CN108989983A - A kind of high-precision A P localization method and device - Google Patents
A kind of high-precision A P localization method and device Download PDFInfo
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- CN108989983A CN108989983A CN201810932033.8A CN201810932033A CN108989983A CN 108989983 A CN108989983 A CN 108989983A CN 201810932033 A CN201810932033 A CN 201810932033A CN 108989983 A CN108989983 A CN 108989983A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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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Abstract
The invention discloses a kind of high-precision A P localization method and devices, point feature is accessed using the AP of the mobile position statistical nature of the acceleration of signal and different location, the Spacial domain decomposition of location-based service will be needed to provide into multiple positioning sub-blocks, judge the confidence interval whether location information falls into, when location information is not denoted as blind area location information in confidence interval internal standard, the average speed value of adjacent area is being recorded as transition acceleration when location information is blind area location information, according to the current positioning coordinate of transition acceleration correction, the average speed value of adjacent area is recorded as transition acceleration, improve positioning accuracy, correct dead angle and barrier, position error and precision between positioning signal blind area, substantially increase the precision and location efficiency of indoor orientation method.
Description
Technical field
This disclosure relates to wireless location technology field, and in particular to a kind of high-precision A P localization method and device.
Background technique
The second step of existing location algorithm generally calculates more complicated.Trilateration is the most base of coordinates computed
This approach, the basic principle is that seeking the intersection point of circular arc known to three radiuses and central coordinate of circle.Triangulation is suitable for being based on
The target of AOA angle measurement positions, and tested node and two anchor nodes may be constructed a triangle, the distance between two anchor nodes
Be it is known, measured two angles of the triangle again by AOA angle measurement, therefore tested node can be determined by triangulo operation
Coordinate.
The above method is generally based on LOS (sighting distance, Line of Sight) condition, for NLOS (non line of sight, None
Line of Sight) environmental positioning error it is larger, the requirement of indoor positioning cannot be reached.And due to communication environments and short
Away from influence, indoor positioning is relatively high to clock synchronization requirement, needs biggish cost.In addition, signal is caused vulnerable to interference
The measurement error of distance increases, and cannot precisely realize indoor positioning.Existing indoor wireless locating system mainly uses infrared, ultrasonic
The short distance wireless technicals such as wave, bluetooth, WiFi, RFID, wherein WiFi network wireless location technology deployment extensively and cost compared with
It is low.WiFi accuracy needs first solid in several AP of system coverage area to setting about in the range of 1 meter to 15 meters
Fixed point acquires its location information and signal strength forming position database, when indoor environment is more complicated, there is more shelter
When, there is multiple blind location areas, such as dead angle and barrier, and when navigating to signal blind zone, positioning accuracy is inevitably produced
Raw biggish deviation.Therefore, how existing indoor orientation method is improved, improves the accuracy and precision of positioning, solved
Certainly positioning signal is weak, absorb and masking, signal cover the technical issues of influences such as dead angle become urgent need to resolve.
Summary of the invention
The disclosure provides a kind of high-precision A P localization method and device, the signal by the RSSI of running fix terminal are strong
Degree, according to the error of the positioning coordinate between the transition acceleration correction dead angle of signal strength and barrier, positioning signal blind area
And precision.
To achieve the goals above, according to the one side of the disclosure, a kind of high-precision A P localization method, the method are provided
The following steps are included:
A kind of wireless location method based on set operation is applied to by access center AC, multiple access point AP and shifting
In the system of dynamic positioning terminal composition, the wireless location method the following steps are included:
Step 1, it will need to provide the Spacial domain decomposition of location-based service into multiple positioning sub-blocks；
Step 2, judge the confidence interval whether location information falls into, when location information be not denoted as in confidence interval internal standard it is blind
Area's location information；
Step 3, the average speed value of adjacent area transition is recorded as when location information is blind area location information to accelerate
Degree；
Step 4, the positioning coordinate current according to transition acceleration correction.
Further, in step 1, described to need to provide the Spacial domain decomposition of location-based service into multiple positioning sub-blocks
Method be that the area of space for needing to provide location-based service is known as localization region, which is divided into " locator
Block ", division methods are to be divided into the overlay area that the positioning sub-block is no less than 3 AP access points according to equal area
There is an AP access point on the grid of 10 equal areas, the vertex of each grid, the coverage area of the AP access point be with
Indoor coverage areas centered on AP access point is 50 meters, 35 meters of outdoor ranges, when running fix terminal is providing location-based service
Area of space in when positioned according to the AP access point RSSI data on the vertex of collected grid according to three-point fix algorithm, move
Dynamic positioning terminal is the mobile device of Android or IOS system.
