CN102209386B - A kind of indoor wireless positioning method and device - Google Patents

A kind of indoor wireless positioning method and device Download PDF

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Publication number
CN102209386B
CN102209386B CN201110139035.XA CN201110139035A CN102209386B CN 102209386 B CN102209386 B CN 102209386B CN 201110139035 A CN201110139035 A CN 201110139035A CN 102209386 B CN102209386 B CN 102209386B
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China
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wireless
wireless signal
positioning
beaconing nodes
coordinates
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CN201110139035.XA
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Chinese (zh)
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CN102209386A (en
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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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北京智慧图科技发展有限责任公司
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Abstract

The invention discloses a kind of indoor wireless positioning method and device, comprising: in electronic chart subscript position fixing and direction, record the position of each beaconing nodes; According to the orientation values that wireless positioning terminal current time is collected by electronic compass, in conjunction with a upper moment positioning result, determine the position coordinates of described wireless positioning terminal current time; According to described position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal collected is compensated; According to the value of the wireless signal after compensation, calculate positioning result.Adopt scheme provided by the invention that positioning result can be made to reduce the directivity susceptibility of user movement, effectively reduce position error, improve positioning precision.Meanwhile, the scheme that the embodiment of the present invention provides, can reduce position matching scope, shortens positioning time, improves Consumer's Experience, and the flatness that under improving moving situation further, dynamic realtime is followed the tracks of.

Description

A kind of indoor wireless positioning method and device

Technical field

The present invention relates to wireless location technology field, particularly relate to a kind of indoor wireless positioning method and device.

Background technology

Along with the continuous expansion and deeply of Internet of Things application, location-aware computing (LAC, Location-awareComputing), location Based service (LBS, Location-basedServices) seem more and more important, leave positional information, perception data is lost using value.

The generation of the Technique of Satellite Navigation and Positioning of current extensive use and development, make people have the technical method obtaining things locus attribute in the exterior space of world wide, and be widely used in the fields such as military affairs, traffic, resource environment, farming, animal husbandry and fishery, mapping and people's daily life.But in the application of reality, although the exterior space is wide, in the most of the time, the activity of people is mainly carried out in indoor.Under current technical conditions, because the standard error of GPS is relative to larger less indoor environment, simultaneously because indoor environment signal is covered, positioning precision will be subject to larger impact, and Technique of Satellite Navigation and Positioning carries out pinpoint requirement under being also difficult to meet indoor environment.

Because received signal strength indicator (RSSI, Receivedsignalstrengthindex) is without the need to extra hardware unit, cost is low, can meet large-scale application requirement.At present, indoor positioning adopts the locate mode based on RSSI mostly.According to the need of by the direct measured node spacing of physical means, RSSI location technology can be used for based on range finding and non-ranging two class algorithms.Algorithm based on range finding needs to obtain internodal distance, i.e. known transmit signal strength, and receiving node, according to the signal strength signal intensity received, calculates the loss of signal in communication process, uses the signal propagation model of theory or experience that propagation loss is converted into distance.Non-ranging mode adopts position-based fingerprint matching to realize location.The indoor positioning of position-based fingerprint matching is roughly divided into off-line sample phase and two stages of tuning on-line.The target of off-line sample phase is the location fingerprint database of structure one about relation between signal strength signal intensity and sampling point position.In order to generate this database, operating personnel need being determined some sampled points in localizing environment, then travel through all sampled points, record the radio signal characteristics measured at each sampled point, namely from the signal strength signal intensity of all access points, finally they are preserved in a database in some way.During the tuning on-line stage, when user movement is to a certain position, according to the signal strength information received in real time, utilize location algorithm by the information matches in itself and location fingerprint database, calculate the position of this user.

Indoor environment relative complex, weak output signal, and multipath, reflex are serious, ranging process is easy to affect generation range error by it, and the position error brought thus easily causes accumulation, affects positioning precision.At present, the locate mode of position-based fingerprint, because it is without the need to measuring distance, does not need to consider range error problem yet, has significant advantage, study more in existing indoor locating system at cost with in power consumption compared with the former.

No matter based on locate mode or the non-ranging locate mode of range finding, hardware terminal is all needed to possess wireless acquisition module.At present for wireless network mainly 802.11 WLAN (wireless local area network) (WLAN, wirelesslocalareanetworks) and the wireless sensor network (WSN, wirelesssensornetwork) of indoor positioning.

