CN107991647A - Indoor orientation method and system, storage medium based on WiFi and UWB - Google Patents
Indoor orientation method and system, storage medium based on WiFi and UWB Download PDFInfo
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- CN107991647A CN107991647A CN201711166886.7A CN201711166886A CN107991647A CN 107991647 A CN107991647 A CN 107991647A CN 201711166886 A CN201711166886 A CN 201711166886A CN 107991647 A CN107991647 A CN 107991647A
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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
- G01S5/0252—Radio frequency fingerprinting
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Abstract
The invention discloses the indoor orientation method based on WiFi and UWB and system, storage medium, wherein, method includes step：In the case where being laid with the indoor environment of several WiFi equipments and UWB equipment, build WiFi fingerprint databases and determine the initial position data of intended receivers；Intended receivers are observed using UWB equipment, establish the observational equation on intended receivers position, initial position data is substituted into observational equation and carries out Taylor series expansion, obtain linearisation observational equation；Model is resolved according to initial position data and linearisation observational equation structure, the target location of intended receivers is obtained with resolving model.The present invention has merged two kinds of indoor positioning technologies of WiFi and UWB, and accurate target location can be obtained using the UWB equipment laid on a small quantity；The indoor orientation method can be not only realized to the sub_meter position of target under indoor scene, but also reduces the deployment cost of system.
Description
Technical field
The invention belongs to indoor positioning technologies field, more particularly to indoor orientation method based on WiFi and UWB and system,
Storage medium.
Background technology
At present, based on WiFi (Wireless Fidelity, Wireless Fidelity) fingerprint locations and UWB (Ultra-
Wideband, ultra wide band) location technology in short distance fast wireless positioning field, obtained wide in particularly indoor complex scene
General application.
Wherein, the WiFi fingerprint positioning methods based on received signal strength (Received Signal Strength, RSS)
There is greater advantage in the economical and laying of system and application aspect, but since WiFi signal is by device distribution and indoor ring
Border influences strong so that RSS values have stronger dynamic and randomness, its positioning accuracy is only capable of reaching 3-5 meters.For UWB
Location technology, although UWB alignment systems have the advantages that low in energy consumption, anti-multipath effect is strong and can realize centimeter-level positioning,
It is limited to deployment cost height and the location requirement of different indoor scenes can not be widely used in.The prior art is a kind of low there is an urgent need for exploitation
Cost, positioning accuracy height, suitable for the hybrid positioning technology scheme of the location requirement of different indoor scenes.
Therefore, the prior art has yet to be improved and developed.
The content of the invention
In view of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide the indoor positioning side based on WiFi and UWB
Method and system, storage medium, it is intended to solve existing indoor positioning technologies only with single locating scheme, different chamber can not be suitable for
Interior scene, and technical problem of high cost, that positioning accuracy is low.
Technical scheme is as follows：
A kind of indoor orientation method based on WiFi and UWB, wherein, including step：
In the case where being laid with the indoor environment of several WiFi equipments and UWB equipment, WiFi fingerprint databases are built, are utilized
WiFi equipment alignment system determines the initial position data of intended receivers；
Intended receivers are observed using UWB equipment, establish the observational equation on intended receivers position, by institute
State initial position data to substitute into the observational equation and carry out Taylor series expansion, obtain linearisation observational equation；
Model is resolved according to the initial position data of the intended receivers and the linearisation observational equation structure, is used
The target location for resolving model and obtaining intended receivers.
The indoor orientation method based on WiFi and UWB, wherein, the step is being laid with several WiFi equipments
Under the indoor environment of UWB equipment, WiFi fingerprint databases are established, intended receivers are determined using WiFi equipment alignment system
Initial position data, specifically includes：
Intended receivers are placed to positions different indoors, record the received signal strength from different WiFi equipments, structure
Build the WiFi fingerprint databases for including position data；
Received signal strength of the current goal receiver from different WiFi equipments, and the reception that will currently measure are measured in real time
Signal strength is matched with WiFi fingerprint databases, so as to obtain the initial position data of intended receivers.