Further, in step 2, the method for judging confidence interval that whether location information falls into includes following step
Suddenly,
Step 2.1, it is assumed that the number of the AP access point on the vertex of each positioning sub-block grid is n, and running fix terminal is adopted
Integrate the number of the RSSI value of each AP signal as m, the collected RSSI data of running fix terminal are expressed as, R=(R1,R2,…,
Rn),Indicate the jth that running fix terminal measures on i-th of AP
A RSSI data；
Step 2.2, to RiCarry out mutually independent interval estimation, the selection of confidence interval and its confidence level and confidence limite
For P { Ril<Riθ<Rih}=1-a, wherein RiθIndicate RiRSSI signal data in overall distribution, RilAnd RihIndicate confidence lower bound
And the upper bound, 1-a indicate RiθIn confidence interval (Ril,Rih) in confidence level, a default value be 0.8；
Step 2.3, ifσiFor RiStandard deviation, RiθConfidence interval (Ril,Rih) are as follows:
Step 2.4, judge whether the collected RSSI data of running fix terminal fall into RiθConfidence interval (Ril,Rih),
When RSSI data are not blind area location information in confidence interval internal labeling RSSI data.
Further, in step 3, it is described when location information is blind area location information by the average speed of adjacent area
The method that value is recorded as transition acceleration is that the location information of nearest a period of time Δ T is constituted three-dimensional array x [], a y
The movement of [], z [], location information are three continuous function x (t), y (t), z (t), i.e., running fix terminal is in period Δ T
The interior equation of motion can obtain the motion conditions of equipment in all directions to equation of motion derivation, i.e.,And least square method is then utilized to the derivation of array, find out the oblique of regression straight line
Rate is exactly movement velocity, and speed calculated in this way is the average speed in Δ T time section, when the interval delta T of time was less than 1 second
When, the velocity amplitude of transition acceleration is found out, when
NoteThen formula converts are as follows:
Wherein, i=1,2 ..., n, Δ T, n are constant, T0It obtaining and is spaced for location information, Δ T default takes 120 seconds,
Complexity is O (n).
Further, in step 4, sitting calibration method according to the current positioning of transition acceleration correction is,
When the transition acceleration of front blind-area location information is vx、vy、vz, it is when location information obtains the interval time period
T0, then have T0≥Δt0, because if T0<Δt0, it will cause last time received information not handled also and will receive and process
Next information.And T0>Δt0When, the every T of location information in running fix terminal0The interval of time updates once, influences precision
Factor be max { T0, Δ t0}=T0, i.e., the update time delay of location information, the information got are actually away from T this moment0In the past
At the time of position coordinates, correction formula be x=x '+vxT0, y=y '+vyT0, z=z '+vzT0Wherein, x, y, z is respectively basis
Current positioning coordinate position after transition acceleration correction, x ', y ', z ' are the position that blind area location information is got respectively,
I.e. away from T this moment0Position coordinates at the time of in the past.
The present invention also provides a kind of high-precision A P positioning device, described device includes: memory, processor and storage
In the memory and the computer program that can run on the processor, the processor execute the computer program
Operate in lower unit of described device:
Localization region division unit, for that will need to provide the Spacial domain decomposition of location-based service into multiple positioning sub-blocks；
Blind area marking unit, the confidence interval whether fallen into for judging location information, when location information is not or not confidence area
Between internal standard be denoted as blind area location information；
Accelerogram unit, for when location information is blind area location information by the average speed value of adjacent area
It is recorded as transition acceleration；
Amending unit is positioned, for the positioning coordinate current according to transition acceleration correction.
The disclosure has the beneficial effect that the present invention provides a kind of high-precision A P localization method and device, corrects dead angle and barrier
Hinder object, within positioning signal blind area location information position error and precision, ensured the location data biography in complicated landform
Defeated reliability of positioning substantially increases the precision and location efficiency of indoor orientation method.
