CN110392425A - A kind of indoor orientation method, device, system and storage medium - Google Patents
A kind of indoor orientation method, device, system and storage medium Download PDFInfo
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- CN110392425A CN110392425A CN201910769650.5A CN201910769650A CN110392425A CN 110392425 A CN110392425 A CN 110392425A CN 201910769650 A CN201910769650 A CN 201910769650A CN 110392425 A CN110392425 A CN 110392425A
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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
- G01S5/0257—Hybrid positioning
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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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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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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Abstract
The embodiment of the invention discloses a kind of indoor orientation method, device, system and storage mediums, this method comprises: obtaining the signal strength indication of each base station corresponding location information and current time in terminal device preset range；Denoising is carried out to signal strength indication；According to the corresponding signal strength indication after treatment in i-th of base station, the distance between terminal device and i-th of base station are determined；According to the corresponding location information in each base station and the distance between terminal device and base station, the rough location information of terminal device is estimated；Rough location information is smoothed, the actual position information of terminal device is obtained.It, can be while guaranteeing at low cost, additionally it is possible to for complicated space environment, avoid positioning accuracy by noise jamming, greatly improve the precision and stability of positioning by this kind of mode.So that the location technology based on signal strength indication is no longer influenced by the limitation of scene, user experience is greatly improved.
Description
Technical field
The present embodiments relate to technical field of data processing, and in particular to a kind of indoor orientation method, device, system and
Storage medium.
Background technique
Most of activity time is all indoors, to wish to realize positioning indoors in many cases to the mankind daily.At present
Outdoor positioning technology maturation is widely used.It is more demanding to signal reception but since GPS signal power is very low, and it is indoor
Environment is mostly built by armored concrete, and GPS signal will receive the barrier of wall or reflection cannot be introduced into interior, causes to receive
Less than satellite-signal, so can not be positioned indoors.
Indoor positioning is positioned there is also some algorithms for example, by using RSSI at present.RSSI location technology is as indoor
One of location technology, is mainly used in small range positioning, strong applicability at low cost, but, for complicated space environment,
Big by noise signal interference, stability is poor, and positioning accuracy is not high, causes the usage scenario of the location technology limited, user experience
It spends not high.
Summary of the invention
For this purpose, the embodiment of the present invention provides a kind of indoor orientation method, device, system and storage medium, it is existing to solve
When using RSSI location technology to indoor positioning in technology, stability is poor in complicated space environment, and positioning accuracy is not high
Technical problem.
To achieve the goals above, the embodiment of the present invention provides the following technical solutions:
According to a first aspect of the embodiments of the present invention, a kind of indoor orientation method is provided, this method comprises:
Obtain the letter of each base station corresponding location information and current time in terminal device preset range
Number intensity value；
Denoising is carried out to the signal strength indication of each base station, obtains signal strength indication after treatment；
According to the corresponding signal strength indication after treatment in i-th of base station, determine between terminal device and i-th of base station
Distance；
According to the corresponding location information in each base station and the distance between terminal device and each base station,
Estimate the rough location information of terminal device；
The rough location information of terminal device is smoothed, obtains the actual position information of terminal device, wherein i
For more than or equal to 1, and it is less than or equal to the numerical value of total number of base, i successively progressive value, and the initial value of i is 1.
Further, if i-th of base station current time does not have signal strength indication, when according to default before current time
Between the corresponding historical signal intensity value in i-th of base station in section, estimate the signal strength indication at current time.
Further, according to the corresponding signal strength indication after treatment in i-th of base station, terminal device and i-th are determined
The distance between a base station, specifically includes:
The corresponding signal strength indication after treatment in i-th of base station is converted into terminal and set using lognormal model
It is standby the distance between with i-th of base station.
Further, according to the corresponding location information in each base station and terminal device and each base station it
Between distance, before the rough location information for estimating terminal device, method further include:
It determines in current time, first base station belonging to maximum value in signal strength indication after treatment；
From predeterminable area grouping, the first area where first base station is determined；
If the signal strength maximum value of current time after treatment and the signal strength indication of previous moment after treatment
Difference between maximum value is less than or equal to preset threshold, then defines the region that terminal device is currently located as previous moment warp
Second area belonging to the corresponding base station of signal strength maximum value of crossing that treated；
Alternatively, if the signal strength maximum value of current time after treatment and the signal of previous moment after treatment are strong
Difference between angle value maximum value is greater than preset threshold, then defining first area is the region where current time terminal device；
And when jth region is more than or equal to preset times threshold by the number that consecutive tracking is region belonging to terminal device
When value, it is determined that jth region is terminal device affiliated area, wherein first area, second area and jth region are pre-
If any region in group areas, j be more than or equal to 1, and be less than or equal to predeterminable area grouping in overall area quantity
Positive integer.