The indoor orientation method based on WiFi and UWB, wherein, the step is using UWB equipment to intended recipient
Machine is observed, and establishes the observational equation on intended receivers position, and the initial position data is substituted into the observation side
Journey simultaneously carries out Taylor series expansion, obtains linearisation observational equation, specifically includes：
Intended receivers are observed using UWB equipment, establishes and is on the observational equation of intended receivers position：Wherein diIt is the measurement of the distance between i-th of UWB equipment and intended receivers,
(xi,yi,zi) position coordinates of i-th of UWB equipment in alignment system is represented, (x, y, z) represents intended receivers and is in positioning
Position coordinates in system；
By the initial position data (x0,y0,z0) substitute into the observational equation and carry out Taylor series expansion, obtain line
Property observational equation：Wherein
Wherein d0iRepresent the distance between i-th of UWB equipment and intended receivers initial position, △ x=x-x0, △ y=y-y0, △ z
=z-z0。
The indoor orientation method based on WiFi and UWB, wherein, the step is according to the first of the intended receivers
Beginning position data and the linearisation observational equation structure resolve model, and the mesh of intended receivers is obtained with the resolving model
Cursor position, specifically includes：
Using the initial position data of the intended receivers and the priori of equipment precision, prior-constrained bar is built
Part equation：
By the prior-constrained conditional equation and the linearisation observational equation simultaneous, structure resolves model：
Computing is iterated to the resolving model with weighted least-squares method, so as to obtain the target of intended receivers
Position.
The indoor orientation method based on WiFi and UWB, wherein, the resolving model matrix primitive formula is ε
=h δ, wherein
The indoor orientation method based on WiFi and UWB, wherein, using weighted least square algorithm to the resolving
Model is iterated computing, and the least-squares estimation for obtaining δ is：δ=(hTQ-1h)-1hTQ-1ε, wherein, hTRepresenting matrix h's turns
Put, matrix Q-1It is observation and prior-constrained weight matrix.
The indoor orientation method based on WiFi and UWB, wherein, iteration ends threshold is set during interative computation
Value λ, substitutes into initial position P0(x0,y0,z0) value of first group of △ x, △ y, △ z is obtained, in next iteration, make x0=x0+
△ x, y0=y0+ △ y, z0=z0+ △ z, obtain new target location, and substitute into resolving mould as the initial value of next iteration
Type, is again updated target location, repeats above procedure, when | △ x |+| △ y |+| △ z | during≤λ, terminate iterative process,
Make x=x0, y=y0, z=z0, export the target location P (x, y, z) of corresponding intended receivers.
The indoor orientation method based on WiFi and UWB, wherein, λ=0.001.
A kind of storage medium, wherein, a plurality of instruction is stored with, described instruction is suitable for being loaded by processor and being performed above-mentioned
The step of one indoor orientation method based on WiFi and UWB of meaning.
A kind of indoor locating system based on WiFi and UWB, wherein, including be arranged in several indoor WiFi equipments and
UWB equipment and 1 intended receivers, are provided with 1 WiFi module, 1 UWB module and processing in the intended receivers
Device and storage device, WiFi module and the UWB module are electrically connected with the processor；The processor is adapted for carrying out each finger
Order；The storage device, suitable for storing a plurality of instruction, described instruction is suitable for being loaded by processor and performing above-mentioned any one base
In the indoor orientation method of WiFi and UWB the step of.
Beneficial effect：The invention discloses a kind of indoor orientation method based on WiFi and UWB, several are being laid with
Under the indoor environment of WiFi equipment and UWB equipment, WiFi fingerprint databases are built, target is determined using WiFi equipment alignment system
The initial position data of receiver；Intended receivers are observed using UWB equipment, are established on intended receivers position
Observational equation, substitutes into the observational equation by the initial position data and carries out Taylor series expansion, obtains linearisation observation
Equation；Model is resolved according to the initial position data of the intended receivers and the linearisation observational equation structure, with institute
State and resolve the target location that model obtains intended receivers.The present invention has merged two kinds of indoor positioning technologies of WiFi and UWB, utilizes
The UWB equipment laid on a small quantity obtains the accurate surveying to target, and constraint is imposed to target location according to WiFi fingerprint bases, then leads to
The priori to equipment accuracy of observation is crossed, solution is weighted to target location.Therefore, indoor positioning side proposed by the present invention
Method can be not only realized to the sub_meter position of target under indoor scene, but also reduces the deployment cost of system.
Brief description of the drawings
Fig. 1 is the flow chart of the indoor orientation method preferred embodiment of the invention based on WiFi and UWB.
