CN102209386A - Indoor wireless positioning method and device - Google Patents

Indoor wireless positioning method and device Download PDF

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Publication number
CN102209386A
CN102209386A CN201110139035XA CN201110139035A CN102209386A CN 102209386 A CN102209386 A CN 102209386A CN 201110139035X A CN201110139035X A CN 201110139035XA CN 201110139035 A CN201110139035 A CN 201110139035A CN 102209386 A CN102209386 A CN 102209386A
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China
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wireless
location
wireless signal
beaconing nodes
coordinates
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CN201110139035XA
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Chinese (zh)
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CN102209386B (en
Inventor
徐连明
邓中亮
朱宇佳
刘雯
李欣欣
刘文龙
方灵
孙子砚
史丹丹
盛庆
裘昕
王珂
刘晨
毕乾
王文杰
陈沛
徐涛
高鹏
韩青振
张仡
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北京邮电大学
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Priority to CN201110139035.XA priority Critical patent/CN102209386B/en
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Publication of CN102209386B publication Critical patent/CN102209386B/en

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Abstract

The invention discloses an indoor wireless positioning method and an indoor wireless positioning device. The method comprises the following steps of: calibrating a coordinate and a direction on an electronic map, and recording the position of each beacon node; determining the position coordinates of a wireless positioning terminal at the present moment according to the orientation value which is acquired by the wireless positioning terminal via an electronic compass at the present moment and the positioning result of the last moment; compensating the acquired wireless signals according to the position coordinate and the position of each beacon node; and calculating to obtain the positioning result according to the value of the compensated wireless signals. By the scheme provided by the invention, the directional sensitivity of positioning result to the user movement can be reduced, the positioning error is effectively reduced, and the positioning precision is improved. Simultaneously, by the scheme provided by the embodiment of the invention, the positioning matching range can be reduced, the positioning time can be shortened, user experience can be improved, and the smoothness of dynamic real-time tracking under movement state is further improved.

Description

A kind of indoor wireless localization method and device
Technical field
The present invention relates to the wireless location technology field, relate in particular to a kind of indoor wireless localization method and device.
Background technology
The continuous expansion of using along with Internet of Things and deeply, location aware is calculated (LAC, Location-aware Computing), location-based service (LBS, Location-based Services) seems more and more important, leave positional information, perception data has also lost using value.
The generation and the development of the Technique of Satellite Navigation and Positioning of extensive use at present, make people have the technical method that in the wide exterior space in the whole world, obtains things locus attribute, and in field such as military affairs, traffic, resource environment, farming, animal husbandry and fishery, mapping and people's daily life, obtained using widely.But in the application of reality, though the exterior space is wide, in the most of the time, people's activities is mainly carried out indoor.Under the present technical conditions, because the standard error of GPS is bigger with respect to less indoor environment, because the indoor environment signal is covered, and positioning accuracy will be subjected to bigger influence, Technique of Satellite Navigation and Positioning also is difficult to satisfy carries out pinpoint requirement under the indoor environment simultaneously.
Because received signal intensity indication (RSSI, Received signal strength index) need not extra hardware unit, cost is low, can satisfy the large-scale application requirement.At present, indoor positioning adopts the locate mode based on RSSI mostly.According to whether needs are by distance between the direct measured node of physical means, the RSSI location technology can be used for based on range finding and non-range finding two class algorithms.Algorithm based on range finding need obtain internodal distance, promptly known transmit signal strength, and receiving node is according to the signal strength signal intensity of receiving, and the loss of signal calculated in communication process uses the signal propagation model of theory or experience that propagation loss is converted into distance.Non-distance measuring method adopts the position-based fingerprint matching to realize the location.The indoor positioning of position-based fingerprint matching roughly is divided into off-line sample phase and two stages of online location.The target of off-line sample phase is to make up the location fingerprint database about concerning between signal strength signal intensity and sampling point position.In order to generate this database, operating personnel need determine to travel through all sampled points then by some sampled points in the environment that is positioned, and note the wireless signal feature of measuring at each sampled point, promptly, at last they are kept in the database in some way from the signal strength signal intensity of all access points.During online positioning stage,,, utilize location algorithm, calculate this user's position the information matches in itself and the location fingerprint database according to the signal strength information of receiving in real time when user movement during to a certain position.
