TW201816419A - Dynamic indoor positioning system and method thereof that allows for estimating a real-time position of a mobile terminal device based on an adjusted received signal strength of the mobile terminal device - Google Patents

Abstract

The invention provides a dynamic indoor positioning method, which comprises the following steps: in a positioning phase, collectively transmitting multiple Received Signal Strengths (RSS) received by a mobile terminal device from a plurality of wireless access points, multiple Received Signal Strengths mutually received by the plurality of wireless access points from the plurality of wireless access points, and a first database of an offline phase to a dynamic RSS adjustment module of a server; calculating an adjusted RSS of the mobile terminal device with the dynamic RSS adjustment module; conducting fingerprint recognition matching for the adjusted received signal strength and a second database of the offline phase with a fingerprint recognition comparison module; and estimating a real-time position of the mobile terminal device. Furthermore, the invention also provides a dynamic indoor positioning system.

Description

Dynamic indoor positioning system and method

The invention relates to a positioning system and a method thereof, in particular to an indoor positioning system and method based on route information and fingerprint-based dynamic received signal strength.

In recent years, due to the rise of smart devices and the continuous advancement of technology, the rise of location-based service (LBS) applications is mainly hoped that the combination of smart terminal devices and the Internet can be used. Location of the user, which in turn provides information that the user / user may need.

In general, the application of Global Positioning System (GPS) positioning technology has become quite common. For example, the global positioning system can provide outdoor positioning or route planning, but it is affected by building shielding. In large indoor environments, For example, department stores, hospitals, and indoor parking lots cannot receive GPS signals. Therefore, the commonly used GPS positioning cannot be performed effectively. Therefore, other methods are urgently needed to effectively perform indoor positioning.

Common technologies for indoor area positioning today include Wi-Fi, Bluetooth wireless radio frequency technology, Earth's magnetic field, visible light, sound waves, inertial positioning, etc. In addition, earlier technologies There are wireless technologies such as Zigbee, infrared and Radio Frequency IDentification (RFID).

In other words, because the global positioning system can no longer meet the needs of indoor area positioning, and in traditional indoor positioning systems, there will always be many unreasonable positioning results, such as positioning the location in a wall or in other obstacles.

Based on the lack of the above-mentioned conventional technologies, it is necessary to provide an indoor positioning result that can effectively improve the irrationality in order to increase the indoor positioning accuracy. Therefore, how to provide a better indoor positioning system and method to achieve the best accuracy of indoor positioning is an urgent problem.

In view of the shortcomings of the above-mentioned conventional technologies, the dynamic indoor positioning method of the present invention includes the following steps: In a positioning phase (online phase), a mobile terminal device receives a plurality of received signal strengths (Received Signal Strength, RSS) from a plurality of wireless base stations. ). The plurality of wireless base stations mutually receive the plurality of received signal strengths from the plurality of wireless base stations and a first database of an offline phase, which are transmitted to a dynamic receiving signal strength adjustment module of a server. RSS adjustment module); calculates the adjusted received signal strength (adjusted RSS) of the mobile terminal device with the dynamic received signal strength adjustment module; and uses a fingerprint recognition comparison module to adjust the adjusted received signal strength with the The second database in the preliminary stage performs fingerprint identification and comparison; and estimates the real-time position of the mobile terminal device.

Furthermore, the dynamic indoor positioning method of the present invention includes the following steps: In the prior stage, the plurality of wireless base stations mutually receive the average value and the standard deviation of the plurality of received signal strengths from the plurality of wireless base stations and store them in the servo. The first database of the processor.

In addition, the dynamic indoor positioning method of the present invention includes the following steps: In the preliminary stage, the position information of the plurality of wireless base stations, the direction of the mobile terminal device, and the average received signal strength of the plurality of wireless base stations are stored in the servo. The second database of the processor.

Preferably, the dynamic received signal strength adjustment module of the present invention may include a dynamic received signal strength adjustment algorithm. The dynamic received signal strength adjustment algorithm includes the following steps: in the prior stage, stored by the first database The average and standard deviation of the plurality of received signal strengths, establish a plurality of connection pairings between the plurality of base stations; in the positioning phase, calculate a moving average of the strength of the plurality of received signals, and compare the moving average with the first A database for comparison; obtaining a plurality of valid connection pairs from the plurality of connection pairs; performing a RSS shift estimation of the received signal strength; and calculating the adjusted received signal strength.

Preferably, the dynamic indoor positioning method of the present invention includes the following steps: establishing indoor route information.