WLAN (wireless local area network) and wireless sensor network are all operated in 2.4G frequency range.2.4G wavelength is shorter, and diffracting power is strong, is easily absorbed by fiber and hydrone, and human body major part is water manufacture, so people's electromagnetic wave shorter on wavelength has larger impact.Experiment proves, human body is just to access point (AP, AccessPoint) with back to AP, and signal strength signal intensity differs 5 to 20dbm, and the electromagnetic wave signal that existing wireless handheld terminal can detect is generally between-10dbm to-90dbm.Visible due to direction of motion difference, causing same point signal intensity difference clearly, there is very large error because of the difference of people's direction of motion in positioning result.

On the other hand, in user movement process, system will reach real-time object, generally will calculate user current position within a short period of time.Therefore, the signal intensity samples that during real-time tracking, wireless network card reads is less, and when directly using static location algorithm computed user locations, customer location change variance comparatively greatly, beat obviously, has a strong impact on the experience of user by position display.

Summary of the invention

The embodiment of the present invention provides a kind of indoor wireless positioning method and device, the low error of high accuracy cannot carry out the problem of user location in order to solve in prior art.

A kind of indoor wireless positioning method, the method comprises:

In electronic chart subscript position fixing and direction, record the position of each beaconing nodes;

According to the orientation values that wireless positioning terminal current time is collected by electronic compass, in conjunction with a upper moment positioning result, determine the position coordinates of described wireless positioning terminal current time;

According to described position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal collected is compensated;

According to the value of the wireless signal after compensation, calculate positioning result.

Preferably, the method comprises further:

The wireless signal that each beaconing nodes that wireless positioning terminal collects according to a upper moment is launched, in conjunction with the described orientation values crossed electronic compass and collect, determines the location finding scope of wireless positioning terminal described in subsequent time.

Preferably, the method comprises further:

Gather the location fingerprint data of locating area, leave in location fingerprint database;

The described value according to the wireless signal after compensation, calculates positioning result and comprises:

By the value of the wireless signal after compensation, mate position finger print data in described location fingerprint database respectively, the position of mating immediate location fingerprint data corresponding is positioning result.

Preferably, the described orientation values collected by electronic compass according to wireless positioning terminal current time, in conjunction with a upper moment positioning result, determine the position coordinates of described wireless positioning terminal current time, comprising:

The orientation values of current described wireless positioning terminal is obtained by electronic compass, calculate in conjunction with described electronic chart and met the region of above-mentioned orientation values relative to the positioning result of wireless positioning terminal described in the upper moment, in the region meeting above-mentioned orientation values, determine the position coordinates of described wireless positioning terminal on described electronic chart.

Preferably, described according to described position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal collected is compensated, comprising:

According to the position coordinates of described wireless positioning terminal, in conjunction with the position of each beaconing nodes, obtain each beaconing nodes relative to the direction of described wireless positioning terminal and distance, respectively to gather to wireless signal compensate accordingly.

Preferably, the method also comprises:

Utilize transducer to obtain the feature of described holder, determine the relative position of described wireless positioning terminal and holder according to described feature;

According to described relative position, revise the orientation values of described wireless positioning terminal.

A kind of indoor wireless positioner, this device comprises electronic chart unit, electronic compass unit, wireless collection unit and computing unit, wherein,

Described electronic chart unit, for storing electronic map, and demarcates coordinate and direction, records the position of each beaconing nodes;

Described electronic compass unit, for obtaining the orientation values of described radio positioner and sending described computing unit;

Described wireless collection unit, for gathering the wireless signal of each beaconing nodes, sends described computing unit;

Described computing unit, for the orientation values according to described wireless signal and described radio positioner, determines the position coordinates of described radio positioner; And according to described position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal collected is compensated; Compute location result.

Preferably, described computing unit comprises motion orientation subelement, compensates subelement and computation subunit, wherein,

Described motion orientation subelement, for the orientation values according to described wireless signal and described radio positioner, determines the position coordinates of described radio positioner;

Described compensation subelement, for according to described position coordinates, in conjunction with the position of each beaconing nodes, compensates the wireless signal collected;

Described computation subunit, for the value according to the wireless signal after compensation, compute location result.