Further, when the actual position information of terminal device is not at jth region, by sciagraphy by terminal device
Actual position information is restricted in jth region.
Further, according to the corresponding location information in each base station and terminal device and each base station it
Between distance, estimate the rough location information of terminal device, specifically include:
According to the corresponding location information in each base station and the distance between terminal device and each base station,
Construct objective function；
Objective function is solved in conjunction with least square method and quasi-Newton method, estimates the rough location letter of terminal device
Breath.
Further, according to the corresponding location information in each base station and terminal device and each base station it
Between distance, after the rough location information for estimating terminal device, method further include:
Using the route matching model of prebuild, by the road network of the rough location information matches of terminal device to prebuild
In, the rough location information of terminal device is smoothed in road network so as to subsequent, obtains the actual bit of terminal device
Confidence breath.
According to a second aspect of the embodiments of the present invention, a kind of indoor positioning device is provided, which includes:
Further, acquiring unit, it is corresponding for obtaining each base station in terminal device preset range
The signal strength indication of location information and current time；
Unit is denoised, denoising is carried out for the signal strength indication to each base station, obtains letter after treatment
Number intensity value；
Processing unit, for according to the corresponding signal strength indication after treatment in i-th of base station, determine terminal device with
The distance between i-th of base station；
According to the corresponding location information in each base station and the distance between terminal device and each base station,
Estimate the rough location information of terminal device；
The rough location information of terminal device is smoothed, obtains the actual position information of terminal device, wherein i
For more than or equal to 1, and it is less than or equal to the numerical value of total number of base, i successively progressive value, and the initial value of i is 1.
According to a third aspect of the embodiments of the present invention, provide a kind of indoor locating system, the system include: processor and
Memory；
Memory is for storing one or more program instructions；
Processor, for running one or more program instructions, to execute appointing in a kind of as above indoor orientation method
One method and step.
According to a fourth aspect of the embodiments of the present invention, a kind of computer storage medium is provided, the computer storage medium
In comprising one or more program instructions, one or more program instructions are used to be executed by a kind of indoor locating system as above a kind of
Method step either in indoor orientation method.
The embodiment of the present invention has the advantages that the signal for obtaining each base station corresponding location information and current time
Then intensity value carries out denoising to the signal strength indication of base station, obtains signal strength indication after treatment.It is strong to signal
Angle value is denoised, mainly in view of since communication environments are complicated and changeable, transmission power is unstable, transmit-receive position is different and
The RSSI value of the influence of the factors such as multipath effect, base station measurement has certain noise, this judgement that can be adjusted the distance brings larger
Error further results in positioning accuracy decline.Therefore, according to signal strength indication, determine between terminal device and base station away from
From being denoised first before.Get each base station respectively between terminal device at a distance from after, according to each base
It stands the distance between terminal device and the location information of each base station, to estimate the rough location information of terminal device,
Finally rough location information is smoothed, obtains the actual position information of terminal device.Pass through this kind of mode, Ke Yi
While guaranteeing at low cost, additionally it is possible to for complicated space environment, avoid positioning accuracy by noise jamming, it is fixed to greatly improve
The precision and stability of position.So that the location technology based on signal strength indication is no longer influenced by the limitation of scene, user experience is big
It is big to improve.
Detailed description of the invention
It, below will be to embodiment party in order to illustrate more clearly of embodiments of the present invention or technical solution in the prior art
Formula or attached drawing needed to be used in the description of the prior art are briefly described.It should be evident that the accompanying drawings in the following description is only
It is merely exemplary, it for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing amplification of offer obtains other implementation attached drawings.
Structure depicted in this specification, ratio, size etc., only to cooperate the revealed content of specification, for
Those skilled in the art understands and reads, and is not intended to limit the invention enforceable qualifications, therefore does not have technical
Essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the function of the invention that can be generated
Under effect and the purpose that can reach, should all still it fall in the range of disclosed technology contents obtain and can cover.
