a kind of indoor positioning bootstrap technique, methods described obtains UWB and positions label by mobile phone
Unique sequence numbers, complete the virtual binding that mobile phone positions label with the UWB, and UWB is positioned label and coordinate information is positioned by UWB
Base station network is sent to background server or high in the clouds, and mobile phone obtains positional information, methods described bag from high in the clouds or background server
Include：
S1：The unique sequence numbers that UWB positions the Quick Response Code acquisition label on label are scanned by mobile phone, realization is virtually tied up
It is fixed；
S2：UWB locating base stations in UWB locating base station networks, label is positioned by correspondence connection UWB, gathers RRSI values,
And parameter processing is carried out to it using averaging method and Gaussian Profile method；
S3：Calculated by triangle centroid method and obtain the first coordinate parameters；
S4：First data described in S3 are weighted with centroid calculation, the second coordinate parameters are obtained；
S5：The 3rd coordinate parameters to being obtained in S4 carry out Integration obtaining gps data, and carry out gps data compression；
S6：Compressed data in S5 is transferred to background server or high in the clouds；
S7：Background server or high in the clouds carry out gps data decompression, obtain location information.
The S2 is specially collection RRSI values and calculates：Known transmission power, recipient node is calculated and passed by receiving power
Broadcast loss, then propagation loss is converted to by distance by the propagation model of theoretical or experience.In free space, away from transmitting d
The signal intensity that the antenna at place is received can be obtained by lower formula：
Wherein, d between receiving terminal and transmitting terminal away from
From；d0It is reference distance；Pr (d) is the received signal power of receiving terminal；Pr(d0) it is reference distance d0The corresponding reception signal of point
Power；XdBmIt is Gaussian random variable that average value is 0, n is path loss index, itself and environmental correclation, indoor view distance n
It is 1.6~1.8, has and stop that the space n of obstacle is 4~6, once the distance between reference mode and unknown node letter can be obtained
Breath, it is possible to the position of unknown node is calculated using trilateration or maximum likelihood estimate.In three dimensions, three
Side mensuration refer to oneself know a unknown node to three distances above with reference to node, it is possible to determine the coordinate of the point；Three
Side mensuration can be with geometirc graphical presentation in two-dimensional space:When obtaining unknown node a to distance for reference mode
When, it is possible to it is determined that, this unknown node with this reference mode as the center of circle, on the circle with distance as radius；If obtaining unknown
To 3 distances of reference mode, then 3 round intersection points are exactly the position of the unknown node to node.In circumferential registration model, reason
By upper if it is known that mobile node does three round centers of circle to three physical distances of beaconing nodes with these three beaconing nodes,
Physical distance to mobile node is radius, draws three circles, and these three circles should all intersect with mobile node, i.e., three circles
Common intersection be exactly mobile node MS position.But in practice, due to the influence of noise, it is later that signal runs into barrier
Decrease notably, the reason such as error that survey tool brings, three circles in circle model can not possibly intersect at a point.By
In under environment indoors, the absorption to electromagnetic wave signal such as barrier of surrounding, the general signal for causing that receiver is received is strong
Angle value can be less than estimated signal strength values, reflect to the mobile node derived to the estimated distance of beaconing nodes, knot
Fruit is exactly three drawn round radiuses all bigger than normal.A kind of this situation should be most commonly seen at last situation, as shown in Fig. 2 Fig. 2
In three circles one drawing have three intersection points, form a delta-shaped region.The position of required mobile node MS just exists
In the public intersection area of these three circles.By taking the barycenter of triangle, as mobile node MS estimated location known to move
Node does three round centers of circle to three physical distances of beaconing nodes with these three beaconing nodes, to the physics of mobile node
Distance is radius, draws three circles, what these three circles intersected with mobile node, and three round common intersections are the position of mobile node MS
Put.Centroid calculation is then weighted to this position, positioning precision is improved, specially：
Wherein, Pi(x, y) is the coordinate of unknown node estimated location, Bj(x, y) is
The coordinate of anchor node j, wijIt is weights, wherein wijIt is weights,dijFor between unknown node i and anchor node away from
From g is the parameter being adjusted according to actual environment, and data compression method is specially to effective GPS location data in the S6
It is ranked up by acquisition time, a packet is constituted per the n data at time point, then each packet is compressed,
Including：
S61：Only retain first the floating-point format GPS longitudes at time point, GPS latitudes, GPS deflections and GPS velocity
Original value, and the acquisition time at first time point is converted into UTC time, stored with shaping form long；
S62：GPS velocity to all time points in packet is rounded downwards, and calculus of differences is then carried out in chronological order,
With the changing value of incremental representation speed, speed details are designated as, are stored with shaping form；
S63：GPS deflections to all time points in packet are rounded downwards, and difference fortune is then carried out in chronological order
Calculate, with the changing value of incremental representation deflection；At time point to deflection cannot be read, represented with null value；If packet
Interior intermediate data occur deflection obtain failure, first deflection for reacquiring by the time point actual direction it is angular under take
It is whole to obtain；The variable for obtaining through the above way is designated as deflection details, is stored with shaping form；
S64：By first UTC time at time point in each packet, GPS longitudes, GPS latitudes, GPS deflections and
GPS velocity original value, and the speed details data and direction angular data at all time points are packaged as a data and are uploaded to clothes
Business device；Each packet is data record in the server, and per data, record includes following field：Start to gather UTC
Time, start collection GPS latitudes, start collection GPS longitudes, start collection GPS velocity, it is each when spot speed details and each time point
Deflection details.