Fig. 2 is the arrangement schematic diagram of WiFi equipment of the present invention and UWB equipment indoors.
Fig. 3 is the structure diagram of the indoor locating system preferred embodiment of the invention based on WiFi and UWB.
Embodiment
The present invention provides indoor orientation method and system, storage medium based on WiFi and UWB, to make the mesh of the present invention
, technical solution and effect it is clearer, clear and definite, the present invention is described in more detail below.It is it should be appreciated that described herein
Specific embodiment only to explain the present invention, be not intended to limit the present invention.
Referring to Fig. 1, Fig. 1 is the flow chart of the indoor orientation method preferred embodiment of the invention based on WiFi and UWB, such as
Shown in figure, it includes step：
S10, in the case where being laid with the indoor environment of several WiFi equipments and UWB equipment, build WiFi fingerprint databases, profit
The initial position data of intended receivers is determined with WiFi equipment alignment system；
S20, using UWB equipment be observed intended receivers, establishes the observational equation on intended receivers position,
The initial position data is substituted into the observational equation and carries out Taylor series expansion, obtains linearisation observational equation；
S30, the initial position data according to the intended receivers and the linearisation observational equation structure resolving model,
The target location of intended receivers is obtained with the resolving model.
Specifically, the existing WiFi based on received signal strength (Received Signal Strength, RSS) refers to
Line localization method has a greater advantage in the economical and laying of system and application aspect, but WiFi signal by device distribution with
Indoor environment influences strong so that RSS values have stronger dynamic and randomness, and positioning accuracy is only capable of reaching 3-5 meters.It is and right
In UWB location technologies, although UWB alignment systems have, low in energy consumption, anti-multipath effect is strong and can realize that centimeter-level positioning etc. is excellent
Point, it is high and can not be widely used in the location requirement of different indoor scenes to be but limited to deployment cost, exploitation it is a kind of it is inexpensive,
Positioning accuracy is high, becomes a kind of development trend suitable for the hybrid positioning technology scheme of the location requirement of different indoor scenes.
To solve the above problems, the present invention has merged two kinds of indoor positioning technologies of WiFi and UWB, pass through WiFi fingerprint locations
Target initial position is searched for, meanwhile, the accurate surveying to target is obtained using the UWB equipment laid on a small quantity, and refer to according to WiFi
Line storehouse imposes target location constraint, then by the priori to equipment accuracy of observation, solution is weighted to target location.
Therefore, indoor orientation method proposed by the present invention and system, can not only realize under indoor scene to the sub_meter position of target,
And reduce the deployment cost of system.
As shown in Fig. 2, present embodiment to lay 3 WiFi equipments, 1 UWB equipment and 1 intended recipient indoors
Exemplified by machine, wherein, the intended receivers have been embedded in 1 WiFi module and 1 UWB module, the WiFi module and UWB
Module is electrically connected with the processor in intended receivers.
Further, in the present embodiment, the step S10 is specifically included：
Intended receivers, is placed positions different indoors by S11, and record is strong from the reception signal of different WiFi equipments
Degree, structure include the WiFi fingerprint databases of position data；
S12, in real time measurement current goal receiver and the received signal strength of different WiFi equipments, and will currently measure
Received signal strength is matched with WiFi fingerprint databases, so as to obtain the initial position data of intended receivers.
Exemplarily, as shown in Fig. 2, in the indoor environment for being provided with 3 WiFi equipments, by the way that intended receivers are put
Positions different indoors is put, records the received signal strength (Received from different WiFi access points (i.e. WiFi equipment)
Signal Strength, RSS) value and sample is saved as, construct WiFi fingerprint databases.It is real-time according to intended receivers
RSS values are matched with WiFi fingerprint databases, obtain target position information, are the initial position P of intended receivers0(x0,
y0,z0)。
Further, the step S20 is specifically included：
S21, using UWB equipment be observed intended receivers, establishes the observational equation on intended receivers position
For：Wherein diIt is that the distance between i-th of UWB equipment and intended receivers are surveyed
Amount, (xi,yi,zi) position coordinates of i-th of UWB equipment in alignment system is represented, (x, y, z) represents intended receivers fixed
Position coordinates in the system of position；
S22, by the initial position data (x0,y0,z0) substitute into the observational equation and carry out Taylor series expansion, obtain line
Property observational equation：Wherein
Wherein d0iRepresent the distance between i-th of UWB equipment and intended receivers initial position, △ x=x-x0, △ y=y-y0, △ z
=z-z0。
Equally by taking the system that Fig. 2 is laid as an example, since the target positioning error that WiFi fingerprint locations obtain is about 3-5m, it is
Raising positioning accuracy, present embodiment introduce 1 UWB equipment and intended receivers are observed, and establish on target
The observational equation of receiver location P (x, y, z)：Wherein d1It is UWB observations
Stand U1The distance between intended receivers measure, (x1, y1, z1) represent observation station U1Position coordinates in alignment system.