The indoor environment relative complex, weak output signal, and multipath, reflex are serious, and ranging process is easy to be subjected to it to influence the generation range error, and the position error of bringing thus causes accumulation easily, influences positioning accuracy.At present, the locate mode of position-based fingerprint need not measuring distance because of it, does not also need to consider the range error problem, compares with the former to have significant advantage aspect cost and power consumption, and research is more in existing indoor locating system.
No matter the locate mode based on range finding also is the locate mode of non-range finding, all needs hardware terminal to possess wireless acquisition module.The wireless network that is used for indoor positioning at present mainly is 802.11 WLAN (wireless local area network) (WLAN, wireless local area networks) and wireless sensor network (WSN, wireless sensor network).
WLAN (wireless local area network) and wireless sensor network all are operated in the 2.4G frequency range.2.4G wavelength is shorter, diffracting power is not strong, is absorbed by fiber and hydrone easily, and the human body major part is a water manufacturing, so the people has bigger influence to the short electromagnetic wave of wavelength.Experiment showed, human body over against access point (AP, Access Point) with back to AP, signal strength signal intensity differs 5 to 20dbm, and the electromagnetic wave signal that existing wireless handheld terminal can detect generally at-10dbm between-the 90dbm.As seen because direction of motion difference causes the same point signal intensity difference very obvious, positioning result very big error occurs because of the difference of people's direction of motion.
On the other hand, in the user movement process, system will reach real-time purpose, generally will calculate the current position of user within a short period of time.Therefore, the signal intensity samples that wireless network card reads during real-time tracking is less, and when directly using static location algorithm computed user locations, customer location changes variance greatly, and position display is beated obviously, has a strong impact on user's experience.
Summary of the invention
The embodiment of the invention provides a kind of indoor wireless localization method and device, can't the low error of high accuracy carry out the problem that the user locatees in order to solve in the prior art.
A kind of indoor wireless localization method, this method comprises:
In electronic chart subscript position fixing and direction, write down the position of each beaconing nodes;
According to the orientation values that wireless location terminal current time collects by electronic compass,, determine the position coordinates of described wireless location terminal current time in conjunction with a last moment positioning result;
According to described position coordinates,, the wireless signal that collects is compensated in conjunction with the position of each beaconing nodes;
Value according to the wireless signal after the compensation calculates positioning result.
Preferably, this method further comprises:
According to the wireless signal of last one each beaconing nodes emission of collecting of described wireless location terminal constantly, cross the orientation values that electronic compass collects in conjunction with described, determine next location finding scope of described wireless location terminal constantly.
Preferably, this method further comprises:
Gather the location fingerprint data of locating area, leave in the location fingerprint database;
Described value according to the wireless signal after the compensation calculates positioning result and comprises:
With the value of the wireless signal after the compensation, mate position finger print data in the described location fingerprint database respectively, the position of mating immediate location fingerprint data correspondence is positioning result.
Preferably, the described orientation values that collects by electronic compass according to wireless location terminal current time in conjunction with a last moment positioning result, is determined the position coordinates of described wireless location terminal current time, comprising:
Obtain the orientation values of current described wireless location terminal by electronic compass, calculate the zone that meets above-mentioned orientation values with respect to the positioning result of last described wireless location terminal of a moment in conjunction with described electronic chart, in meeting the zone of above-mentioned orientation values, determine the position coordinates of described wireless location terminal on described electronic chart.