Data decompression includes described in the S7：
S71:Calculate each time point shaping form deflection and speed；
S72:Each point is calculated with respect to cartesian coordinate；
S73:Each point cartesian coordinate is smoothed；
S74:Calculate each time point GPS longitudes and latitudes
The S71 is specially：Significant figure is filtered out by the GPS longitude and latitude data validitys at first time point of packet
According to again to each time point in packet and its before time point speed details data sue for peace, obtain the GPS at each time point
Speed integer value：
Wherein, Speed.DetailkIt is k-th speed details data at time point, Speed in packetiFor in packet
I-th GPS velocity integer value at time point.
Wherein, the direction angular data of each time point press state rule be calculated from deflection details data：
1) in packet first deflection of time point must be first deflection details data of packet in itself；
2) if occurring deflection in the middle of packet obtains failure, first deflection for reacquiring does not use increment list
Show, also for deflection details data in itself；
If 3) occur deflection details data be empty and speed for 0 situation, deflection uses the deflection generation of one second
Replace；
4) in the case of other, deflection is upper time point deflection and this time point deflection details data sum.
The S42 is specially：Using the speed and direction angular data of each time point, with current time point position as former
Point, calculates the relative cartesian coordinate of next relatively current time point position in time point position, and calculation is as follows：
Wherein, SpeediIt is i-th speed at time point, θ in packetiFor in packet i-th time point with angle system
The deflection of meter, (xi, yi) in packet i+1 time point position relative to i-th time point position phase
To cartesian coordinate.
The S73 is specially：Calculate two data of adjacent time and unwrap and begin to gather the relative cartesian coordinate between position,
Beginning collection position (longitude and latitude) is unwrapped as origin with than the m-th data, asks the m+1 data to unwrap beginning collection position relative to m
Individual data unwrap the cartesian coordinate (X of collection position of beginningm, Ym), it is designated as the actual relative cartesian coordinate of than the m-th data bag.
Cartesian coordinate to all time points in packet is sued for peace respectively, is obtained packet initial data correspondence Descartes and is sat
Mark.
Packet initial data correspondence cartesian coordinate is subtracted with actual relative cartesian coordinate, multiplied by with packet duration
The ratio of time interval between adjacent data bag is accounted for, adjacent data bag cartesian coordinate error, (Δ x is obtainedm, Δ ym) be：
Wherein, (Δ xm, Δ ym) it is the cartesian coordinate error between m+1 packet and than the m-th data bag, n is number
According to data correspondence time span, t in bagmFor than the m-th data unwraps beginning acquisition time, tm+1For the m+1 data unwraps beginning collection
Time.
Then packet initial data correspondence cartesian coordinate is smoothed, smoothing method is sat for original Descartes
Mark adds the adjacent data bag Cartesian data bag cartesian coordinate error by speed weighting, i.e.,：
Wherein, n is the number of data included in packet, xiIt is i-th x coordinate of time point, y in packetiIt is packet
The y-coordinate of interior i-th time point, SpeediIt is i-th speed data of time point in packet, i+1 time point in packet
Position relative to i-th time point position it is smooth after relative cartesian coordinate be
The S74 is specially：When starting to gather using the smooth rear relative cartesian coordinate and packet of each time point
GPS longitudes and latitudes, can obtain the GPS longitudes and latitudes of each time point with recursion.
A kind of indoor positioning guides system, the system to be positioned including being arranged in the UWB locating base stations network of interior, UWB
Label and background server, UWB positioning label connect the UWB locating base stations network, the UWB locating base stations network with
Background server or high in the clouds connect, and mobile phone connection background server or high in the clouds, the UWB locating base stations network include multiple UWB
Locating base station, the multiple UWB locating base stations are arranged in the known point of indoor location fixation, and the UWB positions the shape of label
It is wristband type universal serial, card form or boxlike.