Since above-mentioned observational equation is Nonlinear System of Equations, difficulty is solved, further, can using Taylor series expansion method
To linearize observational equation, the complexity of solution procedure is reduced, on condition that needing to estimate the initial position of target, this hair
The bright initial position P obtained using WiFi fingerprint locations0(x0,y0,z0) initial value as safe special Series Expansion Method.
The initial position estimation P that WiFi fingerprint locations are obtained0(x0,y0,z0), substitute into target observation side as initial value
Journey, carries out Taylor series expansion, ignores second order above component, updates the observational equation linearized：
WhereinWherein, d01Represent observation station U1With intended recipient
The distance between machine initial position, △ x=x-x0, △ y=y-y0, △ z=z-z0。
Further, the step S30 is specifically included：
S31, using the initial position data of the intended receivers and the priori of equipment precision, structure priori is about
Beam conditional equation；
S32, by the prior-constrained conditional equation with it is described linearisation observational equation simultaneous, structure resolve model；
S33, with weighted least-squares method to it is described resolving model be iterated computing, so as to obtain intended receivers
Target location.
Specifically, in order to be resolved to target location P (x, y, z), 3 UWB equipments are at least needed to same target
Observation.However, in order to reduce deployment cost, UWB equipment distribution in indoor positioning environment works as number of devices often than sparse
When mesh is 1, the positioning to intended receivers can not be realized.In order to solve this problem, present embodiment utilizes intended recipient
The initial position of machine and the priori of equipment precision apply target location prior-constrained：
Simultaneous UWB observational equations, can obtain the resolving model of the present invention：
Matrix form is：ε=h δ
Wherein
Using weighted least square algorithm, the least-squares estimation for obtaining δ is：
δ=(hTQ-1h)-1hTQ-1ε
Wherein, hTThe transposition of representing matrix h, matrix Q-1It is observation and prior-constrained weight matrix, how chooses conjunction
Suitable Q-1Then there is important influence to final positioning accuracy, since WiFi equipment and UWB equipment are to the essence of target observation value
Degree is different, and in solution process, the priori according to distinct device to target observation precision, Q is carried out to weight matrix-1Rationally really
It is fixed, positioning accuracy is further improved with this.Since the accuracy of observation of UWB equipment can often reach Centimeter Level, and WiFi equipment
Accuracy of observation be only meter level, therefore make
In order to gradually converge to a stabilization and accurate position during model iteration is resolved, iteration ends are set
Condition, i.e. threshold value λ.In the present embodiment, in order to realize the positioning accuracy of sub-meter grade, threshold value λ is preferably set to 0.001.Algorithm
During primary iteration, initial position P is substituted into0(x0,y0,z0) value of first group of △ x, △ y, △ z is obtained, in next iteration, order
x0=x0+ △ x, y0=y0+ △ y, z0=z0+ △ z, obtain new target location, and are substituted into as the initial value of next iteration
Resolve model, target location be updated again, repeat above procedure, as △ x, △ y, △ z is sufficiently small and its absolute value it
With meet threshold value λ set in advance, i.e., | △ x |+| △ y |+| △ z | during≤λ, terminate iterative process, make x=x0, y=y0, z=
z0, export the target location P (x, y, z) of corresponding intended receivers.
Based on the above method, present invention also offers a kind of storage medium, wherein, it is stored with a plurality of instruction, described instruction
The step of suitable for being loaded by processor and being performed indoor orientation method of the above-mentioned any one based on WiFi and UWB.
