CN107302754A - A kind of indoor positioning simple and easy method based on WiFi and PDR - Google Patents
A kind of indoor positioning simple and easy method based on WiFi and PDR Download PDFInfo
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- CN107302754A CN107302754A CN201710323757.8A CN201710323757A CN107302754A CN 107302754 A CN107302754 A CN 107302754A CN 201710323757 A CN201710323757 A CN 201710323757A CN 107302754 A CN107302754 A CN 107302754A
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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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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Abstract
The invention discloses a kind of indoor positioning simple and easy method based on WiFi and PDR, comprise the following steps：Set initial position and step-length；The acceleration magnitude measured by acceleration transducer is judged the motion state of pedestrian；WiFi localization methods are carried out by RSSI value, the RSSI value of multiple reference modes is gathered, when detecting RSSI value more than threshold value, current location is calculated with the algorithm after improvement, regard current location as actual position value；PDR positioning is carried out, carrying out reckoning to indoor pedestrian obtains location estimation.Step-length is unstable when absolute fix of the invention based on RSSI overcomes exclusive use PDR dead reckoning algorithms and easily builds up the defect of error, reduces the fluctuation of RSSI positioning further through PDR technologies.The present invention avoids the higher system of design complexities, also reduces hardware cost consumption so that the cost expended during indoor positioning is relatively low.
Description
Technical field
The present invention relates to indoor positioning technologies field, and in particular to a kind of interior based on Android intelligent terminal equipment
Position simple and easy method.
Background technology
Fast development and increasing, wireless location technology of the people to positioning service demand with wireless communication technology
Obtain increasing concern.Global position system GPS (Global Position System) was 20 world seventies by U.S.
Ministry of National Defence of state, which develops the one kind set up, has comprehensive, round-the-clock, all the period of time, high-precision satellite navigation system, can be the whole world
User provides the navigation informations such as low cost, high accuracy three-dimensional position, speed and accurate timing.It is easier what is reached in signal
Unobstructed outdoor, can lead to GPS to obtain high-precision location information.For indoor environment, due to GPS signal strength by
The influence of indoor complex environment and it is greatly weak, reduce positioning precision, it is impossible to obtain useful positional information.
Research shows that in people's daily life 90% time is indoors, that is to say, that the most of the time is all that GPS determines
Position look after less than, so we need to study other indoor positioning technologies.Nowadays, indoor positioning technologies are received increasingly
Many concerns, people constantly increase to the demand of indoor positioning, such as：Underground garage is to the orientation management of vehicle location, hospital pair
In the tracing management of patient, family children old man positioning nurse and occur disaster when personnel follow the trail of with positioning etc..According to room
The property complicated and changeable of interior environment, the various implementation methods and solution of indoor positioning also increasingly occur, such as by GNSS skills
Art realizes indoor positioning, or carries out indoor positioning using Radio Transmission Technology, and utilizes dead reckoning, graphical analysis, computer
The technologies such as vision carry out indoor positioning.
The positioning precision of the location technologies such as existing infrared ray, RFID is general, and needs in advance in localizing environment middle berth
If the higher signal receiving device of precision, also have high requirements to the putting position of signal receiving device.And such as ultrasonic wave and super
The positioning precision of the location technologies such as broadband is higher, but the cost of positioner is too high, is not easy to Technique Popularizing.Such as bluetooth,
Although the location technologies such as ZigBee are using more popularizing, cost of implementation is relatively low, and positioning precision is larger by surrounding environment influence.
WiFi technology is a kind of location technology based on wireless signal, and its demand to infrastructure is low, with low cost, and need not
Extras are installed, are the indoor positioning technologies of present main flow.But WiFi indoor positioning technologies are there is also signal easily by room
The shortcoming of interior complex environment interference.PDR (Pedestrian Dead Reckoning) location technology is a kind of sensor-based
Location technology, is a kind of Relatively orientation technology, can provide movable body continuous two-dimensional position information at any time.With based on nothing
The location technology of line signal is compared, and the advantage of the technology is its positioning precision, the data measured in real time depending on sensor
Accuracy, the interference by surrounding environment is smaller.But PDR technologies also have corresponding shortcoming, it easily produces accumulated error.
The content of the invention
It is an object of the invention to the accuracy for overcoming existing indoor positioning technologies to exist is not enough, it is easy to by environmental disturbances
The high shortcoming with cost, the present invention, which proposes one kind, can effectively improve positioning precision, reduce environmental disturbances, with low cost, skill
Art principle is simple, it is easy to the indoor positioning simple and easy method of popularization.