In addition, the present invention also provides a dynamic indoor positioning system. The dynamic indoor positioning system includes a server including a dynamic receiving signal strength adjustment module and a fingerprint identification comparison module in a positioning stage. Among them, the dynamic receiving signal strength adjustment module receives a mobile terminal device receiving a plurality of received signal strengths (RSS) from a plurality of wireless base stations and the plurality of wireless base stations mutually receive a plurality of numbers from the plurality of wireless base stations. Receive the signal strength, calculate the adjusted received signal strength (adjusted RSS) of the mobile terminal device, and send the adjusted received signal strength of the mobile terminal device to the fingerprint identification comparison module; and in the server, beforehand A first database and a second database in the stage are respectively input to the dynamic receiving signal strength adjustment in the positioning stage. The entire module and the fingerprint identification and comparison module. Therefore, after the fingerprint identification comparison of the fingerprint identification comparison module is completed, the instant position of the mobile terminal device can be estimated.

Preferably, in the prior stage, the first database stores an average value and a standard deviation of the plurality of wireless base stations receiving each other the plurality of received signal strengths from the plurality of wireless base stations.

Preferably, in the prior stage, the second database stores the position information of the plurality of wireless base stations, the direction of the mobile terminal device, and the average received signal strength of the plurality of wireless base stations.

The dynamic indoor positioning system of the present invention may include: an indoor route information module to provide route information of an indoor area.

10‧‧‧ Mobile Terminal

12‧‧‧ indoor area

12a, 12b, 12c

14‧‧‧ reference point

16‧‧‧Wireless Base Station

20‧‧‧Server

22‧‧‧First Database

24‧‧‧ Dynamic receiving signal strength adjustment module

26‧‧‧Fingerprint identification comparison module

28‧‧‧Second Database

30‧‧‧Real-time location

poff‧‧‧ beforehand

pon‧‧‧ positioning stage

S31, S33, S35, S37 ‧‧‧ steps

S41, S43, S45‧‧‧ steps

S51, S53, S55, S57, S59‧‧‧ steps

FIG. 1 shows a schematic diagram of a basic architecture of dynamic indoor positioning according to an embodiment of the present invention; FIG. 2 shows a schematic diagram of a dynamic indoor positioning system according to an embodiment of the present invention; FIG. 3 shows a flowchart of a dynamic indoor positioning method according to an embodiment of the present invention; FIG. 4 shows a flowchart of a preliminary stage of a dynamic indoor positioning method according to an embodiment of the present invention; and FIG. 5 is a dynamic received signal strength adjustment algorithm of the dynamic indoor positioning method according to an embodiment of the present invention Flowchart.

The following is a description of specific embodiments of the present invention. Those skilled in the art can easily understand the present invention from the content disclosed in this specification. Other advantages and effects of the invention. The present invention can also be implemented or applied through other different specific examples, and various details in the description of the present invention can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention.

In addition, the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to match the content disclosed in the description for those familiar with this technology to understand and read, and are not intended to limit the limitations that the present invention can implement. Conditions, so it does not have technical significance, any structural modification, proportional relationship change, or size adjustment shall fall within the scope of the present disclosure without affecting the effects and objectives that can be achieved by the present invention. The technical content must be within the scope.

The invention proposes a dynamic indoor positioning system architecture based on route information and fingerprint-based dynamic received signal strength. As shown in the basic structure of the fingerprint-type dynamic receiving signal strength shown in FIG. 1, a mobile terminal device 10 is in an indoor space 12 environment. As shown in FIG. 1, according to an embodiment of the present invention, the indoor area 12 includes three areas. Regions 12a, 12b, and 12c, respectively. Among them, there are a plurality of reference points 14 in the area 12a, the area 12b, and the area 12c. According to the embodiment of the present invention, a plurality of wireless access points 16 are set in the indoor area 12. Due to the design of the plurality of reference points 14, the present invention adopts a fingerprint-type dynamic indoor positioning method for indoor positioning. Therefore, the present invention proposes a better dynamic indoor positioning system based on route information and the strength of the fingerprint-type dynamic receiving signal. (dynamic indoor positioning system) and methods.

According to an embodiment of the present invention, the mobile terminal device 10 of the present invention may be a handheld device, a mobile terminal device, a mobile phone, a smart phone, a tablet computer, Devices such as a laptop computer and a notebook computer are not limited to the present invention.