Fig. 1 is a kind of indoor orientation method flow diagram that the embodiment of the present invention 1 provides；
Fig. 2 is the example schematic that a kind of pair of base station provided by the invention carries out region division；
Fig. 3 is a kind of indoor positioning apparatus structure schematic diagram that the embodiment of the present invention 2 provides；
Fig. 4 is a kind of indoor locating system structural schematic diagram that the embodiment of the present invention 3 provides.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily, it is clear that described embodiment is the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
The embodiment of the present invention 1 provides a kind of indoor orientation method, specifically as shown in Figure 1, the method steps are as follows:
Step 110, the corresponding location information in each base station and current is obtained in terminal device preset range
The signal strength indication at moment.
Specifically, obtaining the corresponding location information in each base station and the current time of the position where terminal device
Signal strength indication when only need using the prior art realize, be not the application emphasis to be illustrated here, therefore not
It is repeated after more.
Optionally, it may at a time due to poor signal, obtain strong less than the signal at some base station current time
Angle value, then the signal strength indication at current time can be estimated in the following way.
It that is to say, if i-th of base station current time does not have signal strength indication, according to the preset time before current time
The corresponding historical signal intensity value in i-th of base station in section, estimates the signal strength indication at current time.
Preset time period is the historical signal intensity value in customized period, such as preceding 20s, will be in this preceding 20s
Signal strength indication maximum value or average value are as signal strength indication at this time.
Or preset time period be not be regular time section, but determines according to actual conditions for current time it
Difference at the time of preceding the last time gets signal strength indication between current time is as preset time.Also, it will be current
Signal strength indication of the last signal strength indication got as current time before moment.No matter by which kind of mode,
It is all a kind of mode that can be used in the present embodiment.It is of course also possible to which the signal for obtaining current time by other means is strong
Angle value.
Step 120, denoising is carried out to the signal strength indication of each base station, obtains signal strength after treatment
Value.
Denoising is carried out to the signal strength indication of each base station, is mainly considered since communication environments are complicated more
Become, transmission power is unstable, transmit-receive position is different and the influence of the factors such as multipath effect, the RSSI value of base station measurement has one
Fixed noise, this judgement that can be adjusted the distance bring large error, further result in positioning accuracy decline.Therefore, in this step
It needs to denoise the signal strength indication of base station.Specific denoising method can be using classical kalman filter method to signal
Intensity value is denoised.
Signal strength indication Kalman filter model mainly includes two processes, i.e. prediction and correction, their equation difference
For formula (1), formula (2)
Wherein,For k moment state variable predicted value,For the state variable covariances matrix of prediction, Q makes an uproar for process
Sound, KkFor Kalman filtering gain factor, zkFor observed quantity, R is observation noise, xk、PkRespectively state variable and its covariance
Optimal estimation.R can be obtained by actual measurement, and R value is 4 in the present embodiment.Q value is with the tranmitting frequency in terminal device
Related, main by adjusting ginseng to obtain, the tranmitting frequency in the present embodiment in terminal device is 1Hz, and Q value is 0.1.
Step 130, according to the corresponding signal strength indication after treatment in i-th of base station, terminal device and i-th are determined
The distance between base station.
Specifically, i is and to be less than or equal to the numerical value of total number of base more than or equal to 1, i successively progressive value, and
The initial value of i is 1.
Each base station is calculated respectively the distance between with terminal device.It, can be using logarithm just in specific execute
The corresponding signal strength indication after treatment in i-th of base station is converted between terminal device and i-th of base station by states model
Distance.
Specific formula for calculation is referring to as follows:
RSSI=A-10nlg (d) (formula 3)
Wherein, A is the signal strength indication value at 1 meter of terminal device, can be averaged to obtain by repeatedly measuring, this implementation
Example A value is -63.N indicates the environmental attenuation factor, the RSSI of different distance can be measured, according to the rssi measurement of different distance
Value is obtained by curve matching.It A is brought into formula 3 is carried out curve fitting by " cftool " tool of Matlab and acquire the value of n,
The present embodiment n value is 2.
Step 140, according between the corresponding location information in each base station and terminal device and each base station
Distance, estimate the rough location information of terminal device.
Specifically, can use the corresponding location information in each base station and terminal device and each base station
The distance between, construct objective function；Objective function is solved in conjunction with least square method and quasi-Newton method, estimation terminal is set
Standby rough location information.