The present invention is achieved through the following technical solutions：
A kind of indoor positioning simple and easy method based on WiFi and PDR, comprises the following steps：
S1：Set initial position and step-length；
S2：The acceleration magnitude measured by acceleration transducer is judged the motion state of pedestrian；
S3：WiFi localization methods are carried out by RSSI value, the RSSI value of multiple reference modes is gathered, when detecting RSSI value
During more than threshold value, current location is calculated with the algorithm after improvement, current location is regard as actual position value；
S4：PDR positioning is carried out, carrying out reckoning to indoor pedestrian obtains location estimation.
In above-mentioned technical proposal, in step S2, the method for judging the motion state of pedestrian is as follows：
The system interface provided by android system obtains the real time data of mobile terminal acceleration transducer, obtains
Array ai=(xi, yi, zi), xi、yi、ziAcceleration in three directions when system ith is measured is represented respectively, at the same time
By to z-axis acceleration magnitude ziPeakvalue's checking is carried out, z-axis acceleration peak value size data z is obtainedp, interval time Ti, when continuing
Between Td；
Record the acceleration transducer data a at current timen=(xn, yn, zn) with 100ms before acceleration transducer number
According to an-1=(xn-1, yn-1, zn-1), by anWith an-1Data and interval time TiProgress processing can obtain vibration amplitude value
Value, Value are drawn by following formula:
Value=(| Xn-Xn-1|+|Yn-Yn-1|+|Zn-Zn-1|)/Ti* 100,
Value accumulated value Values is detected, when Values is more than the vibrations threshold value 5 of setting, z can be just judged
Axle acceleration peak value size data zpWhether it is more than 1.5, works as 300ms>Duration Td>90ms, interval time Ti>During 100ms,
Meter step algorithm can just judge the movement of user.
In above-mentioned technical proposal, collection RSSI value in step s3, when the RSSI value for detecting more than three exceedes
During threshold value, current location is calculated with RSSI triangle centroid algorithms, using current location as actual position value, RSSI is realized
Ranging is compensated.
In above-mentioned technical proposal, step S3 is realized especially by following steps：
S301：Set RSSIiRepresent that unknown node M receives fixed anchor nodes B1The RSSI average values of signal, PiRepresent unknown
Node M receives fixed anchor nodes BiSignal intensity average value, then both transformational relation, as shown by the equation：
For fixed anchor nodes BiAnd BjThe distance between,For with fixed anchor nodes BiAnd BjCalculating is obtained never
Know node M to fixed anchor nodes BiDistance, be shown below：
S302：All anchor nodes periodically externally send broadcast message with equal-wattage, and information includes own coordinate
And node ID, the RSSI value of each anchor node of unknown node collection, obtain the average value of each anchor node；
S303：When ordinary node is collected into a number of anchor node information, ordinary node is obtained to anchor node distance,
D is calculated by correspondence formulai, the d that calculating is obtainediValue is arranged from small to large；
S304：Ordinary node sorts to anchor node from big to small according to RSSI value, and sets up RSSI value and node to anchor section
The mapping of point distance, sets up three set,
Wherein anchor node location sets：P_set={ (X1,Y1),(X2,Y2),…,(Xn,Yn),
Anchor node set：B_set={ a1,a2,…,an,
Unknown node is to anchor node distance set：D_set={ d1,d2,…,dn, three set are according to diFrom small to large
Order is arranged；
S305：Several anchor nodes before preferential selection RSSI value is big in anchor node set B_set, constitute following anchor section
Point set：
Tset={ (a1,a2,a3),(a1,a2,a4)…..(a1,a3,a4),(a1,a3,a5)…}
To anchor node set Tset, according to traditional triangle centroid algorithm, finish node M coordinates are obtained, that is, finally
Position location.
In above-mentioned technical proposal, step S4 is specifically included and reckoning is carried out to indoor pedestrian, and setting k is set in advance
Step-length, aiThe z-axis acceleration magnitude of ith measurement is represented, n represents that pedestrian has collected altogether n z-axis acceleration in a one-step process
Angle value, the numerical value more than, estimated displacement stepsize, drawn by following formula：
The aspect sensor corresponding A PI interfaces provided by android smart machines are obtained after floating type bearing data, first
First four corners of the world four direction is judged, then every 45 degree of segmentations, the southeast, northeast, southwest and northwest are judged with this, so
Calculate the specific number of degrees again afterwards and obtain specific orientation, according to orientation and estimated displacement, by initial position p0Obtain calculating position
Put p1, by DR position p1Value be assigned to p0, carry out the preparation of PDR positioning next time.