Detailed description of the invention
By the way that the embodiment in conjunction with shown by attached drawing is described in detail, above-mentioned and other features of the disclosure will
More obvious, identical reference label indicates the same or similar element in disclosure attached drawing, it should be apparent that, it is described below
Attached drawing be only some embodiments of the present disclosure, for those of ordinary skill in the art, do not making the creative labor
Under the premise of, it is also possible to obtain other drawings based on these drawings, in the accompanying drawings:
Fig. 1 show a kind of flow chart of high-precision A P localization method；
Fig. 2 show a kind of high-precision A P positioning device figure.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the disclosure, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose, scheme and effect of the disclosure.It should be noted that the case where not conflicting
Under, the features in the embodiments and the embodiments of the present application can be combined with each other.
It is as shown in Figure 1 to be illustrated according to a kind of flow chart of high-precision A P localization method of the disclosure below with reference to Fig. 1
According to a kind of high-precision A P localization method of embodiment of the present disclosure.
The disclosure proposes a kind of high-precision A P localization method, specifically includes the following steps:
Step 1, it will need to provide the Spacial domain decomposition of location-based service into multiple positioning sub-blocks；
Step 2, judge the confidence interval whether location information falls into, when location information be not denoted as in confidence interval internal standard it is blind
Area's location information；
Step 3, the average speed value of adjacent area transition is recorded as when location information is blind area location information to accelerate
Degree；
Step 4, the positioning coordinate current according to transition acceleration correction.
Further, in step 1, described to need to provide the Spacial domain decomposition of location-based service into multiple positioning sub-blocks
Method be that the area of space for needing to provide location-based service is known as localization region, which is divided into " locator
Block ", division methods are to be divided into the overlay area that the positioning sub-block is no less than 3 AP access points according to equal area
There is an AP access point on the grid of 10 equal areas, the vertex of each grid, the coverage area of the AP access point be with
Indoor coverage areas centered on AP access point is 50 meters, 35 meters of outdoor ranges, when running fix terminal is providing location-based service
Area of space in when positioned according to the AP access point RSSI data on the vertex of collected grid according to three-point fix algorithm, move
Dynamic positioning terminal is the mobile device of Android or IOS system.
Further, in step 2, the method for judging confidence interval that whether location information falls into includes following step
Suddenly,
Step 2.1, it is assumed that the number of the AP access point on the vertex of each positioning sub-block grid is n, and running fix terminal is adopted
Integrate the number of the RSSI value of each AP signal as m, the collected RSSI data of running fix terminal are expressed as, R=(R1,R2,…,
Rn),Indicate the jth that running fix terminal measures on i-th of AP
A RSSI data；
Step 2.2, to RiCarry out mutually independent interval estimation, the selection of confidence interval and its confidence level and confidence limite
For P { Ril<Riθ<Rih}=1-a, wherein RiθIndicate RiRSSI signal data in overall distribution, RilAnd RihIndicate confidence lower bound
And the upper bound, 1-a indicate RiθIn confidence interval (Ril,Rih) in confidence level, a default value be 0.8；
Step 2.3, ifσiFor RiStandard deviation, RiθConfidence interval (Ril,Rih) are as follows:
Step 2.4, judge whether the collected RSSI data of running fix terminal fall into RiθConfidence interval (Ril,Rih),
When RSSI data are not blind area location information in confidence interval internal labeling RSSI data.
Further, in step 3, it is described when location information is blind area location information by the average speed of adjacent area
The method that value is recorded as transition acceleration is,
The location information of nearest a period of time Δ T is constituted into a three-dimensional array x [], y [], z [], the shifting of location information
It moves as three continuous function x (t), y (t), z (t), the i.e. equation of motion of the running fix terminal in period Δ T, to movement side
Journey derivation can obtain the motion conditions of equipment in all directions, i.e.,And it is right
The derivation of array then utilizes least square method, and the slope for finding out regression straight line is exactly movement velocity, and speed calculated in this way is
Average speed in Δ T time section finds out the velocity amplitude of transition acceleration when the interval delta T of time was less than 1 second, when
Then formula converts are as follows:
Wherein, i=1,2 ..., n, Δ T, n are constant, T0It obtaining and is spaced for location information, Δ T default takes 120 seconds,
Complexity is O (n).