When the present invention is when coming into operation, UWB positioning labels institute feedack sends UWB locating base station networks to, respectively
Time point data validity respectively with " A ", " V " and " N " expressions of character format " collection is simultaneously effective ", " gathering but invalid " and
Engineering noise, it is a byte that bitmask takes storage area size；Other data are floating-point format, and each data takes 4
Byte.
Effective GPS location data to gathering is ranked up by acquisition time, and a number is constituted per the n data at time point
According to bag, then each packet is compressed, compression method is as follows：
1) first floating-point format GPS longitude at time point, GPS latitudes, GPS deflections and GPS velocity are only retained former
Initial value, and the acquisition time at first time point is converted into UTC time, stored with shaping form long；
2) GPS velocity to all time points in packet is rounded downwards, and calculus of differences is then carried out in chronological order, is used
The changing value of incremental representation speed, is designated as speed details, is stored with shaping form；
3) the GPS deflections to all time points in packet are rounded downwards, and calculus of differences is then carried out in chronological order,
With the changing value of incremental representation deflection；At time point to deflection cannot be read, represented with null value；If in packet
Between data occur deflection obtain failure, first deflection for reacquiring by the time point actual direction it is angular under round
Arrive；The variable for obtaining through the above way is designated as deflection details, is stored with shaping form；
4) by first UTC time at time point, GPS longitudes, GPS latitudes, GPS deflection and GPS in each packet
Speed original value, and the speed details data and direction angular data at all time points are packaged as a data and are uploaded to service
Device；Each packet is data record in the server, and per data, record includes following field：When starting collection UTC
Between, start collection GPS latitudes, start collection GPS longitudes, start collection GPS velocity, it is each when spot speed details and each time point side
To angle details.
By above-mentioned compression algorithm, the n data at time point in a packet, size is a 25n byte, pressure before compression
Size after contracting is 4n+12 byte, and the size of compression ratio is (4n+12)/25n.Assuming that every 20 seconds form a packet,
Then compression ratio is 18.4%.
Compression is transmitted after completing to packet, and the transmission means includes 4G transmission, Bluetooth transmission, satellite-signal
Transmission and WIFI transmission etc..
Decompressed after packet transmission, decompression is comprised the following steps：
Step one：Each time point shaping form deflection and speed are calculated, by first GPS at time point of packet
Longitude and latitude data validity filters out valid data again to each time point in packet and its speed details at time point before
Data are sued for peace, and obtain the GPS velocity integer value at each time point：Wherein,
Speed.DetailkIt is k-th speed details data at time point, Speed in packetiIt is i-th time point in packet
GPS velocity integer value.
Wherein, the direction angular data of each time point press state rule be calculated from deflection details data：
1) in packet first deflection of time point must be first deflection details data of packet in itself；
2) if occurring deflection in the middle of packet obtains failure, first deflection for reacquiring does not use increment list
Show, also for deflection details data in itself；
If 3) occur deflection details data be empty and speed for 0 situation, deflection uses the deflection generation of one second
Replace；
4) in the case of other, deflection is upper time point deflection and this time point deflection details data sum；
Step 2：Each point is calculated with respect to cartesian coordinate, using the speed and direction angular data of each time point, with it is current when
Point position is origin, calculates the relative cartesian coordinate of next relatively current time point position in time point position, calculating side
Formula is as follows：
Wherein, SpeediIt is i-th speed at time point, θ in packetiFor in packet i-th time point with angle system
The deflection of meter, (xi, yi) in packet i+1 time point position relative to i-th time point position phase
To cartesian coordinate；
Step 3：Each point cartesian coordinate is smoothed, and calculates two data of adjacent time and unwraps beginning collection position
Between relative cartesian coordinate, with than the m-th data unwrap beginning collection position (longitude and latitude) as origin, seek the m+1 packet
Start to gather the cartesian coordinate (X that position unwraps collection position of beginning relative to than the m-th datam, Ym), it is designated as than the m-th data bag
Actual relative cartesian coordinate.
Cartesian coordinate to all time points in packet is sued for peace respectively, is obtained packet initial data correspondence Descartes and is sat
Mark.
Packet initial data correspondence cartesian coordinate is subtracted with actual relative cartesian coordinate, multiplied by with packet duration
The ratio of time interval between adjacent data bag is accounted for, adjacent data bag cartesian coordinate error, (Δ x is obtainedm, Δ ym) be：
Wherein, (Δ xm, Δ ym) it is the cartesian coordinate error between m+1 packet and than the m-th data bag, n is number
According to data correspondence time span, t in bagmFor than the m-th data unwraps beginning acquisition time, tm+1For the m+1 data unwraps beginning collection
Time.