In above-mentioned technical proposal, the android smart machines bag smart mobile phone, Intelligent flat or intelligent watch.
The present invention compared with prior art, has the advantages that：
Because the technical scheme that this present invention is used is to be blended using the WiFi location technologies based on RSSI with PDR technologies
Alignment by union strategy, the absolute fix based on RSSI overcome exclusive use PDR dead reckoning algorithms when step-length it is unstable and
The defect of error is easily built up, the fluctuation of RSSI positioning can be reduced by PDR technologies again.Position fixing process is mainly used
Dead reckoning, has evaded the signal easy shortcoming by environmental disturbances during based on RSSI indoor positionings.Meanwhile, use the method for the present invention
System without install external equipment, the required precision to sensor is low, so as to avoid the higher system of design complexities
Meanwhile, hardware cost consumption can be also reduced, and then make it that the cost expended during indoor positioning is relatively low.The present invention has cost low
Honest and clean, technical principle is simple, and positioning precision is higher, and less advantage is disturbed by surrounding environment.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is schematic flow sheet of the invention；
Fig. 2 judges schematic diagram for the motion state in the present invention；
Fig. 3 is the meter step algorithm flow chart based on PDR in the present invention；
Fig. 4 is the triangle center coordination schematic diagram based on RSSI in the present invention；
Fig. 5 for the present invention in judge direction flow chart with aspect sensor.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
As shown in figure 1, the present invention proposes a kind of indoor positioning simple and easy method based on WiFi and PDR, comprise the following steps：
S1：Set initial position and step-length；Initial step length is needed according to correspondence model specification.Pedestrian is worn on by one
Equipment with it, can be by the acceleration information collected and threshold value set in advance by acceleration transducer gathering data in real time
Carry out init state judgement.Acceleration magnitude in the time and gait processes started to walk by pedestrian, is obtained by step length algorithm
The step-length of pedestrian.
S2：The acceleration magnitude measured by acceleration transducer is judged the motion state of pedestrian；
S3：WiFi localization methods are carried out by RSSI value, the RSSI value of multiple reference modes is gathered, when detecting RSSI value
During more than threshold value, current location is calculated with the algorithm after improvement, current location is regard as actual position value；
S4：PDR positioning is carried out, carrying out reckoning to indoor pedestrian obtains location estimation.
In step S2, the method for judging the motion state of pedestrian is as follows：
The system interface provided by android system obtains the real time data of mobile terminal acceleration transducer, obtains
Array ai=(xi, yi, zi), xi、yi、ziAcceleration in three directions when system ith is measured is represented respectively, at the same time
By to z-axis acceleration magnitude ziPeakvalue's checking is carried out, z-axis acceleration peak value size data z is obtainedp, interval time Ti, when continuing
Between Td, as a result as shown in Figure 2.
Record the acceleration transducer data a at current timen=(xn, yn, zn) with 100ms before acceleration transducer number
According to an-1=(xn-1, yn-1, zn-1), by anWith an-1Data and interval time TiProgress processing can obtain vibration amplitude value
Value, Value are drawn by following formula:
Value=(| Xn-Xn-1|+|Yn-Yn-1|+|Zn-Zn-1|)/Ti* 100,
Value accumulated value Values is detected, when Values is more than the vibrations threshold value 5 of setting, z can be just judged
Axle acceleration peak value size data zpWhether it is more than 1.5, works as 300ms>Duration Td>90ms, interval time Ti>During 100ms,
Meter step algorithm can just judge the movement of user, as shown in Figure 3.
Collection RSSI value in step s3, when the RSSI value for detecting more than three exceedes threshold value, with RSSI
Triangle centroid algorithm calculates current location, using current location as actual position value, realizes that RSSI rangings are compensated.