Again when specific execution, it is assumed that the coordinate information of i-th of base station is (xi,yi), between terminal device and i-th of base station
Distance be di.The objective function of construction is referring specifically to shown in formula 4:
Wherein, (xp,yp) be terminal device rough location information, k is iteration factor, and the initial value of k is i-th of 0, i
Base station.
After determining objective function, the initial of the rough location information of terminal device can be determined by least square method
Value, is then iterated refinement by rough location information of the quasi-Newton method to terminal device.It is noted that using minimum
The mode that square law obtains initial value can effectively reduce quasi-Newton method the number of iterations, while avoid local receipts to a certain extent
The case where holding back.
Quasi-Newton method is to solve for one of nonlinear optimal problem most efficient method, it effectively improves Newton method and needs every time
It is required that the defect of the Hessian inverse of a matrix of solution complexity, common quasi- using the approximate Hessian inverse of a matrix of positive definite matrix
Newton method has DFP algorithm and BFGS algorithm, and the present invention selects BFGS algorithm, and specific step is as follows for the algorithm:
(1) given initial valueWith precision threshold ε, and k=0 is enabled, B0=I；
(2) direction of search is determined
(3) it is searched for using Armijo and determines optimal step sizeAnd it enables
(4) judge the condition of convergence.If | | gk+1| | < ε then terminates iteration；
(5)yk+1=gk+1-gk；
(6)
(7) iteration factor is updated, k=k+1 goes to step (2).
Wherein k is iteration factor,For iterative solution, ε is iteration convergence threshold value, BkFor the Hessian matrix of iterative approach,
gkForLocate the first derivative of objective function, dkFor the direction of search, λkFor optimal step size.
As above, in order to avoid quasi-Newton method local convergence, least square method is used when determining initial value.When getting base
When quantity of standing is greater than 3 or more, the base station as shown in formula (5) can be listed to the distance relation of terminal device, take wherein one
Group converts it into the form of the AX=b as shown in formula (6).The inconsistent equation can acquire estimated location using least square method
X=(ATA)-1ATb。
Before executing the step, this method can also include:
It determines in current time, first base station belonging to maximum value in signal strength indication after treatment；
From predeterminable area grouping, the first area where first base station is determined；
If the signal strength maximum value of current time after treatment and the signal strength indication of previous moment after treatment
Difference between maximum value is less than or equal to preset threshold, then defines the region that terminal device is currently located as previous moment warp
Second area belonging to the corresponding base station of signal strength maximum value of crossing that treated；
Alternatively, if the signal strength maximum value of current time after treatment and the signal of previous moment after treatment are strong
Difference between angle value maximum value is greater than preset threshold, then defining first area is the region where current time terminal device；
And when jth region is more than or equal to preset times threshold by the number that consecutive tracking is region belonging to terminal device
When value, it is determined that jth region is terminal device affiliated area, wherein first area, second area and jth region are pre-
If any region in group areas, j be more than or equal to 1, and be less than or equal to predeterminable area grouping in overall area quantity
Positive integer.
It is positioned in a specific example, such as place as shown in Figure 2.According to place information, by it
It is divided into 2 regions.There are point A, B, C, D, E, F composition in region 1, and region 2 is made of point G, H, I, J.Square indicia is base in Fig. 2
It stands deployed position, has 5 base stations in region 1, there is 3 base stations in region 2.When carrying out region detection, first by each base of input
It stands information, is grouped according to affiliated area, that is to say and obtain predeterminable area grouping.Grouping process can be set in advance by artificially
It is fixed, and the information after grouping is transferred to system.Follow-up system is facilitated to identify which group each base station belongs to.It can also be by being
System is voluntarily grouped according to the location information of base station.Then according to signal strength filter value, the filtering of preliminary judgement maximum signal
Being worth biggish region is terminal device current time affiliated area (first area).Meanwhile if the signal in current region is strong
The difference for the zone signal intensities maximum value that degree maximum value and last moment are determined then retains last moment institute no more than 5dB
The region (second area) of judgement.It finally will do it the switching in region, positioning will record determined region every time, when some area
When the number that domain (j-th of region) is continuously determined is more than 5 times, then corresponding region is switched to.The step is mainly used for rear
Continue and base station is screened when being positioned, and in the final position information of last outlet terminal equipment, if terminal is set
Standby final position information not in the determinating area (j-th of region), then by the method for projection limitation in the area.