Preferably, this device also comprises search unit, for the wireless signal of each beaconing nodes transmitting that radio positioner according to a upper moment collects, in conjunction with the orientation values of described radio positioner, determined the location finding scope of radio positioner described in subsequent time.

Preferably, this device also comprises location identification unit, for obtaining the relative position of described radio positioner and holder, and sends described computing unit;

Described computing unit, according to described relative position, in conjunction with the position of described position coordinates and each beaconing nodes, compensates the wireless signal collected.

The embodiment of the present invention proposes a kind of indoor wireless positioning method and device, in user's actual motion position fixing process, by judging the motion direction value of user, selectively the wireless signal of the different directions collected is compensated, utilize the radio signal value compute location result after compensating, positioning result is reduced the directivity susceptibility of user movement, effectively can reduce position error, improve positioning precision.Meanwhile, the scheme that the embodiment of the present invention provides, can reduce position matching scope, shortens positioning time, improves Consumer's Experience, and the flatness that under improving moving situation further, dynamic realtime is followed the tracks of.

Accompanying drawing explanation

Fig. 1 is that the main of the embodiment of the present invention realizes principle flow chart;

The location schematic diagram of the example that Fig. 2 provides for the embodiment of the present invention;

The fixed-position searching schematic diagram of the example that Fig. 3 provides for the embodiment of the present invention;

Fig. 4 is the structural representation of embodiment of the present invention generator 1;

Fig. 5 is the structural representation of embodiment of the present invention generator 2;

Fig. 6 is the structural representation of embodiment of the present invention generator 3;

Fig. 7 is the result schematic diagram of computing unit in embodiment of the present invention generator.

Embodiment

Because existing indoor positioning technologies the stop decay to wireless signal cannot carry out effective compensation calculation to the human body of user or other barriers, thus positioning precision is not high, the embodiment of the present invention is by the comparison in conjunction with electronic chart and wireless signal, judge the motion orientation of user, by the judgement of the relative position to user and wireless positioning terminal, targetedly the wireless signal of the beaconing nodes of different directions is compensated, thus effectively can solve the problem that the human body of user or other barriers are decayed to the stop of wireless signal, improve positioning precision.

The scheme that the embodiment of the present invention provides, is not limited only to the application of indoor positioning technologies, can apply the scheme that the embodiment of the present invention provides equally, below for indoor orientation method, the technical scheme of the embodiment of the present invention is described in outdoor or other occasions.

Below in conjunction with each accompanying drawing, the main of embodiment of the present invention technical scheme is realized principle, embodiment and be explained in detail the beneficial effect that should be able to reach.

As shown in Figure 1, it is as follows that the embodiment of the present invention main realizes principle process:

Step 10, in electronic chart subscript position fixing and direction, records the position of each beaconing nodes.

In the embodiment of the present invention, before concrete position fixing process, need the preparation carrying out off-line phase, specifically, need the electronic chart making locating area exactly, and in electronic chart subscript position fixing and direction.Wherein, the coordinate precision set as required of electronic chart, direction is North and South direction mainly, also can set the angular coordinate direction obtained according to the angle of North and South direction.General, this direction can adopt 8 directions: east, the southeast, south, southwest, west, northwest, north, northeast, or directly represents by angle.

General, can need according to used concrete location algorithm or other grid locating area being divided into suitable size shape, by measuring or numerical map developing instrument demarcation grid barycentric coodinates.The indoor positioning of position-based fingerprint matching is roughly divided into off-line sampling and two stages of tuning on-line.The target of off-line sampling is the location fingerprint database of structure one about relation between signal strength signal intensity and sampling point position.In order to generate this database, operating personnel need determined some sampled points in localizing environment, then the sampled point corresponding to all grids is traveled through, record the radio signal characteristics measured at each sampled point, namely from the signal strength signal intensity of all access points, finally they are preserved in a database in some way.During the tuning on-line stage, when user moves to a certain position, according to the signal strength information received in real time, utilize location algorithm by the information matches in itself and location fingerprint database, calculate the position of this user.