In addition, as shown in FIG. 2, FIG. 2 shows a schematic diagram of a dynamic indoor positioning system according to an embodiment of the present invention. The dynamic indoor positioning system of the present invention includes a mobile terminal device 12 and a plurality of wireless base stations 16 (that is, N wireless base stations). Station) and a server 20, the server 20 includes an offline phase poff and an online phase pon. During the positioning phase poff, a dynamic received signal strength adjustment module Dynamic RSS adjustment module) 24 The receiving mobile terminal device 12 receives a plurality of received signal strengths 18a from the plurality of wireless base stations 16 and the plurality of wireless base stations 16 mutually receive the plurality of received signal strengths 18b from the plurality of wireless base stations 16 and calculates an action. Adjusted received signal strength of the terminal device 12 (adjusted RSS), and transmit the adjusted received signal strength of the mobile terminal device 12 to a fingerprint identification comparison module 26; in the pre-stage poff, a first database 22 and a second data The library 28 is input to the dynamic receiving signal strength adjustment module 24 and the fingerprint identification comparison module 2 of the pon during the positioning phase. 6; the real-time position 30 of the mobile terminal device 12 can be estimated thereafter.

According to an embodiment of the present invention, the dynamic indoor positioning system of the present invention may include an indoor route information module, and the indoor route information module may provide route information of an indoor area.

According to an embodiment of the present invention, in the pre-stage poff, the first database 22 stores a mean and a standard deviation of the plurality of wireless base stations 16 receiving each other from the plurality of wireless base stations 16 of the plurality of received signal strengths 18b. .

In addition, according to the embodiment of the present invention, in the pre-stage poff, the second database 28 stores the position information of the plurality of wireless base stations 16, the direction of the mobile terminal device 12, and the plurality of non-points. The average received signal strength of the base station 16 (average RSS).

In order to improve the accuracy of indoor positioning, the dynamic received signal strength adjustment module 24 provided by the present invention may include a dynamic received signal adjustment algorithm.

In short, the dynamic receiving signal strength adjustment algorithm proposed by the present invention mainly measures the signal strength of each other through a plurality of wireless base stations 16, and the signal strength of different wireless base stations 16 changes when observing the pre-stage poff and the positioning stage pon. The intensity of the signal received by the user's mobile terminal device 12 will be adjusted to conform to the environment of the database (i.e. the first database 22 and the second database 28) established in the pre-stage poff, and the signal will be performed on the same basis Intensity of fingerprint identification comparison, thereby increasing the accuracy of indoor positioning.

In addition to providing a dynamic indoor positioning system, the present invention also provides a dynamic indoor positioning method, as shown in FIG. 3. Therefore, based on the concept of route information and the strength of the fingerprint-type dynamic receiving signal, the dynamic indoor positioning method of the present invention includes the following steps S31 to S37: Step S31: In a positioning phase, a mobile terminal device receives a mobile terminal device from a plurality of wireless base stations. Received signal strength (RSS), multiple wireless base stations receive each other multiple received signal strengths from multiple wireless base stations, and a first-stage database from a prior stage sends a dynamic received signal strength adjustment to a server Module (dynamic RSS adjustment module); step S33: calculating the adjusted receiving signal strength (adjusted RSS) of the mobile terminal device by using a dynamic receiving signal strength adjustment module; step S35: using a fingerprint identification comparison module, Compare the fingerprint of the received signal with the second database in the preliminary stage; and Step S37: Estimate the real-time position of the mobile terminal device.

Among them, in the preliminary stage, as shown in FIG. 4, the dynamic indoor positioning method of the present invention may include the following steps S41 to S45: Step S41: In the preliminary stage, the plurality of wireless base stations mutually receive the plurality of receptions from the plurality of wireless base stations. The average value and standard deviation of the signal strength are stored in the first database of the server; step S43: at the preliminary stage, the position information of the plurality of wireless base stations, the direction of the mobile terminal device, and the average received signal strength of the plurality of wireless base stations are stored. A second database in the server; and step S45: establishing indoor route information.

It is worth noting that the execution order of steps S41 to S45 in the preliminary stage is not limited to the above-mentioned execution order.

In addition, according to an embodiment of the present invention, the dynamic indoor positioning method of the present invention may include a dynamic received signal strength adjustment algorithm (as shown in FIG. 5). The dynamic received signal strength adjustment algorithm includes the following steps: S51 ~ S59: Step S51: In the pre-stage, using the average value and standard deviation of the plurality of received signal strengths stored in the first database to establish a plurality of connection pairs between the plurality of base stations; step S53: in the positioning stage, calculate Moving average of the received signal strength and comparing the moving average with the first database; Step S55: Obtaining a complex valid connection pair from the complex connection pairing; Step S57: Performing RSS shift estimation of the received signal strength ); And step S59: calculating and adjusting the strength of the received signal.

Specifically, the dynamic receiving signal strength adjustment algorithm of the present invention mainly uses multiple wireless base stations to measure the signal strength with each other. When observing the preliminary stage and the positioning stage, the signal strength changes of different wireless base stations are automatically adjusted and used. The strength of the signal received by the user's mobile terminal device conforms to the environment of the database established in the preliminary stage, and the fingerprint identification comparison of the signal strength is performed under the same benchmark, thereby improving the efficiency of indoor positioning accuracy.