Wherein, first area, second area and jth region be predeterminable area grouping in any region, j be more than or equal to 1,
And it is less than or equal to the positive integer of overall area quantity in predeterminable area grouping.
Step 150, the rough location information of terminal device is smoothed, obtains the actual bit confidence of terminal device
Breath.
Optionally, before executing the step, this method can also include: the route matching model using prebuild, will
The rough location information matches of terminal device into the road network of prebuild, so as to it is subsequent in road network to the first step of terminal device
Confidence breath is smoothed, and obtains the actual position information of terminal device.
Road network is the road network of prebuild, can be by obtaining in indoor map.Route matching model can use hidden
Markov model, Hidden Markov Model mainly include 5 elements --- 2 state sets and 3 probability matrixs.
(1) hidden state S: the practical state implied in hidden Markov model, it usually can not be by directly observing
It arrives, meets Markov property between these states.
(2) Observable state O: the state as obtained from directly observing, it is in hidden Markov model and implicit
State is associated.
(3) state transition probability matrix A: the transition probability in description hidden Markov model between each state.
(4) observation state probability matrix B: indicate that under the conditions of t moment hidden state is S, Observable state is the general of O
Rate.
(5) initial state probabilities matrix π: the probability matrix that hidden state is carved at the beginning is indicated.
Hidden Markov model can solve evaluation, decoding and study three classes problem, and wherein route matching problem is actually
It is exactly a decoding problem, decoding problem is used to determine the hiding sequence that most probable produces observation sequence, generally be calculated using Viterbi
Method solves.Observation probability matrix B (the b that the present embodiment usesjAnd state-transition matrix A (a (k))ij) it is respectively formula (7), formula
(8)。
Wherein, ot、stThe respectively observation state (terminal device estimated location) and hidden state (road network) of t moment, riFor
The subpoint of observation point on each path, α, β are probability function concentration parameter.
Then, using exponentially weighted moving average (EWMA) method to terminal device estimated location (if not pass through route matching, this
In terminal device estimated location be rough location) carried out smoothing processing.The method of weighted moving average, be to observed value respectively to
Different weighting coefficients is given, acquires moving average by different weights coefficient, the method for determining predicted value.Exponential weighting is mobile flat
Equal method refers to that the weighting coefficient of each numerical value is exponential at any time and successively decreases that the numeric weights coefficient closer to current time is got over
Greatly, its expression formula is as follows:
st=β st-1+(1-β)θt(formula 9)
Wherein, θtFor the estimated location of t moment terminal device, st-1For the smooth position of last moment, stIt is smooth for t moment
Position afterwards, β are the rate of exponential weighting decline, and value is smaller to be declined faster, and β value is 0.75 in the present embodiment.
A kind of indoor orientation method provided in an embodiment of the present invention obtains the corresponding location information in each base station and current
Then the signal strength indication at moment carries out denoising to the signal strength indication of base station, obtains signal strength after treatment
Value.Signal strength indication is denoised, mainly in view of since communication environments are complicated and changeable, transmission power is unstable, transmitting-receiving
The influence of the factors such as direction difference and multipath effect, the RSSI value of base station measurement have certain noise, this can adjust the distance
Judgement brings large error, further results in positioning accuracy decline.Therefore, according to signal strength indication, determine terminal device with
It is denoised first before the distance between base station.Get each base station respectively between terminal device at a distance from after,
According to the location information of the distance between each base station and terminal device and each base station, to estimate terminal device
Rough location information is finally smoothed rough location information, obtains the actual position information of terminal device.By this
Kind mode, can be while guaranteeing at low cost, additionally it is possible to for complicated space environment, avoid positioning accuracy dry by noise
It disturbs, greatly improves the precision and stability of positioning.So that the location technology based on signal strength indication is no longer influenced by the limitation of scene,
User experience greatly improves.
Corresponding with above-described embodiment 1, the embodiment of the present invention 2 additionally provides a kind of indoor positioning device, specifically such as Fig. 3 institute
Show, which includes: acquiring unit 301, denoising unit 302 and processing unit 303.