Preferably, described according to described position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal that collects is compensated, comprising:
According to the position coordinates of described wireless location terminal, in conjunction with the position of each beaconing nodes, obtain direction and the distance of each beaconing nodes with respect to described wireless location terminal, respectively to gather to wireless signal carry out corresponding compensation.
Preferably, this method also comprises:
Utilize transducer to obtain described holder's feature, determine described wireless location terminal and holder's relative position according to described feature;
According to described relative position, revise the orientation values of described wireless location terminal.
A kind of indoor wireless positioner, this device comprise electronic chart unit, electronic compass unit, wireless collection unit and computing unit, wherein,
Described electronic chart unit is used for storing electronic map, and demarcates coordinate and direction, the position of writing down each beaconing nodes;
Described electronic compass unit is used to obtain the orientation values of described radio positioner and sends described computing unit;
Described wireless collection unit is used to gather the wireless signal of each beaconing nodes, sends described computing unit;
Described computing unit is used for the orientation values according to described wireless signal and described radio positioner, determines the position coordinates of described radio positioner; And,, the wireless signal that collects is compensated in conjunction with the position of each beaconing nodes according to described position coordinates; Compute location result.
Preferably, described computing unit comprises motion orientation subelement, compensation subelement and computation subunit, wherein,
Described motion orientation subelement is used for the orientation values according to described wireless signal and described radio positioner, determines the position coordinates of described radio positioner;
Described compensation subelement is used for according to described position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal that collects is compensated;
Described computation subunit is used for the value according to the wireless signal after the compensation, compute location result.
Preferably, this device also comprises search unit, be used for wireless signal,, determine next location finding scope of described radio positioner constantly in conjunction with the orientation values of described radio positioner according to last one each beaconing nodes emission of collecting of described radio positioner constantly.
Preferably, this device also comprises location identification unit, is used to obtain described radio positioner and holder's relative position, and sends described computing unit;
Described computing unit, compensates the wireless signal that collects in conjunction with the position of described position coordinates and each beaconing nodes according to described relative position.
The embodiment of the invention has proposed a kind of indoor wireless localization method and device, in user's actual motion position fixing process, by judging user's mobile orientation values, selectively the wireless signal to the different directions that collects compensates, utilize the wireless signal value compute location result after compensating, positioning result is reduced the directivity susceptibility of user movement, can effectively reduce position error, improve positioning accuracy.Simultaneously, the scheme that the embodiment of the invention provides can reduce to locate matching range, shortens positioning time, improves user experience, and further improves the flatness that dynamic real-time is followed the tracks of under the moving situation.
Description of drawings
Fig. 1 is the main realization principle flow chart of the embodiment of the invention;
The location schematic diagram of the example that Fig. 2 provides for the embodiment of the invention;
The fixed-position searching schematic diagram of the example that Fig. 3 provides for the embodiment of the invention;
Fig. 4 is the structural representation of embodiment of the invention generator 1;
Fig. 5 is the structural representation of embodiment of the invention generator 2;
Fig. 6 is the structural representation of embodiment of the invention generator 3;
Fig. 7 is the result schematic diagram of computing unit in the embodiment of the invention generator.
Embodiment
Because existing indoor positioning technology can't effectively compensate calculating to the decay that stops of wireless signal to user's human body or other barriers, thereby positioning accuracy is not high, the embodiment of the invention is by the comparison in conjunction with electronic chart and wireless signal, judge user's motion orientation, by judgement to the relative position of user and wireless location terminal, wireless signal to the beaconing nodes of different directions compensates targetedly, thereby can effectively solve user's human body or other barriers to the problem that stops decay of wireless signal, improve positioning accuracy.
The scheme that the embodiment of the invention provides is not limited only to the indoor positioning The Application of Technology, can use the scheme that the embodiment of the invention provides equally in outdoor or other occasions, below is example with the indoor orientation method, and the technical scheme of the embodiment of the invention is described.