The position of beaconing nodes is not in the necessary still the present embodiment of location fingerprint database, compensates, so the position of beaconing nodes also needs to record because relate to utilization orientation to beaconing nodes signal.Follow-up calculating, all need to obtain corresponding information from location fingerprint database, such as, obtain the positional information of each beaconing nodes, each grid barycentric coodinates etc., these information are all the important parameters of location fingerprint, thus the computational process of each step all needs to obtain relevant location fingerprint data from location fingerprint database, after this repeats no more.

Here beaconing nodes, comprises any radio signal source such as AP, wireless sensor network node (WSN, WirelessSensorNetworks), as long as can be used for doing wireless location, and all can as the beaconing nodes of the present embodiment.

Step 20, according to the orientation values that wireless positioning terminal current time is collected by electronic compass, in conjunction with a upper moment positioning result, determines the position coordinates of wireless positioning terminal current time.

After position fixing process starts, first need to calibrate positioning precision, the method for calibration has multiple, such as manual calibration, or determines current position by reliable beacon (wireless receiving and dispatching node as shorter in communication distance).The object of calibration is the verification to positioning result, to revise location algorithm, improves positioning precision.

Hold the user (holder) of wireless positioning terminal when carrying wireless positioning terminal and positioning, need the relative position taking into full account wireless positioning terminal and holder, thus, the relative position determining wireless positioning terminal and holder is needed.The method judged has multiple, such as, transducer can be adopted to obtain the feature of holder, determine the relative position of wireless positioning terminal and holder according to these features.Here relative position, not only comprise the relative direction of wireless positioning terminal and holder, highly, distance etc., also comprise the attitude of wireless positioning terminal itself, such as, wireless positioning terminal is straight up or laterally, front is in the face of holder or the back side, and this is all the content of relative position.Especially, the numerical value that the attitude of wireless positioning terminal directly affects the work such as electronic compass in wireless positioning terminal reads, the orientation values of wireless positioning terminal may be had influence on, very useful in the orientation values calculating wireless positioning terminal, can be used for revising the orientation values of wireless positioning terminal.And compensating at the wireless signal calculating different directions is also have very large effect.In the embodiment of the present invention, we are positioned at holder dead ahead for wireless positioning terminal.

Wireless positioning terminal obtains the wireless signal that each beaconing nodes is launched, and obtains the orientation values of current wireless locating terminal by electronic compass.Here orientation values, be the attitude relative to wireless positioning terminal, different attitudes, may cause different orientation values, thus need the attitude according to wireless positioning terminal in reality, namely the relative position of wireless positioning terminal and holder is revised the orientation values obtained.Such as, we suppose that wireless positioning terminal is positioned at user dead ahead, and facing to the face of user, like this, wireless positioning terminal just naturally has the differentiation in orientation, and this differentiation will form wireless positioning terminal in the different orientation values of diverse location.

The orientation values of current wireless locating terminal is obtained by electronic compass, calculate the numbering meeting the grid of above-mentioned orientation values relative to the positioning result of a upper moment wireless positioning terminal in conjunction with electronic chart, in the grid meeting above-mentioned orientation values, adopt suitable matching algorithm to determine the position coordinates of described wireless positioning terminal on electronic chart.

Here electronic compass, be the instrument of conventional orientation really in prior art, its work and know-why, be prior art field common practise, repeat no more herein.

The orientation values of combining wireless locating terminal, this orientation values of comparison, relative to the displacement between a upper moment positioning result, can know the position coordinates of wireless positioning terminal in current location.Such as, assuming that locate once, in the position of kth user's second at (xk, yk) each second.The position of k+1 user's second just can be tried to achieve by the coordinate (xk, yk) of the orientation values of k+1 second and k second, and concrete solving is by matching algorithm, is namely obtained by the coupling of location fingerprint data.If it is south by east 5 ° that the orientation of k+1 second records, so just only need the grid on map within the scope of (xk, yk) this south by east 5 °.。For electronic chart, because be the position coordinates that each point of polar plot has oneself, the position thus obtained here is exactly position coordinates.

Step 30, according to position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal collected to be compensated.

According to the position coordinates of wireless positioning terminal, in conjunction with the position of each beaconing nodes, can know that each beaconing nodes is relative to the direction of wireless positioning terminal and distance, here direction and distance all can bring unlike signal to decay, thus, when compensation, need the size of the wireless signal considering the beaconing nodes in all directions fully, and the distance of reference wireless positioning terminal and beaconing nodes, the value that the wireless signal calculating the beaconing nodes that all directions receive compensates.