Further, the present invention also provides a kind of indoor locating system based on WiFi and UWB, wherein, as shown in figure 3,
Including being arranged in indoor several WiFi equipments 10 and UWB equipment 20 and 1 intended receivers 30, the intended receivers
Inside it is provided with 1 WiFi module, 31,1 UWB modules 32 and processor 33 and storage device 34,31 He of WiFi module
UWB modules 32 are electrically connected with the processor 33；The processor 33 is adapted for carrying out each instruction；The storage device 34, is fitted
In storing a plurality of instruction, described instruction is suitable for being loaded by processor 33 and performing room of the above-mentioned any one based on WiFi and UWB
The step of interior localization method.
In conclusion the invention discloses a kind of indoor orientation method based on WiFi and UWB, several are being laid with
Under the indoor environment of WiFi equipment and UWB equipment, WiFi fingerprint databases are built, target is determined using WiFi equipment alignment system
The initial position data of receiver；Intended receivers are observed using UWB equipment, are established on intended receivers position
Observational equation, substitutes into the observational equation by the initial position data and carries out Taylor series expansion, obtains linearisation observation
Equation；Model is resolved according to the initial position data of the intended receivers and the linearisation observational equation structure, with institute
State and resolve the target location that model obtains intended receivers.The present invention has merged two kinds of indoor positioning technologies of WiFi and UWB, utilizes
The UWB equipment laid on a small quantity obtains the accurate surveying to target, and constraint is imposed to target location according to WiFi fingerprint bases, then leads to
The priori to equipment accuracy of observation is crossed, solution is weighted to target location.Therefore, indoor positioning side proposed by the present invention
Method can be not only realized to the sub_meter position of target under indoor scene, but also reduces the deployment cost of system.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved or converted according to the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect scope.
Claims (10)
1. a kind of indoor orientation method based on WiFi and UWB, it is characterised in that including step：
In the case where being laid with the indoor environment of several WiFi equipments and UWB equipment, WiFi fingerprint databases are built, are set using WiFi
Standby alignment system determines the initial position data of intended receivers；
Intended receivers are observed using UWB equipment, establish the observational equation on intended receivers position, will be described first
Beginning position data substitutes into the observational equation and carries out Taylor series expansion, obtains linearisation observational equation；
Model is resolved according to the initial position data of the intended receivers and the linearisation observational equation structure, with described
Resolve the target location that model obtains intended receivers.
2. the indoor orientation method according to claim 1 based on WiFi and UWB, it is characterised in that the step is in cloth
Under indoor environment equipped with several WiFi equipments and UWB equipment, WiFi fingerprint databases are established, system is positioned using WiFi equipment
System determines the initial position data of intended receivers, specifically includes：
Intended receivers are placed to positions different indoors, record the received signal strength from different WiFi equipments, structure bag
WiFi fingerprint databases containing position data；
Received signal strength of the current goal receiver from different WiFi equipments, and the reception signal that will currently measure are measured in real time
Intensity is matched with WiFi fingerprint databases, so as to obtain the initial position data of intended receivers.
3. the indoor orientation method based on WiFi and UWB according to right 1, it is characterised in that the step is set using UWB
It is standby that intended receivers are observed, the observational equation on intended receivers position is established, by the initial position data generation
Enter the observational equation and carry out Taylor series expansion, obtain linearisation observational equation, specifically include：
Intended receivers are observed using UWB equipment, establishes and is on the observational equation of intended receivers position：Wherein diIt is the measurement of the distance between i-th of UWB equipment and intended receivers,
(xi,yi,zi) position coordinates of i-th of UWB equipment in alignment system is represented, (x, y, z) represents intended receivers and is in positioning
Position coordinates in system；
By the initial position data (x0,y0,z0) substitute into the observational equation and carry out Taylor series expansion, linearized
Observational equation：Wherein
Wherein d0iRepresent the distance between i-th of UWB equipment and intended receivers initial position, △ x=x-x0, △ y=y-y0, △ z
=z-z0。
4. the indoor orientation method according to claim 1 based on WiFi and UWB, it is characterised in that the step according to
The initial position data of the intended receivers and the linearisation observational equation structure resolve model, with the resolving model
The target location of intended receivers is obtained, is specifically included：
Using the initial position data of the intended receivers and the priori of equipment precision, prior-constrained condition side is built
Journey：
By the prior-constrained conditional equation and the linearisation observational equation simultaneous, structure resolves model：
Computing is iterated to the resolving model with weighted least-squares method, so as to obtain the target position of intended receivers
Put.