Be explained in detail to the main realization principle of embodiment of the invention technical scheme, embodiment and to the beneficial effect that should be able to reach below in conjunction with each accompanying drawing.
As shown in Figure 1, the main realization principle process of the embodiment of the invention is as follows:
Step 10 in electronic chart subscript position fixing and direction, writes down the position of each beaconing nodes.
In the embodiment of the invention, before concrete position fixing process, need carry out the preparation of off-line phase, specifically, need to make the electronic chart of locating area exactly, and in electronic chart subscript position fixing and direction.Wherein, the coordinate of electronic chart precision set as required, direction mainly are North and South directions, the angular coordinate direction that angle that also can the set basis North and South direction obtains.General, this direction can adopt 8 directions: east, and the southeast, south, southwest, the west, the northwest, north, northeast, or directly represent with angle.
General, can locating area be divided into the grid of suitable size shape according to employed concrete location algorithm or other needs, by measuring or the numerical map developing instrument is demarcated the grid barycentric coodinates.The indoor positioning of position-based fingerprint matching roughly is divided into off-line sampling and two stages of online location.The target of off-line sampling is to make up the location fingerprint database about concerning between signal strength signal intensity and sampling point position.In order to generate this database, operating personnel need determine some sampled points in the environment that is positioned, travel through the pairing sampled point of all grids then, note the wireless signal feature of measuring at each sampled point, promptly, at last they are kept in the database in some way from the signal strength signal intensity of all access points.During online positioning stage, when the user moves to a certain position,, utilize location algorithm, calculate this user's position the information matches in itself and the location fingerprint database according to the signal strength information of receiving in real time.
The position of beaconing nodes is not in the necessary still present embodiment of location fingerprint database, utilizes direction that the beaconing nodes signal is compensated because relate to, so the position of beaconing nodes also needs to note.Follow-up calculating, all need from the location fingerprint database, to obtain corresponding information, for example, obtain positional information, each grid barycentric coodinates of each beaconing nodes etc., these information all are the important parameters of location fingerprint, thereby the computational process in each step all needs to obtain relevant location fingerprint data from the location fingerprint database, after this repeats no more.
The beaconing nodes here comprises AP, wireless sensor network node any radio signal source such as (WSN, Wireless Sensor Networks), as long as can be used for doing wireless location, all can be used as the beaconing nodes of present embodiment.
Step 20 according to the orientation values that wireless location terminal current time collects by electronic compass, in conjunction with a last moment positioning result, is determined the position coordinates of wireless location terminal current time.
After position fixing process begins, at first need positioning accuracy is calibrated, Calibration Method has multiple, manual calibration for example, or determine current position by reliable beacon (the wireless receiving and dispatching node short) as communication distance.The purpose of calibration is the verification to positioning result, to revise location algorithm, improves positioning accuracy.
The user (holder) who holds the wireless location terminal is carrying when the wireless location terminal positions, and need take into full account wireless location terminal and holder's relative position, thereby, need to determine wireless location terminal and holder's relative position.The method of judging has multiple, for example, can adopt transducer to obtain holder's feature, determines wireless location terminal and holder's relative position according to these features.The relative position here, not only comprise wireless location terminal and holder's relative direction, highly, distance etc., also comprise the attitude of wireless location terminal itself, for example, the wireless location terminal is straight up or laterally, positive in the face of the holder or the back side, this all is the content of relative position.Especially, the numerical value that the attitude of wireless location terminal directly affects work such as electronic compass in the wireless location terminal reads, may have influence on the orientation values of wireless location terminal, very useful in the orientation values of calculating the wireless location terminal, can be used for revising the orientation values of wireless location terminal.And, be that very big effect is also arranged in the wireless signal compensation of calculating different directions.In the embodiment of the invention, we are positioned at the holder dead ahead with the wireless location terminal is example.