Here, to the compensation of wireless signal, the relative position using wireless positioning terminal and holder may be needed, as mentioned above, this relative position can utilize transducer to obtain the feature of holder, according to the relative position of these feature determination wireless positioning terminals and holder.

Obtain wireless positioning terminal position coordinates and with the relative position of holder after, the pad value of wireless signal in all directions can be obtained by general calculating.Due to human body rule of thumb can be obtained and other may cause the pad value of object for wireless signal of radio signal attenuation, thus, the relative position of combining wireless locating terminal and holder, targetedly the wireless signal of different directions beaconing nodes is compensated, to revise the error of the positioning result caused due to human body or other stop of possible barrier to wireless signal.

Here, the method compensated is exactly the value of the beaconing nodes signal according to different directions, add known the party radio signal attenuation value upwards, the value of the wireless signal after being compensated, because this value have modified the signal attenuation that possible barrier causes, thus can revise the position error caused due to the stop of human body, the precision of location can be improved.

Step 40, according to the value of the wireless signal after compensation, calculates positioning result.

After compensating each wireless signal, owing to effectively eliminating the impact of human body or other barrier, thus, just can obtain positioning result more accurately by general location Calculation, this positioning result can export the positioning result into reality.

Here location algorithm, it is exactly the wireless signal of each beaconing nodes that the wireless positioning terminal after compensating is gathered, mate respectively with the location fingerprint data in location fingerprint database, obtain immediate location fingerprint data, position corresponding to these location fingerprint data is exactly the result of location.

Especially, in the scheme of above-described embodiment, in order to improve the efficiency of location, after determining a moment positioning result, when carrying out subsequent time location, the wireless signal that each beaconing nodes that can collect according to a upper moment wireless positioning terminal is launched, the orientation values of combining wireless locating terminal, determines the location finding scope of subsequent time wireless positioning terminal.Because there has been orientation values for referencial use, in practical application, consumer positioning i.e. holder move change can not be very violent, thus applies the result of calculation of orientation values, can compare accurate estimate to the position of subsequent time holder, this expectation can be a scope, within the scope of this, search for the position of subsequent time wireless positioning terminal, accuracy rate is higher, so just does not need to search for all possible direction when subsequent time is located, thus saved computational resource, improve location efficiency.

Especially, as shown in Figure 2, one that provides for the embodiment of the present invention concrete position application example, wherein, be depicted as a typical indoor working environment, zone line is aisle, and other region is office.According to location fingerprint positioning principle and grid location method, area to be targeted is divided into the grid of suitable size shape, by measure or numerical map developing instrument obtains grid barycentric coodinates; And demarcate the position coordinates of each beaconing nodes.In Fig. 2, each little square frame is a grid, and grid RC " ☆ " is grid center of gravity, and 101 ~ 111 is the room number of each office, the position that " " shown in 1 ~ 5 is beaconing nodes.

When user hold wireless positioning terminal position time, first location is calibrated, and the method for calibration is as described in above-described embodiment.By obtaining user movement orientation values, contrast beaconing nodes coordinate position, can obtain faced by user or back to collected beaconing nodes wireless signal, if back to beaconing nodes, then compensated this beaconing nodes wireless signal, offset is obtained by experience.Such as, if grid centered by a upper moment position, the direction of motion is due east (representing direction with up north and down south left west and right east in figure), known user is now back to beaconing nodes 1, need the signal to beaconing nodes 1 place measures to compensate, thus reduce because the person blocks the signal attenuation caused.

Further, when carrying out location fingerprint comparison, according to user movement orientation values, subsequent time user movement hunting zone can be determined.As shown in Figure 3, be the core of cut-away view 2, wherein, the coordinate having demarcated each grid is C i, j, C i, j+1, C i, j-1, C i-1, jand C i+1, j.If user is also that on wireless positioning terminal, a moment position is C i, jgrid, and to obtain wireless positioning terminal direct of travel this moment according to electronic compass be due east (representing direction with up north and down south left west and right east in figure), so to carry out in location fingerprint comparison process can drawdown ratio to scope, i.e. C i-1, j, C i, j+1and C i, j-1these grids can not participate in comparison, thus decrease comparison scope, shorten the time of comparison, also can not cause the situation that when locating in real time, positioning result is beated back and forth.