Acquiring unit 301, for obtaining the corresponding position letter in each base station in terminal device preset range
The signal strength indication of breath and current time；
Unit 302 is denoised, denoising is carried out for the signal strength indication to each base station, obtains after treatment
Signal strength indication；
Processing unit 303, for determining that terminal is set according to the corresponding signal strength indication after treatment in i-th of base station
It is standby the distance between with i-th of base station；
According to the corresponding location information in each base station and the distance between terminal device and each base station,
Estimate the rough location information of terminal device；
The rough location information of terminal device is smoothed, obtains the actual position information of terminal device, wherein i
For more than or equal to 1, and it is less than or equal to the numerical value of total number of base, i successively progressive value, and the initial value of i is 1.
Optionally, if i-th of base station current time does not have signal strength indication, processing unit 303 is also used to, according to current
The corresponding historical signal intensity value in i-th of base station, estimates the signal strength indication at current time in preset time period before moment.
Optionally, processing unit 303 is specifically used for, using lognormal model, i-th of base station is corresponding by handling
Signal strength indication afterwards, is converted into the distance between terminal device and i-th of base station.
Optionally, processing unit 303 is also used to, and is determined in current time, maximum in signal strength indication after treatment
First base station belonging to value；
From predeterminable area grouping, the first area where first base station is determined；
If the signal strength maximum value of current time after treatment and the signal strength indication of previous moment after treatment
Difference between maximum value is less than or equal to preset threshold, then defines the region that terminal device is currently located as previous moment warp
Second area belonging to the corresponding base station of signal strength maximum value of crossing that treated；
Alternatively, if the signal strength maximum value of current time after treatment and the signal of previous moment after treatment are strong
Difference between angle value maximum value is greater than preset threshold, then defining first area is the region where current time terminal device；
And when jth region is more than or equal to preset times threshold by the number that consecutive tracking is region belonging to terminal device
When value, it is determined that jth region is terminal device affiliated area, wherein first area, second area and jth region are pre-
If any region in group areas, j be more than or equal to 1, and be less than or equal to predeterminable area grouping in overall area quantity
Positive integer.
Optionally, processing unit 303 is also used to, and when the actual position information of terminal device is not at jth region, passes through throwing
The actual position information of terminal device is restricted in jth region by shadow method.
Optionally, processing unit 303 is specifically used for, according to the corresponding location information in each base station and terminal
The distance between equipment and each base station construct objective function；
Objective function is solved in conjunction with least square method and quasi-Newton method, estimates the rough location letter of terminal device
Breath.
Optionally, processing unit 303 is also used to, using the route matching model of prebuild, by the first step of terminal device
Confidence breath is matched in the road network of prebuild, is smoothly located in road network to the rough location information of terminal device so as to subsequent
Reason, obtains the actual position information of terminal device.
Function performed by each component is in above-mentioned implementation in a kind of indoor positioning device provided in an embodiment of the present invention
It is discussed in detail in example 1, therefore does not do excessively repeat here.
A kind of indoor positioning device provided in an embodiment of the present invention obtains the corresponding location information in each base station and current
Then the signal strength indication at moment carries out denoising to the signal strength indication of base station, obtains signal strength after treatment
Value.Signal strength indication is denoised, mainly in view of since communication environments are complicated and changeable, transmission power is unstable, transmitting-receiving
The influence of the factors such as direction difference and multipath effect, the RSSI value of base station measurement have certain noise, this can adjust the distance
Judgement brings large error, further results in positioning accuracy decline.Therefore, according to signal strength indication, determine terminal device with
It is denoised first before the distance between base station.Get each base station respectively between terminal device at a distance from after,
According to the location information of the distance between each base station and terminal device and each base station, to estimate terminal device
Rough location information is finally smoothed rough location information, obtains the actual position information of terminal device.By this
Kind mode, can be while guaranteeing at low cost, additionally it is possible to for complicated space environment, avoid positioning accuracy dry by noise
It disturbs, greatly improves the precision and stability of positioning.So that the location technology based on signal strength indication is no longer influenced by the limitation of scene,
User experience greatly improves.
Corresponding with above-described embodiment, the embodiment of the present invention 3 additionally provides a kind of indoor locating system, specific such as Fig. 4
Shown, which includes: processor 401 and memory 402；
Memory 402 is for storing one or more program instructions；
Processor 401, for running one or more program instructions, a kind of room for being introduced to execute embodiment as above
Method step either in interior localization method.