The wireless location terminal is obtained the wireless signal of each beaconing nodes emission, and obtains the orientation values of current wireless locating terminal by electronic compass.The orientation values here, be that different attitudes may cause different orientation values with respect to the attitude of wireless location terminal, thereby need attitude in the reality according to the wireless location terminal, just wireless location terminal and holder's relative position is done correction to the orientation values that obtains.For example, we suppose that the wireless location terminal is positioned at the user dead ahead, and facing to user's face, like this, the wireless location terminal just nature have a differentiation on the orientation, this differentiation will form the wireless location terminal in the different orientation values of diverse location.
Obtain the orientation values of current wireless locating terminal by electronic compass, calculate the numbering that meets the grid of above-mentioned orientation values with respect to the positioning result of a last moment wireless location terminal in conjunction with electronic chart, in meeting the grid of above-mentioned orientation values, adopt suitable matching algorithm to determine the position coordinates of described wireless location terminal on electronic chart.
The electronic compass here is the instrument of orientation really commonly used in the prior art, and its work and know-why are prior art field common practise, repeat no more herein.
The orientation values of combining wireless locating terminal is compared this orientation values with respect to last one displacement between the positioning result constantly, can know the position coordinates of wireless location terminal on the current location.For example, suppose each second location once, in k user's's second position (xk, yk).K+1 user's's second position just can be by k+1 second orientation values and the coordinate of k second (xk yk) tries to achieve, and concrete finding the solution is by matching algorithm, and just the coupling by the location fingerprint data obtains.If it is 5 ° of souths by east that the orientation of k+1 second records, so just only need (xk, yk) grid in 5 ° of scopes of this south by east gets final product on map.。For electronic chart, because be that each point of polar plot all has the position coordinates of oneself, thereby the position that obtains here is exactly a position coordinates.
Step 30, according to position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal that collects is compensated.
Position coordinates according to the wireless location terminal, position in conjunction with each beaconing nodes, can know direction and the distance of each beaconing nodes with respect to the wireless location terminal, direction here and distance all can be brought the unlike signal decay, thereby, in the time of compensation, need to consider fully the size of the wireless signal of the beaconing nodes on all directions, and, calculate the value of the wireless signal compensation of the beaconing nodes of receiving on all directions with reference to the distance of wireless location terminal and beaconing nodes.
Here, to the compensation of wireless signal, may need to use wireless location terminal and holder's relative position, as mentioned above, this relative position can utilize transducer to obtain holder's feature, determines wireless location terminal and holder's relative position according to these features.
The position coordinates that has obtained the wireless location terminal and with holder's relative position after, can obtain the pad value of wireless signal on all directions by general calculating.May cause the pad value of the object of wireless signal decay owing to can rule of thumb obtain human body and other for wireless signal, thereby, combining wireless locating terminal and holder's relative position, wireless signal to the different directions beaconing nodes compensates targetedly, to revise because the error of the positioning result that human body or other possible barriers caused stopping of wireless signal.
Here, the method of compensation is exactly the value according to the beaconing nodes signal of different directions, add the wireless signal pad value on this known direction, the value of the wireless signal after being compensated, because this value has been revised the signal attenuation that possible barrier causes, thereby can revise the position error that causes owing to stopping of human body, can improve locating accuracy.
Step 40, the value according to the wireless signal after the compensation calculates positioning result.
After each wireless signal is compensated, owing to effectively eliminated the influence of human body or other barrier, thereby, just can obtain positioning result more accurately by general location Calculation, this positioning result can be output as the practical position result.
The location algorithm here, it is exactly the wireless signal of each beaconing nodes of the wireless location terminal collection after will compensating, mate respectively with the location fingerprint data in the location fingerprint database, obtain immediate location fingerprint data, the position of this location fingerprint data correspondence is exactly the result of location.