Step S3 is realized especially by following steps：
S301：Set RSSIiRepresent that unknown node M receives fixed anchor nodes B1The RSSI average values of signal, PiRepresent unknown
Node M receives fixed anchor nodes BiSignal intensity average value, then both transformational relation, as shown by the equation：
For fixed anchor nodes BiAnd BjThe distance between,For with fixed anchor nodes BiAnd BjCalculating is obtained never
Know node M to fixed anchor nodes BiDistance, be shown below：
S302：All anchor nodes periodically externally send broadcast message with equal-wattage, and information includes own coordinate
And node ID, the RSSI value of each anchor node of unknown node collection, obtain the average value of each anchor node；
S303：When ordinary node is collected into a number of anchor node information, ordinary node is obtained to anchor node distance,
D is calculated by correspondence formulai, the d that calculating is obtainediValue is arranged from small to large；
S304：Ordinary node sorts to anchor node from big to small according to RSSI value, and sets up RSSI value and node to anchor section
The mapping of point distance, sets up three set,
Wherein anchor node location sets：P_set={ (X1,Y1),(X2,Y2),…,(Xn,Yn),
Anchor node set：B_set={ a1,a2,…,an,
Unknown node is to anchor node distance set：D_set={ d1,d2,…,dn, three set are according to diFrom small to large
Order is arranged；
S305：Several anchor nodes before preferential selection RSSI value is big in anchor node set B_set, constitute following anchor section
Point set：
Tset={ (a1,a2,a3),(a1,a2,a4)…..(a1,a3,a4),(a1,a3,a5)…}
To anchor node set Tset, according to traditional triangle centroid algorithm, finish node M coordinates are obtained, that is, finally
Position location, as shown in Figure 4.
Step S4 is specifically included and reckoning is carried out to indoor pedestrian, and setting k is step-length set in advance, aiRepresent i-th
The z-axis acceleration magnitude of secondary measurement, n represents that pedestrian has collected n z-axis acceleration magnitude altogether in a one-step process, according to the above
Numerical value, estimated displacement stepsize, drawn by following formula：
The aspect sensor corresponding A PI interfaces provided by android smart machines are obtained after floating type bearing data, first
First four corners of the world four direction is judged, then every 45 degree of segmentations, the southeast, northeast, southwest and northwest are judged with this, so
Calculate the specific number of degrees again afterwards and obtain specific orientation, according to orientation and estimated displacement, as shown in Figure 5.By initial position p0
Obtain DR position p1, by DR position p1Value be assigned to p0, carry out the preparation of PDR positioning next time.
The android smart machines bag smart mobile phone, Intelligent flat or intelligent watch.
Such scheme uses the alignment by union strategy that the WiFi location technologies based on RSSI are blended with PDR technologies,
Step-length is unstable when absolute fix based on RSSI overcomes exclusive use PDR dead reckoning algorithms and easily builds up error
Defect, again can by PDR technologies reduce RSSI positioning fluctuation.Position fixing process mainly uses dead reckoning, evades
Signal is easily by the shortcoming of environmental disturbances during based on RSSI indoor positionings.Meanwhile, using the system of method of the invention without installing
External equipment, the required precision to sensor is low, so as to while design complexities higher system is avoided, can also reduce hard
Part cost consumption, and then make it that the cost expended during indoor positioning is relatively low.
Above-described embodiment is preferably embodiment, but embodiments of the present invention are not by above-described embodiment of the invention
Limitation, other any Spirit Essences without departing from the present invention and the change made under principle, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (6)
1. a kind of indoor positioning simple and easy method based on WiFi and PDR, it is characterised in that comprise the following steps：
S1：Set initial position and step-length；
S2：The acceleration magnitude measured by acceleration transducer is judged the motion state of pedestrian；
S3：WiFi localization methods are carried out by RSSI value, the RSSI value of multiple reference modes is gathered, exceedes when detecting RSSI value
During threshold value, current location is calculated with the algorithm after improvement, current location is regard as actual position value；
S4：PDR positioning is carried out, carrying out reckoning to indoor pedestrian obtains location estimation.
2. the indoor positioning simple and easy method according to claim 1 based on WiFi and PDR, it is characterised in that in step S2,
The method for judging the motion state of pedestrian is as follows：
The system interface provided by android system obtains the real time data of mobile terminal acceleration transducer, obtains array ai
=(xi, yi, zi), xi、yi、ziAcceleration in three directions when system ith is measured is represented respectively, at the same time by right
Z-axis acceleration magnitude ziPeakvalue's checking is carried out, z-axis acceleration peak value size data z is obtainedp, interval time Ti, duration Td；
Record the acceleration transducer data a at current timen=(xn, yn, zn) with 100ms before acceleration transducer data an-1
=(xn-1, yn-1, zn-1), by anWith an-1Data and interval time TiProgress processing can obtain vibration amplitude value Value,
Value is drawn by following formula:
Value=(| Xn-Xn-1|+|Yn-Yn-1|+|Zn-Zn-1|)/Ti* 100,
Value accumulated value Values is detected, when Values is more than the vibrations threshold value 5 of setting, can just judge that z-axis adds
Velocity peak values size data zpWhether it is more than 1.5, works as 300ms>Duration Td>90ms, interval time Ti>During 100ms, meter step
Algorithm can just judge the movement of user.