Further, in step 4, sitting calibration method according to the current positioning of transition acceleration correction is,
When the transition acceleration of front blind-area location information is vx、vy、vz, it is when location information obtains the interval time period
T0, then have T0≥Δt0, because if T0<Δt0, it will cause last time received information not handled also and will receive and process
Next information.And T0>Δt0When, the every T of location information in running fix terminal0The interval of time updates once, influences precision
Factor be max { T0, Δ t0}=T0, i.e., the update time delay of location information, the information got are actually away from T this moment0In the past
At the time of position coordinates, correction formula be x=x '+vxT0, y=y '+vyT0, z=z '+vzT0Wherein, x, y, z is respectively basis
Current positioning coordinate position after transition acceleration correction, x ', y ', z ' are the position that blind area location information is got respectively,
I.e. away from T this moment0Position coordinates at the time of in the past.
A kind of high-precision A P positioning device that embodiment of the disclosure provides, the one kind for being illustrated in figure 2 the disclosure are high-precision
AP positioning device figure is spent, a kind of high-precision A P positioning device of the embodiment includes: processor, memory and is stored in described
In memory and the computer program that can run on the processor, the processor are realized when executing the computer program
Step in a kind of above-mentioned high-precision A P positioning device embodiment.
Described device includes: memory, processor and storage in the memory and can transport on the processor
Capable computer program, the processor execute the computer program and operate in lower unit of described device:
Localization region division unit, for that will need to provide the Spacial domain decomposition of location-based service into multiple positioning sub-blocks；
Blind area marking unit, the confidence interval whether fallen into for judging location information, when location information is not or not confidence area
Between internal standard be denoted as blind area location information；
Accelerogram unit, for when location information is blind area location information by the average speed value of adjacent area
It is recorded as transition acceleration；
Amending unit is positioned, for the positioning coordinate current according to transition acceleration correction.
A kind of high-precision A P positioning device can run on desktop PC, notebook, palm PC and cloud
Server etc. calculates in equipment.A kind of high-precision A P positioning device, the device that can be run may include, but be not limited only to, place
Manage device, memory.It will be understood by those skilled in the art that the example is only a kind of example of high-precision A P positioning device,
The restriction to a kind of high-precision A P positioning device is not constituted, may include component more more or fewer than example, or combination
Certain components or different components, such as a kind of high-precision A P positioning device can also include input-output equipment, net
Network access device, bus etc..
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is a kind of control centre of high-precision A P positioning device running gear, utilizes various interfaces and route
A kind of entire high-precision A P positioning device of connection can running gear various pieces.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
A kind of various functions of high-precision A P positioning device.The memory can mainly include storing program area and storage data area,
In, storing program area can application program needed for storage program area, at least one function (such as sound-playing function, image
Playing function etc.) etc.；Storage data area, which can be stored, uses created data (such as audio data, phone directory according to mobile phone
Deng) etc..In addition, memory may include high-speed random access memory, it can also include nonvolatile memory, such as firmly
Disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital,
SD) block, flash card (Flash Card), at least one disk memory, flush memory device or other volatile solid-states
Part.
When a kind of confidence level of high-precision A P positioning device reaches 0.8, average localization error is minimum；At this time with
When confidence level increases, position error is gradually increased；When confidence level is 0.8, position error is minimum.As it can be seen that working as confidence water
It puts down higher than 0.8 or when being lower than 0.8, since confidence interval becomes larger or becomes smaller, the preferable variation zone RSSI cannot be presented in confidence interval
Between, so that positioning accuracy reduces.
Although the description of the disclosure is quite detailed and especially several embodiments are described, it is not
Any of these details or embodiment or any specific embodiments are intended to be limited to, but should be considered as is by reference to appended
A possibility that claim provides broad sense in view of the prior art for these claims explanation, to effectively cover the disclosure
Preset range.In addition, the disclosure is described with inventor's foreseeable embodiment above, its purpose is to be provided with
Description, and those equivalent modifications that the disclosure can be still represented to the unsubstantiality change of the disclosure still unforeseen at present.
Claims (6)
1. a kind of high-precision A P localization method, which is characterized in that the described method comprises the following steps:
Step 1, it will need to provide the Spacial domain decomposition of location-based service into multiple positioning sub-blocks；
Step 2, judge the confidence interval whether location information falls into, determine when location information is not denoted as blind area in confidence interval internal standard
Position information；
Step 3, the average speed value of adjacent area is recorded as transition acceleration when location information is blind area location information；
Step 4, the positioning coordinate current according to transition acceleration correction.