A kind of indoor locating system provided in an embodiment of the present invention obtains the corresponding location information in each base station and current
Then the signal strength indication at moment carries out denoising to the signal strength indication of base station, obtains signal strength after treatment
Value.Signal strength indication is denoised, mainly in view of since communication environments are complicated and changeable, transmission power is unstable, transmitting-receiving
The influence of the factors such as direction difference and multipath effect, the RSSI value of base station measurement have certain noise, this can adjust the distance
Judgement brings large error, further results in positioning accuracy decline.Therefore, according to signal strength indication, determine terminal device with
It is denoised first before the distance between base station.Get each base station respectively between terminal device at a distance from after,
According to the location information of the distance between each base station and terminal device and each base station, to estimate terminal device
Rough location information is finally smoothed rough location information, obtains the actual position information of terminal device.By this
Kind mode, can be while guaranteeing at low cost, additionally it is possible to for complicated space environment, avoid positioning accuracy dry by noise
It disturbs, greatly improves the precision and stability of positioning.So that the location technology based on signal strength indication is no longer influenced by the limitation of scene,
User experience greatly improves.
Corresponding with above-described embodiment, the embodiment of the invention also provides a kind of computer storage medium, the computers
Include one or more program instructions in storage medium.Wherein, one or more program instructions are used for by a kind of indoor positioning system
System executes a kind of indoor orientation method as described above.
In embodiments of the present invention, processor can be a kind of IC chip, the processing capacity with signal.Processing
Device can be general processor, digital signal processor (Digital Signal Processor, abbreviation DSP), dedicated integrated
Circuit (Application Specific work ntegrated Circuit, abbreviation ASIC), field programmable gate array
(FieldProgrammable Gate Array, abbreviation FPGA) either other programmable logic device, discrete gate or crystal
Pipe logical device, discrete hardware components.
It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General procedure
Device can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with disclosed in the embodiment of the present invention
Method the step of can be embodied directly in hardware decoding processor and execute completion, or with hardware in decoding processor and soft
Part block combiner executes completion.Software module can be located at random access memory, and flash memory, read-only memory may be programmed read-only storage
In the storage medium of this fields such as device or electrically erasable programmable memory, register maturation.Processor reads storage medium
In information, in conjunction with its hardware complete the above method the step of.
Storage medium can be memory, such as can be volatile memory or nonvolatile memory, or may include
Both volatile and non-volatile memories.
Wherein, nonvolatile memory can be read-only memory (Read-Only Memory, abbreviation ROM), may be programmed
Read-only memory (Programmable ROM, abbreviation PROM), Erasable Programmable Read Only Memory EPROM (Erasable PROM, letter
Claim EPROM), electrically erasable programmable read-only memory (Electrically EPROM, abbreviation EEPROM) or flash memory.
Volatile memory can be random access memory (Random Access Memory, abbreviation RAM), be used as
External Cache.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static random-access is deposited
Reservoir (Static RAM, abbreviation SRAM), dynamic random access memory (Dynamic RAM, abbreviation DRAM), synchronous dynamic with
Machine accesses memory (Synchronous DRAM, abbreviation SDRAM), double data speed synchronous dynamic RAM
(Double Data RateSDRAM, abbreviation DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced
SDRAM, abbreviation ESDRAM), synchronized links dynamic random access memory (Synchlink DRAM, abbreviation SLDRAM) and directly
Rambus random access memory (DirectRambus RAM, abbreviation DRRAM).
The storage medium of description of the embodiment of the present invention is intended to include but is not limited to depositing for these and any other suitable type
Reservoir.
Those skilled in the art are it will be appreciated that in said one or multiple examples, function described in the invention
It can be realized with hardware with combination of software.When application software, corresponding function can be stored in computer-readable medium
In or as on computer-readable medium one or more instructions or code transmitted.Computer-readable medium includes meter
Calculation machine storage medium and communication media, wherein communication media includes convenient for transmitting computer journey from a place to another place
Any medium of sequence.Storage medium can be any usable medium that general or specialized computer can access.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all any modification, equivalent substitution, improvement and etc. on the basis of technical solution of the present invention, done, this should all be included in
Within the protection scope of invention.