5. the indoor orientation method according to claim 4 based on WiFi and UWB, it is characterised in that the resolving model
Matrix form expression formula is ε=h δ, wherein
6. the indoor orientation method according to claim 5 based on WiFi and UWB, it is characterised in that minimum using weighting
Two multiplication algorithms are iterated computing to the resolving model, and the least-squares estimation for obtaining δ is：δ=(hTQ-1h)-1hTQ-1ε, its
In, hTThe transposition of representing matrix h, matrix Q-1It is observation and prior-constrained weight matrix.
7. the indoor orientation method according to claim 6 based on WiFi and UWB, it is characterised in that in interative computation mistake
Iteration ends threshold value λ is set in journey, substitutes into initial position P0(x0,y0,z0) value of first group of △ x, △ y, △ z is obtained, next
During secondary iteration, x is made0=x0+ △ x, y0=y0+ △ y, z0=z0+ △ z, obtain new target location, and as next iteration
Initial value, which substitutes into, resolves model, and target location is updated again, repeats above procedure, when | △ x |+| △ y |+| △ z |≤λ
When, terminate iterative process, make x=x0, y=y0, z=z0, export the target location P (x, y, z) of corresponding intended receivers.
8. the indoor orientation method according to claim 7 based on WiFi and UWB, it is characterised in that λ=0.001.
9. a kind of storage medium, it is characterised in that be stored with a plurality of instruction, described instruction is suitable for by processor loading and right of execution
Profit requires the step of indoor orientation method of the 1-8 any one based on WiFi and UWB.
10. a kind of indoor locating system based on WiFi and UWB, it is characterised in that including being arranged in several indoor WiFi
Equipment and UWB equipment and 1 intended receivers, be provided with the intended receivers 1 WiFi module, 1 UWB module with
And processor and storage device, WiFi module and the UWB module are electrically connected with the processor；The processor is suitable for real
Now each instruction；The storage device, suitable for storing a plurality of instruction, described instruction is suitable for being loaded by processor and performing aforesaid right
It is required that the step of indoor orientation method of the 1-8 any one based on WiFi and UWB.
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| CN109600713A (en) * | 2019-01-09 | 2019-04-09 | 哈尔滨理工大学 | Children's positioning monitoring system |
| CN110072282A (en) * | 2019-04-24 | 2019-07-30 | 华宇智联科技（武汉）有限公司 | A kind of fusion and positioning method |
| CN110248310A (en) * | 2019-06-14 | 2019-09-17 | 华东师范大学 | A kind of indoor positioning TDOA processing method based on multipath modeling |
| CN110933599A (en) * | 2019-12-17 | 2020-03-27 | 北京理工大学 | Self-adaptive positioning method fusing UWB and WIFI fingerprints |
| CN111031472A (en) * | 2019-12-03 | 2020-04-17 | 扬州后潮科技有限公司 | Anti-interference indoor rapid positioning method based on combination of WiFi and UWB |
| CN111935817A (en) * | 2020-06-24 | 2020-11-13 | 深圳大学 | AP (access point) selection positioning method and device based on eight-matrix diagram and intelligent equipment |
| CN112153620A (en) * | 2020-09-22 | 2020-12-29 | 重庆大学 | Method for quickly constructing and positioning offline WiFi fingerprint database based on UWB technology |
| GB2612884A (en) * | 2021-09-13 | 2023-05-17 | Motorola Mobility Llc | Object tracking based on UWB tags |
| US11990012B2 (en) | 2021-11-29 | 2024-05-21 | Motorola Mobility Llc | Object contextual control based on UWB radios |
| US12004046B2 (en) | 2021-09-13 | 2024-06-04 | Motorola Mobility Llc | Object tracking based on UWB tags |
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| CN110933599B (en) * | 2019-12-17 | 2020-10-30 | 北京理工大学 | Self-adaptive positioning method fusing UWB and WIFI fingerprints |
| CN111935817A (en) * | 2020-06-24 | 2020-11-13 | 深圳大学 | AP (access point) selection positioning method and device based on eight-matrix diagram and intelligent equipment |
| CN111935817B (en) * | 2020-06-24 | 2022-05-03 | 深圳大学 | AP (access point) selection positioning method and device based on eight-matrix diagram and intelligent equipment |
| CN112153620A (en) * | 2020-09-22 | 2020-12-29 | 重庆大学 | Method for quickly constructing and positioning offline WiFi fingerprint database based on UWB technology |
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