Especially, in the scheme of the foregoing description, in order to improve the efficient of location, after having determined a moment positioning result, carry out next when locating constantly, can be according to the wireless signal of last one each beaconing nodes emission of collecting of wireless location terminal constantly, the orientation values of combining wireless locating terminal is determined next location finding scope of wireless location terminal constantly.Because there has been orientation values for referencial use, in the practical application, just holder's consumer positioning moves that change can be very inviolent, thereby uses the result of calculation of orientation values, can compare accurate estimate in holder's position constantly to next, this expectation can be a scope, the position of next moment wireless location terminal of search in this scope, accuracy rate so just need not searched for all possible direction than higher when next is located constantly, thereby saved computational resource, improved location efficiency.
Especially, as shown in Figure 2, a concrete position application example for the embodiment of the invention provides wherein, is depicted as a typical indoor working environment, and zone line is the aisle, and other zone is an office.According to location fingerprint positioning principle and grid location method, the area to be targeted is divided into the grid of suitable size shape, by measuring or the numerical map developing instrument obtains the grid barycentric coodinates; And demarcate the position coordinates of each beaconing nodes.Among Fig. 2, each little square frame is a grid, and grid RC " ☆ " is the grid center of gravity, and 101~111 is the room number of each office, and " " shown in 1~5 is the position of beaconing nodes.
When the user holds the wireless location terminal when positioning, calibrate first location, and Calibration Method is as described in the above-mentioned embodiment.By obtaining the user movement orientation values, contrast beaconing nodes coordinate position, can obtain the user in the face of or back to the beaconing nodes wireless signal that is collected, if back to beaconing nodes, then this beaconing nodes wireless signal is compensated, offset is obtained by experience.For example, if a last moment position is the center grid, the direction of motion is due east (representing direction with the up north and down south left west and right east among the figure), and the user is at this moment back to beaconing nodes 1 as can be known, need the signal that beaconing nodes 1 place measures be compensated, thereby reduce because the person blocks the signal attenuation that causes.
Further, when carrying out the location fingerprint comparison, can determine next user movement hunting zone constantly according to the user movement orientation values.As shown in Figure 3, be the core of cut-away view 2, wherein, the coordinate of having demarcated each grid is C I, j, C I, j+1, C I, j-1, C I-1, jAnd C I+1, jIf the user also is that a moment position is C on the wireless location terminal I, jGrid, and obtain this moment according to electronic compass that wireless location terminal direct of travel is due east (representing direction with the up north and down south left west and right east among the figure), so can drawdown ratio in carrying out the location fingerprint comparison process to scope, i.e. C I-1, j, C I, j+1And C I, j-1These grids can not participate in comparison, thereby have reduced the comparison scope, have shortened the time of comparison, the situation that positioning result is beated back and forth in the time of also can not causing real-time the location.
Correspondingly, the embodiment of the invention also provides a kind of indoor wireless positioner, and as shown in Figure 4, this device comprises electronic chart unit 100, electronic compass unit 200, wireless collection unit 300 and computing unit 400, and is specific as follows:
Electronic chart unit 100 is used for storing electronic map, and demarcates coordinate and direction, the position of writing down each beaconing nodes.
Electronic chart unit 100 is used to make and store the electronic chart of area to be targeted, and in electronic chart subscript position fixing and direction.Wherein, the coordinate of electronic chart precision set as required, direction mainly are North and South directions, the angular coordinate direction that angle that also can the set basis North and South direction obtains.General, this direction can adopt 8 directions: east, and the southeast, south, southwest, the west, the northwest, north, northeast, or directly represent with angle.
Can according to use specifically location algorithm or other needs are divided into the grid of suitable size shape with locating area, by measuring or the numerical map developing instrument is demarcated the grid barycentric coodinates, and demarcate the position coordinates of each beaconing nodes in the reality.
Electronic compass unit 200 is used to obtain the orientation values of radio positioner and sends computing unit 400.
Electronic compass unit 200 is in order to obtain the orientation values of radio positioner.The orientation values here can be aforesaid east with respect to earth south poles, the southeast, and south, southwest, the west, the northwest, north, 8 orientation, northeast, or directly represent with angle.。
Wireless collection unit 300 is used to gather the wireless signal of each beaconing nodes, sends computing unit 400.