Correspondingly, the embodiment of the present invention additionally 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, specific as follows:

Electronic chart unit 100, for storing electronic map, and demarcates coordinate and direction, records the position of each beaconing nodes.

Electronic chart unit 100 for making and store the electronic chart of area to be targeted, and in electronic chart subscript position fixing and direction.Wherein, the coordinate precision set as required of electronic chart, direction is North and South direction mainly, also can set the angular coordinate direction obtained according to the angle of North and South direction.General, this direction can adopt 8 directions: east, the southeast, south, southwest, west, northwest, north, northeast, or directly represents by angle.

Can according to use specifically location algorithm or other need locating area to be divided into the grid of suitable size shape, by measure or numerical map developing instrument demarcates grid barycentric coodinates, and demarcate the position coordinates of each beaconing nodes in reality.

Electronic compass unit 200, for obtaining the orientation values of radio positioner and sending computing unit 400.

Electronic compass unit 200 is in order to obtain the orientation values of radio positioner.Here orientation values, relative to earth south poles, can be east as above, the southeast, south, southwest, west, northwest, north, orientation, 8, northeast, or directly represents by angle.。

Wireless collection unit 300, for gathering the wireless signal of each beaconing nodes, sends computing unit 400.

The wireless signal that wireless collection unit 300 is launched in order to gather each beaconing nodes, due in position fixing process, each moment wireless collection unit 300 all can receive the wireless signal that multiple beaconing nodes is launched, and the setting of location algorithm, also must carry out COMPREHENSIVE CALCULATING according to the wireless signal of multiple beaconing nodes, obtain positioning result, thus, here wireless collection unit 300 can gather the wireless signal of multiple beaconing nodes simultaneously, and sends computing unit 400.

Computing unit 400, for the orientation values according to wireless signal and radio positioner, determines the position coordinates of radio positioner; And according to position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal collected is compensated; Compute location result.

In whole radio positioner, computing unit 400 bears main calculation task.First, need the orientation values according to wireless signal and radio positioner, determine the position coordinates of radio positioner.Concrete, need the orientation values of current time, in conjunction with the positioning result in a upper moment, calculate the position coordinates of radio positioner.

Secondly, computing unit 400 needs according to position coordinates, in conjunction with the position of each beaconing nodes, compensates the wireless signal collected.Concrete, need to consider the decay etc. for wireless signal of the relative position of such as radio positioner and holder, holder's human body.Obtain radio positioner position coordinates and with the relative position of holder after, the pad value of wireless signal in all directions can be obtained by general calculating.Due to human body rule of thumb can be obtained and other may cause the pad value of object for wireless signal of radio signal attenuation, thus, the relative position of combining wireless positioner and holder, targetedly the wireless signal of different directions beaconing nodes is compensated, to revise the error of the positioning result caused due to human body or other stop of possible barrier to wireless signal.

Finally, computing unit 400 for according to all data, compute location result.After compensating each wireless signal, owing to effectively eliminating the impact of human body or other barrier, thus, just can obtain positioning result more accurately by general location Calculation, this positioning result can export the positioning result into reality.

Preferably, as shown in Figure 5, the radio positioner that above-described embodiment provides also comprises search unit 500, for the wireless signal that each beaconing nodes collected according to a upper moment radio positioner is launched, the orientation values of combining wireless positioner, determines the location finding scope of subsequent time radio positioner.

Preferably, as shown in Figure 6, the radio positioner that above-described embodiment provides also comprises location identification unit 600, for obtaining the relative position of radio positioner and holder, 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 collected.

Especially, as shown in Figure 7, the computing unit 400 in the radio positioner that above-described embodiment provides comprises motion orientation subelement 401 further, compensates subelement 402 and computation subunit 403, specific as follows:

Motion orientation subelement 401, for the orientation values according to wireless signal and radio positioner, determines the position coordinates of radio positioner.

Compensate subelement 402, for according to position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal collected is compensated.

Computation subunit 403, for the value according to the wireless signal after compensation, compute location result.