2. a kind of high-precision A P localization method according to claim 1, which is characterized in that in step 1, described to need
The Spacial domain decomposition for providing location-based service is at multiple methods for positioning sub-blocks, is no less than 3 AP by the positioning sub-block
The overlay area of access point is divided into the grid of 10 equal areas according to equal area, and there is an AP on the vertex of each grid
Access point, the coverage area of the AP access point are that the indoor coverage areas centered on AP access point is 50 meters, outdoor ranges
It 35 meters, is accessed when running fix terminal is in the area of space for providing location-based service according to the AP on the vertex of collected grid
Point RSSI data are positioned according to three-point fix algorithm, and running fix terminal is the mobile device of Android or IOS system.
3. a kind of high-precision A P localization method according to claim 1, which is characterized in that in step 2, the judgement is fixed
The method of confidence interval whether position information falls into includes the following steps,
Step 2.1, it is assumed that the number of the AP access point on the vertex of each positioning sub-block grid is n, and the acquisition of running fix terminal is each
The number of the RSSI value of AP signal is m, and the collected RSSI data of running fix terminal are expressed as, R=(R1,R2,…,Rn),It indicates j-th that running fix terminal measures on i-th of AP
RSSI data；
Step 2.2, to RiCarry out mutually independent interval estimation, confidence interval and its confidence level and confidence limite are chosen for P
{Ril<Riθ<Rih}=1-a, wherein RiθIndicate RiRSSI signal data in overall distribution, RilAnd RihIndicate confidence lower bound and
The upper bound, 1-a indicate RiθIn confidence interval (Ril,Rih) in confidence level, a default value be 0.8；
Step 2.3, ifσiFor RiStandard deviation, RiθConfidence interval (Ril,Rih) are as follows:
Step 2.4, judge whether the collected RSSI data of running fix terminal fall into RiθConfidence interval (Ril,Rih), when
RSSI data are not blind area location information in confidence interval internal labeling RSSI data.
4. a kind of high-precision A P localization method according to claim 1, which is characterized in that in step 3, described when positioning
It is by the method that the average speed value of adjacent area is recorded as transition acceleration when information is blind area location information,
The location information of nearest a period of time Δ T is constituted into a three-dimensional array x [], y [], z [], the movement of location information is
The equation of motion of three continuous function x (t), y (t), z (t), i.e. running fix terminal in period Δ T, seeks the equation of motion
The motion conditions of equipment in all directions can be obtained by leading, i.e.,And to array
Derivation then utilize least square method, the slope for finding out regression straight line is exactly movement velocity, when speed calculated in this way is Δ T
Between average speed in section find out the velocity amplitude of transition acceleration when the interval delta T of time was less than 1 second, when
,
Then formula converts are as follows:
Wherein, i=1,2 ..., n, Δ T, n are constant, T0It obtains and is spaced for location information, Δ T default takes 120 seconds, complexity
For O (n).
5. a kind of high-precision A P localization method according to claim 1, which is characterized in that in step 4, according to transition plus
Speed corrects current positioning seat calibration method,
When the transition acceleration of front blind-area location information is vx、vy、vz, it is T when location information obtains the interval time period0, then
There is T0≥Δt0, because if T0<Δt0, it will cause last time received information do not handled will also receive and process it is next
A information, and T0>Δt0When, the every T of location information in running fix terminal0The interval of time update it is primary, influence precision because
Element is max { T0, Δ t0}=T0, i.e., the update time delay of location information, correction formula are x=x '+vxT0, y=y '+vyT0, z=z '
+vzT0Wherein, x, y, z is respectively according to the current positioning coordinate position after transition acceleration correction, and x ', y ', z ' are blind respectively
The position that area's location information is got, i.e., away from T this moment0Position coordinates at the time of in the past.
6. a kind of high-precision A P positioning device, which is characterized in that described device includes: memory, processor and is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor executes the computer program operation
In described device in lower unit:
Localization region division unit, for that will need to provide the Spacial domain decomposition of location-based service into multiple positioning sub-blocks；
Blind area marking unit, the confidence interval whether fallen into for judging location information, when location information is not in confidence interval
Labeled as blind area location information；
Accelerogram unit, for recording the average speed value of adjacent area when location information is blind area location information
For transition acceleration；
Amending unit is positioned, for the positioning coordinate current according to transition acceleration correction.
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| CN110572777A (en) * | 2019-10-22 | 2019-12-13 | 电子科技大学 | Cellular area restriction-based auxiliary positioning method |
| CN110572777B (en) * | 2019-10-22 | 2020-07-21 | 电子科技大学 | Cellular area restriction-based auxiliary positioning method |
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