Then packet initial data correspondence cartesian coordinate is smoothed, smoothing method is sat for original Descartes
Mark adds the adjacent data bag Cartesian data bag cartesian coordinate error by speed weighting, i.e.,：
Wherein, n is the number of data included in packet, xiIt is i-th x coordinate of time point, y in packetiIt is packet
The y-coordinate of interior i-th time point, SpeediIt is i-th speed data of time point in packet, i+1 time point in packet
Position relative to i-th time point position it is smooth after relative cartesian coordinate be
Step 4：Each time point GPS longitudes and latitudes are calculated, using smooth rear relative cartesian coordinate and the packet of each time point
Start GPS longitudes and latitudes during collection, the GPS longitudes and latitudes of each time point can be obtained with recursion.
Embodiment described above, simply one kind of the present invention more preferably specific embodiment, those skilled in the art
The usual variations and alternatives that member is carried out in the range of technical solution of the present invention all should be comprising within the scope of the present invention.
Claims (10)
1. a kind of indoor positioning bootstrap technique, it is characterised in that methods described passes through mobile phone and obtains unique sequence that UWB positions label
Row number, completes the virtual binding that mobile phone positions label with the UWB, and UWB positions label and coordinate information is passed through into UWB locating base station nets
Network is sent to background server or high in the clouds, and mobile phone obtains positional information from high in the clouds or background server.
2. method according to claim 1, it is characterised in that methods described includes：
S1：The unique sequence numbers that UWB positions the Quick Response Code acquisition label on label are scanned by mobile phone, virtual binding is realized；
S2：UWB locating base stations in UWB locating base station networks, label is positioned by correspondence connection UWB, gathers RRSI values, and adopt
Parameter processing is carried out to it with averaging method and Gaussian Profile method；
S3：Calculated by triangle centroid method and obtain the first coordinate parameters；
S4：First data described in S3 are weighted with centroid calculation, the second coordinate parameters are obtained；
S5：The 3rd coordinate parameters to being obtained in S4 carry out Integration obtaining gps data, and carry out gps data compression；
S6：Compressed data in S5 is transferred to background server or high in the clouds；
S7：Background server or high in the clouds carry out gps data decompression, obtain location information.
3. method according to claim 2, it is characterised in that the S2 is specially collection RRSI values and calculates：
Wherein, d is the distance between receiving terminal and transmitting terminal；d0
It is reference distance；Pr (d) is the received signal power of receiving terminal；Pr(d0) it is reference distance d0The corresponding received signal power of point；
XdBmIt is Gaussian random variable that average value is 0, n is path loss index, itself and environmental correclation, indoor view distance n is 1.6
~1.8, have and stop that the space n of obstacle is 4~6.
4. method according to claim 2, it is characterised in that the S3 is specially：Known mobile node is to three beacons
The physical distance of node, three round centers of circle are done with these three beaconing nodes, and the physical distance to mobile node is radius, draws three
Individual circle, what these three circles intersected with mobile node, three round common intersections are the position of mobile node MS.
5. method according to claim 2, it is characterised in that the S4 is specially：
Wherein, Pi(x, y) is the coordinate of unknown node estimated location, Bj(x, y) is anchor section
The coordinate of point j, wijIt is weights.
6. method according to claim 5, it is characterised in that wherein wijIt is weights,dijIt is unknown node
The distance between i and anchor node, g is the parameter being adjusted according to actual environment.
7. method according to claim 2, it is characterised in that data compression method is specially to effective GPS in the S6
Position data is ranked up by acquisition time, and a packet is constituted per the n data at time point, and then each packet is entered
Row compression.
8. method according to claim 2, it is characterised in that data decompression method is specially in the S7：
S71:Calculate each time point shaping form deflection and speed；
S72：Each point is calculated with respect to cartesian coordinate；
S73：Each point cartesian coordinate is smoothed；
S74:Calculate each time point GPS longitudes and latitudes.
9. a kind of indoor positioning guides system, based on the described systems of one of the claims 1-8, it is characterised in that described
System includes being arranged in the UWB locating base stations network of interior, UWB positioning label and background server, and the UWB positioning label connects
The UWB locating base stations network is connect, the UWB locating base stations network is connected with background server or high in the clouds, mobile phone connection backstage
Server or high in the clouds, the UWB locating base stations network include multiple UWB locating base stations, and the multiple UWB locating base stations are arranged in
The known point that indoor location is fixed.
10. indoor positioning according to claim 9 guides system, it is characterised in that the UWB positions being shaped as label
Wristband type universal serial, card form or boxlike.
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