Preferably, based on the device shown in Fig. 4, auxiliary unit additional in Fig. 5 to Fig. 7 can be combined with each other, and obtains function radio positioner more comprehensively.

In sum, the wireless location method auxiliary based on direction that the embodiment of the present invention provides and device, in user's actual motion position fixing process, electronic compass is utilized to obtain orientation values, in conjunction with electronic chart, segmented compensation and filtering are carried out to the wireless signal collected, positioning result is reduced the directivity susceptibility of user movement, effectively can reduce position error, improve positioning precision.Meanwhile, the scheme that the embodiment of the present invention provides, can reduce position matching scope, shortens positioning time, improves Consumer's Experience, and the flatness that under improving moving situation further, dynamic realtime is followed the tracks of.

Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims (7)

1. an indoor wireless positioning method, is characterized in that, the method comprises:
In electronic chart subscript position fixing and direction, record the position of each beaconing nodes;
According to the orientation values that wireless positioning terminal current time is collected by electronic compass, in conjunction with a upper moment positioning result, determine the position coordinates of described wireless positioning terminal current time;
Described orientation values, revise in the following way:
Utilize transducer to obtain the feature of holder, determine the relative position of described wireless positioning terminal and holder according to described feature; According to described relative position, revise described orientation values;
According to described relative position, in conjunction with the position of described position coordinates and each beaconing nodes, the wireless signal collected is compensated;
According to the value of the wireless signal after compensation, calculate positioning result.
2. the method for claim 1, is characterized in that, the method comprises further:
The wireless signal that each beaconing nodes that wireless positioning terminal collects according to a upper moment is launched, in conjunction with the orientation values that described electronic compass collects, determines the location finding scope of wireless positioning terminal described in subsequent time.
3. the method for claim 1, is characterized in that, the method comprises further:
Gather the location fingerprint data of locating area, leave in location fingerprint database;
The described value according to the wireless signal after compensation, calculates positioning result and comprises:
By the value of the wireless signal after compensation, mate position finger print data in described location fingerprint database respectively, the position of mating immediate location fingerprint data corresponding is positioning result.
4. the method for claim 1, is characterized in that, described method also comprises:
The orientation values of current described wireless positioning terminal is obtained by electronic compass, calculate in conjunction with described electronic chart and met the region of above-mentioned orientation values relative to the positioning result of wireless positioning terminal described in the upper moment, in the region meeting above-mentioned orientation values, determine the position coordinates of described wireless positioning terminal on described electronic chart.
5. 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, for storing electronic map, and demarcates coordinate and direction, records the position of each beaconing nodes;
Described electronic compass unit, for obtaining the orientation values of described radio positioner and being sent to described computing unit;
Described wireless collection unit, for gathering the wireless signal of each beaconing nodes, is sent to described computing unit;
Described computing unit, for the orientation values that the relative position according to described radio positioner and holder, described wireless signal and described electronic compass unit collect, determines the position coordinates of described radio positioner; And according to described position coordinates, in conjunction with the position of each beaconing nodes, the wireless signal collected is compensated; Compute location result;
This device also comprises location identification unit, for obtaining the relative position of described radio positioner and holder, and is sent to described computing unit;
Described computing unit, according to described relative position, in conjunction with the position of described position coordinates and each beaconing nodes, compensates the wireless signal collected.
6. device as claimed in claim 5, is characterized in that, described computing unit comprises motion orientation subelement, compensates subelement and computation subunit, wherein,
Described motion orientation subelement, for the orientation values that the relative position according to described radio positioner and holder, described wireless signal and described electronic compass unit collect, determines the position coordinates of described radio positioner;
Described compensation subelement, for according to described relative position and position coordinates, in conjunction with the position of each beaconing nodes, compensates the wireless signal collected;
Described computation subunit, for the value according to the wireless signal after compensation, compute location result.
7. device as claimed in claim 5, it is characterized in that, this device also comprises search unit, for the wireless signal of each beaconing nodes transmitting that radio positioner according to a upper moment collects, in conjunction with the orientation values that described electronic compass unit collects, determine the location finding scope of radio positioner described in subsequent time.
CN201110139035.XA 2011-05-26 2011-05-26 A kind of indoor wireless positioning method and device CN102209386B (en)

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