Claims (10)
1. a kind of indoor orientation method, which is characterized in that the described method includes:
It is strong to obtain the corresponding location information in each base station and the signal at current time in terminal device preset range
Angle value；
Denoising is carried out to the signal strength indication of each base station, obtains signal strength indication after treatment；
According to the corresponding signal strength indication after treatment in i-th of base station, the terminal device and i-th of base station are determined
The distance between；
According to the corresponding location information in each base station and the distance between the terminal device and each base station,
Estimate the rough location information of the terminal device；
The rough location information of the terminal device is smoothed, the actual position information of the terminal device is obtained,
Wherein i is and to be less than or equal to the numerical value of total number of base, i successively progressive value, and the initial value of i is more than or equal to 1
1。
2. the method according to claim 1, wherein if when i-th of base station current time does not have signal strength indication,
According to the corresponding historical signal intensity value in i-th of base station in the preset time period before current time, the letter at current time is estimated
Number intensity value.
3. the method according to claim 1, wherein described corresponding after treatment according to i-th base station
Signal strength indication determines the distance between the terminal device and i-th of base station, specifically includes:
The corresponding signal strength indication after treatment in i-th of base station is converted into the end using lognormal model
The distance between end equipment and i-th of base station.
4. method according to claim 1-3, which is characterized in that described corresponding according to each base station
Location information and the distance between the terminal device and each base station estimate the rough location letter of the terminal device
Before breath, the method also includes:
It determines in current time, first base station belonging to maximum value in signal strength indication after treatment；
From predeterminable area grouping, the first area where the first base station is determined；
If the signal strength indication of the signal strength maximum value of current time after treatment and previous moment after treatment is maximum
Difference between value is less than or equal to preset threshold, then defines the region that the terminal device is currently located as previous moment warp
Second area belonging to the corresponding base station of signal strength maximum value of crossing that treated；
Alternatively, if the signal strength maximum value of current time after treatment and the signal strength indication of previous moment after treatment
Difference between maximum value is greater than the preset threshold, then defining the first area is the area where current time terminal device
Domain；
And when jth region is more than or equal to preset times threshold value by the number that consecutive tracking is region belonging to terminal device
When, it is determined that jth region is terminal device affiliated area, wherein first area, second area and jth region are described
Any region in predeterminable area grouping, j are to be grouped the area Zhong Zong more than or equal to 1, and less than or equal to the predeterminable area
The positive integer of domain quantity.
5. according to the method described in claim 4, it is characterized in that, when the actual position information of the terminal device is not described
When jth region, the actual position information of the terminal device is restricted in the jth region by sciagraphy.
6. method according to claim 1-3, which is characterized in that described corresponding according to each base station
Location information and the distance between the terminal device and each base station estimate the rough location letter of the terminal device
Breath, specifically includes:
According to the corresponding location information in each base station and the distance between the terminal device and each base station,
Construct objective function；
The objective function is solved in conjunction with least square method and quasi-Newton method, estimates the rough location of the terminal device
Information.
7. method according to claim 1-3, which is characterized in that described corresponding according to each base station
Location information and the distance between the terminal device and each base station estimate the rough location letter of the terminal device
After breath, the method also includes:
Using the route matching model of prebuild, by the road network of the rough location information matches of the terminal device to prebuild
In, the rough location information of the terminal device is smoothed in the road network so as to subsequent, obtains the terminal
The actual position information of equipment.
8. a kind of indoor positioning device, which is characterized in that described device includes:
Acquiring unit, for obtaining in terminal device preset range the corresponding location information in each base station and current
The signal strength indication at moment；
Unit is denoised, carries out denoising for the signal strength indication to each base station, the signal obtained after treatment is strong
Angle value；
Processing unit, for according to the corresponding signal strength indication after treatment in i-th of base station, determine the terminal device with
The distance between described i-th of base station；
According to the corresponding location information in each base station and the distance between the terminal device and each base station,
Estimate the rough location information of the terminal device；
The rough location information of the terminal device is smoothed, the actual position information of the terminal device is obtained,
Wherein i is and to be less than or equal to the numerical value of total number of base, i successively progressive value, and the initial value of i is more than or equal to 1
1。
9. a kind of indoor locating system, which is characterized in that the system comprises: processor and memory；
The memory is for storing one or more program instructions；
The processor, for running one or more program instructions, to execute such as the described in any item sides of claim 1-7
Method.
10. a kind of computer storage medium, which is characterized in that refer in the computer storage medium comprising one or more programs
It enables, one or more of program instructions are used to be executed by a kind of indoor locating system as claim 1-7 is described in any item
Method.
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