3. the indoor positioning simple and easy method according to claim 1 based on WiFi and PDR, it is characterised in that in step s3
Collection RSSI value, when detect more than three RSSI value exceed threshold value when, with RSSI triangles centroid algorithm calculate
Go out current location, using current location as actual position value, realize that RSSI rangings are compensated.
4. the indoor positioning simple and easy method according to claim 3 based on WiFi and PDR, it is characterised in that step S3 has
Body is realized by following steps：
S301：Set RSSIiRepresent that unknown node M receives fixed anchor nodes BiThe RSSI average values of signal, PiRepresent unknown node
M receives fixed anchor nodes BiSignal intensity average value, then both transformational relation, as shown by the equation：
For fixed anchor nodes BiAnd BjThe distance between,For with fixed anchor nodes BiAnd BjCalculate obtain from unknown section
Point M to fixed anchor nodes BiDistance, be shown below：
S302：All anchor nodes periodically externally send broadcast message with equal-wattage, and information includes own coordinate and section
Point ID, unknown node collects the RSSI value of each anchor node, obtains the average value of each anchor node；
S303：When ordinary node is collected into a number of anchor node information, ordinary node is obtained to anchor node distance, by right
Formula is answered to calculate di, the d that calculating is obtainediValue is arranged from small to large；
S304：Ordinary node sorts to anchor node from big to small according to RSSI value, and set up RSSI value and node to anchor node away from
From mapping, set up three set,
Wherein anchor node location sets：P_set={ (X1,Y1),(X2,Y2),…,(Xn,Yn),
Anchor node set：B_set={ a1,a2,…,an,
Unknown node is to anchor node distance set：D_set={ d1,d2,…,dn, three set are according to diOrder from small to large
Arranged；
S305：Several anchor nodes before preferential selection RSSI value is big in anchor node set B_set, constitute following set of anchor
Close：
Tset={ (a1,a2,a3),(a1,a2,a4)…..(a1,a3,a4),(a1,a3,a5)…}
To anchor node set Tset, according to traditional triangle centroid algorithm, finish node M coordinates are obtained, that is, last determine
Position position.
5. the indoor positioning simple and easy method according to claim 1 based on WiFi and PDR, it is characterised in that step S4 has
Body includes carrying out indoor pedestrian reckoning, and setting k is step-length set in advance, aiRepresent the z-axis acceleration of ith measurement
Value, n represents that pedestrian has collected n z-axis acceleration magnitude altogether in a one-step process, the numerical value more than, estimated displacement
stepsize, drawn by following formula：
The aspect sensor corresponding A PI interfaces provided by android smart machines are obtained after floating type bearing data, right first
Four corners of the world four direction is judged, then every 45 degree of segmentations, the southeast, northeast, southwest and northwest, Ran Houzai are judged with this
Calculate the specific number of degrees and obtain specific orientation, according to orientation and estimated displacement, by initial position p0Obtain DR position p1,
By DR position p1Value be assigned to p0, carry out the preparation of PDR positioning next time.
6. the indoor positioning simple and easy method according to claim 5 based on WiFi and PDR, it is characterised in that described
Android smart machine bags smart mobile phone, Intelligent flat or intelligent watch.
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| CN108769401B (en) * | 2018-05-23 | 2020-12-08 | Oppo广东移动通信有限公司 | Signal detection method and related product |
| CN109195099A (en) * | 2018-07-06 | 2019-01-11 | 广东工业大学 | A kind of indoor orientation method merged based on iBeacon and PDR |
| CN109195099B (en) * | 2018-07-06 | 2020-09-08 | 广东工业大学 | Indoor positioning method based on iBeacon and PDR fusion |
| WO2020088644A1 (en) * | 2018-11-01 | 2020-05-07 | 华为技术有限公司 | Positioning method and device |
| WO2021012879A1 (en) * | 2019-07-22 | 2021-01-28 | 香港中文大学（深圳） | Trajectory reconstruction method and apparatus, computer device and storage medium |
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