Wireless collection unit 300 is in order to gather the wireless signal of each beaconing nodes emission, because in the position fixing process, each all can receive the wireless signal of a plurality of beaconing nodes emissions in wireless collection unit 300 constantly, and the setting of location algorithm, also must come COMPREHENSIVE CALCULATING, obtain positioning result according to the wireless signal of a plurality of beaconing nodes, thereby, the wireless collection unit 300 here can be gathered the wireless signal of a plurality of beaconing nodes simultaneously, and sends computing unit 400.
Computing unit 400 is used for the orientation values according to wireless signal and radio positioner, determines the position coordinates of radio positioner; And,, the wireless signal that collects is compensated in conjunction with the position of each beaconing nodes according to position coordinates; Compute location result.
In whole radio positioner, computing unit 400 is born main calculation task.At first, need determine the position coordinates of radio positioner according to the orientation values of wireless signal and radio positioner.Concrete, need the orientation values of current time, in conjunction with last one constantly positioning result, calculate the position coordinates of radio positioner.
Secondly, computing unit 400 need in conjunction with the position of each beaconing nodes, compensate the wireless signal that collects according to position coordinates.Concrete, need to consider that relative position, holder's human body such as radio positioner and holder is for the decay of wireless signal etc.The position coordinates that has obtained radio positioner and with holder's relative position after, can obtain the pad value of wireless signal on all directions by general calculating.May cause the pad value of the object of wireless signal decay owing to can rule of thumb obtain human body and other for wireless signal, thereby, combining wireless positioner and holder's relative position, wireless signal to the different directions beaconing nodes compensates targetedly, to revise because the error of the positioning result that human body or other possible barriers caused stopping of wireless signal.
At last, computing unit 400 is used for according to all data, compute location result.After each wireless signal is compensated, owing to effectively eliminated the influence of human body or other barrier, thereby, just can obtain positioning result more accurately by general location Calculation, this positioning result can be output as the practical position result.
Preferably, as shown in Figure 5, the radio positioner that the foregoing description provides also comprises search unit 500, be used for wireless signal according to last one each beaconing nodes emission of collecting of radio positioner constantly, the orientation values of combining wireless positioner is determined next location finding scope of radio positioner constantly.
Preferably, as shown in Figure 6, the radio positioner that the foregoing description provides also comprises location identification unit 600, is used to obtain radio positioner and holder's relative position, and sends computing unit 400;
Computing unit 400 is according to relative position, and the position of binding site coordinate and each beaconing nodes compensates the wireless signal that collects.
Especially, as shown in Figure 7, the computing unit 400 in the radio positioner that the foregoing description provides further comprises motion orientation subelement 401, compensation subelement 402 and computation subunit 403, and is specific as follows:
Motion orientation subelement 401 is used for the orientation values according to wireless signal and radio positioner, determines the position coordinates of radio positioner.
Compensation subelement 402 is used for according to position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal that collects is compensated.
Computation subunit 403 is used for the value according to the wireless signal after the compensation, compute location result.
Preferably, based on device shown in Figure 4, auxiliary unit additional among Fig. 5 to Fig. 7 can mutually combine, and obtains the more comprehensive radio positioner of function.
In sum, the embodiment of the invention provide based on direction auxiliary wireless location method and device, in user's actual motion position fixing process, utilize electronic compass to obtain orientation values, in conjunction with electronic chart, the wireless signal that collects is carried out segmented compensation and filtering, positioning result is reduced the directivity susceptibility of user movement, can effectively reduce position error, improve positioning accuracy.Simultaneously, the scheme that the embodiment of the invention provides can reduce to locate matching range, shortens positioning time, improves user experience, and further improves the flatness that dynamic real-time is followed the tracks of under the moving situation.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.