In the above embodiments, the server of the present invention may include one or more processors and at least one storage device. Therefore, the algorithm proposed by the present invention may be executed by the server, and the server may be implemented by a wireless network. The module performs wireless communication with a mobile terminal device or a wireless base station.

In describing a representative embodiment of the present invention, the present specification has proposed the method and / or procedure for operating the present invention as a specific sequence of steps. However, to a certain extent the method does not rely on the specific sequence of steps presented here, and the method should not be limited to the specific sequence of steps described. As the skilled artisan will appreciate, other sequences of steps are possible. Therefore, the specific order of steps presented in this specification should not be considered as limiting the scope of patent application. In addition, the scope of patenting for the methods and / or procedures of the present invention should not be limited to the effectiveness of the steps in the proposed sequence, and those skilled in the art can immediately understand that these sequences can be changed and still remain within the spirit and scope of the present invention. Within range.

Those skilled in the art should know that the above examples can be changed without departing from its broad inventive concept. Therefore, it should be understood that the present invention is not limited to the specific examples disclosed, but is intended to cover modifications belonging to the spirit and scope of the present invention as defined by the respective claims.

Claims (10)

A dynamic indoor positioning method includes the following steps: in a positioning phase (online phase), a mobile terminal device receives a plurality of received signal strengths (RSSs) from a plurality of wireless base stations, and the plurality of wireless base stations communicate with each other. Receiving a dynamic receiving signal strength adjustment module (dynamic RSS adjustment module) from the plurality of wireless base stations and transmitting the first database of an offline phase together to a server; The dynamic receiving signal strength adjustment module calculates the adjusted receiving signal strength (adjusted RSS) of the mobile terminal device; through a fingerprint recognition comparison module, the adjusted receiving signal strength is compared with the second database of the prior stage Fingerprint identification and comparison; and estimating the real-time position of the mobile terminal device. According to the dynamic indoor positioning method described in item 1 of the scope of the patent application, the method includes the following steps: in the prior stage, the plurality of wireless base stations mutually receive the average value and standard of the plurality of received signal strengths from the plurality of wireless base stations. The difference is stored in the first database of the server. According to the dynamic indoor positioning method described in item 1 of the scope of patent application, the method includes the following steps: In this preliminary stage, the position information of the plurality of wireless base stations, the direction of the mobile terminal device, and the average reception of the plurality of wireless base stations The signal strength is stored in the second database of the server. The dynamic indoor positioning method according to item 1 or item 2 of the patent application scope, wherein the dynamic receiving signal strength module includes a dynamic receiving signal strength adjustment algorithm, and the dynamic receiving The signal strength adjustment algorithm includes the following steps: at the prior stage, using the average value and standard deviation of the plurality of received signal strengths stored in the first database to establish a plurality of connection pairs between the plurality of base stations; During the positioning phase, a moving average of the complex received signal strength is calculated and compared with the first database; a complex valid connection pair is obtained from the complex connection pair; and a received signal strength shift estimation (RSS) is performed. shift estimation); and calculating the adjusted received signal strength. According to the dynamic indoor positioning method described in item 1 of the scope of patent application, the method includes the following steps: establishing indoor route information. A dynamic indoor positioning system includes: a server including a dynamic receiving signal strength adjustment module (locating stage) and a fingerprint recognition comparison module, wherein the dynamic receiving signal strength adjusting module The group receives a mobile terminal device receiving a plurality of received signal strength (RSS) from a plurality of wireless base stations and the plurality of wireless base stations mutually receive a plurality of received signal strengths from the plurality of wireless base stations and calculates the mobile terminal. The adjusted received signal strength of the device (adjusted RSS), and transmitting the adjusted received signal strength of the mobile terminal device to the fingerprint recognition and comparison module; and in the server, a first database and a prior stage The second database is respectively input to the dynamic receiving signal strength adjustment module and the fingerprint identification comparison module in the positioning stage. The dynamic indoor positioning system described in item 7 of the scope of patent application, wherein after the fingerprint identification comparison of the fingerprint identification comparison module is completed, the instant position of the mobile terminal device is estimated. The dynamic indoor positioning system according to item 7 of the scope of patent application, wherein, in the preliminary stage, the first database stores an average value of the plurality of wireless base stations receiving the average of the plurality of received signal strengths from the plurality of wireless base stations. And standard deviation. The dynamic indoor positioning system according to item 7 of the scope of patent application, wherein, at the preliminary stage, the second database stores the position information of the plurality of wireless base stations, the direction of the mobile terminal device, and the number of the plurality of wireless base stations. The average received signal strength. The dynamic indoor positioning system as described in item 7 of the scope of the patent application, further includes: an indoor route information module to provide route information of an indoor area.