Claims (10)

1. an indoor wireless localization method is characterized in that, this method comprises:
In electronic chart subscript position fixing and direction, write down the position of each beaconing nodes;
According to the orientation values that wireless location terminal current time collects by electronic compass,, determine the position coordinates of described wireless location terminal current time in conjunction with a last moment positioning result;
According to described position coordinates,, the wireless signal that collects is compensated in conjunction with the position of each beaconing nodes;
Value according to the wireless signal after the compensation calculates positioning result.
2. the method for claim 1 is characterized in that, this method further comprises:
According to the wireless signal of last one each beaconing nodes emission of collecting of described wireless location terminal constantly, cross the orientation values that electronic compass collects in conjunction with described, determine next location finding scope of described wireless location terminal constantly.
3. the method for claim 1 is characterized in that, this method further comprises:
Gather the location fingerprint data of locating area, leave in the location fingerprint database;
Described value according to the wireless signal after the compensation calculates positioning result and comprises:
With the value of the wireless signal after the compensation, mate position finger print data in the described location fingerprint database respectively, the position of mating immediate location fingerprint data correspondence is positioning result.
4. the method for claim 1 is characterized in that, the described orientation values that collects by electronic compass according to wireless location terminal current time in conjunction with a last moment positioning result, is determined the position coordinates of described wireless location terminal current time, comprising:
Obtain the orientation values of current described wireless location terminal by electronic compass, calculate the zone that meets above-mentioned orientation values with respect to the positioning result of last described wireless location terminal of a moment in conjunction with described electronic chart, in meeting the zone of above-mentioned orientation values, determine the position coordinates of described wireless location terminal on described electronic chart.
5. the method for claim 1 is characterized in that, and is described according to described position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal that collects compensated, and comprising:
According to the position coordinates of described wireless location terminal, in conjunction with the position of each beaconing nodes, obtain direction and the distance of each beaconing nodes with respect to described wireless location terminal, respectively to gather to wireless signal carry out corresponding compensation.
6. the method for claim 1 is characterized in that, this method also comprises:
Utilize transducer to obtain described holder's feature, determine described wireless location terminal and holder's relative position according to described feature;
According to described relative position, revise the orientation values of described wireless location terminal.
7. an indoor wireless positioner is characterized in that, this device comprises electronic chart unit, electronic compass unit, wireless collection unit and computing unit, wherein,
Described electronic chart unit is used for storing electronic map, and demarcates coordinate and direction, the position of writing down each beaconing nodes;
Described electronic compass unit is used to obtain the orientation values of described radio positioner and sends described computing unit;
Described wireless collection unit is used to gather the wireless signal of each beaconing nodes, sends described computing unit;
Described computing unit is used for the orientation values according to described wireless signal and described radio positioner, determines the position coordinates of described radio positioner; And,, the wireless signal that collects is compensated in conjunction with the position of each beaconing nodes according to described position coordinates; Compute location result.
8. device as claimed in claim 7 is characterized in that, described computing unit comprises motion orientation subelement, compensation subelement and computation subunit, wherein,
Described motion orientation subelement is used for the orientation values according to described wireless signal and described radio positioner, determines the position coordinates of described radio positioner;
Described compensation subelement is used for according to described position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal that collects is compensated;
Described computation subunit is used for the value according to the wireless signal after the compensation, compute location result.
9. device as claimed in claim 7, it is characterized in that, this device also comprises search unit, be used for wireless signal according to last one each beaconing nodes emission of collecting of described radio positioner constantly, in conjunction with the orientation values of described radio positioner, determine next location finding scope of described radio positioner constantly.
10. device as claimed in claim 7 is characterized in that this device also comprises location identification unit, is used to obtain described radio positioner and holder's relative position, and sends described computing unit;
Described computing unit, compensates the wireless signal that collects in conjunction with the position of described position coordinates and each beaconing nodes according to described relative position.
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