CN102905368A - Mobile auxiliary indoor positioning method and system based on smart phone platform - Google Patents

Mobile auxiliary indoor positioning method and system based on smart phone platform Download PDF

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CN102905368A
CN102905368A CN2012103979537A CN201210397953A CN102905368A CN 102905368 A CN102905368 A CN 102905368A CN 2012103979537 A CN2012103979537 A CN 2012103979537A CN 201210397953 A CN201210397953 A CN 201210397953A CN 102905368 A CN102905368 A CN 102905368A
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user
fingerprint
database
rssi
mobile phone
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CN102905368B (en
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孙伟
杨铮
刘云浩
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Shenzhen Taihao Information Technology Co ltd
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WUXI RUIAN TECHNOLOGY CO LTD
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Abstract

The invention discloses a mobile auxiliary indoor positioning method and a mobile auxiliary indoor positioning system based on a smart phone platform. For the mobile auxiliary indoor positioning method and the mobile auxiliary indoor positioning system, the position of a user in a room is located by establishing a fingerprint database and a mobile database. The positioning method comprises the following steps of: after receiving a positioning request sent by a user, collecting RSSI (received signal strength indicator) fingerprints of the position of the user according to the positioning request, matching the RSSI fingerprints with RSSI fingerprints in the fingerprint database, and returning a set containing candidate positions with fixed quantity according to the matching result; according to data in the mobile data, the information of moving information and moving distance of the user, calculating the candidate positions in the set containing the candidate positions with the fixed quantity as the probability of the position of the user, so as to obtain the position of the user. Compared with the traditional indoor positioning method, the mobile auxiliary indoor positioning and the mobile auxiliary indoor positioning system have the advantages of high positioning precision and small maximum error, and can continuously and accurately positioning in a positioning process in real time.

Description

Based on the auxiliary indoor orientation method of the movement of intelligent mobile phone platform and system
Technical field
The present invention relates to the indoor positioning technical field, relate in particular to the auxiliary indoor orientation method of a kind of movement based on intelligent mobile phone platform and system.
Background technology
Along with communication and mobile computing increasingly mature, the context-aware ability has become a requisite part in many general fit calculations application, and wherein attaches most importance to positional information.Reliably and accurately positional information is searched for peripheral interested event so that the user can obtain and share promotion message, and experiences diversified social activity and entertainment way.On the other hand, significantly promoting of sensor manufacturing process also reformed human interchange intercommunication with the physics world deeply.Polytype small size transducer has been integrated in many handheld devices (for example current more and more general smart mobile phone), also therefore creates some such as new applications such as location-based moving advertisings.These location-based services are penetrated into each corner of the modern life just gradually, the importance that become and improve adventure in daily life, promotes information mutual communication.
At present there have been a large amount of research work to be devoted to how to improve universality and the accuracy of navigation system.In outdoor scene, global positioning system (GPS) has been the solution of a comparative maturity, and has obtained large-scale application.And because very limited in the direct observability of indoor scene Satellite, so that global positioning system is unavailable, so the indoor positioning technology still is a no small challenge.Traditional indoor orientation method has two classes.The method of one class depends on preassembled infrastructure (for example radio-frequency recognition system) or proprietary hardware (for example infrared ray, ultrasonic wave emitting and receiving equipment), but their extensive use is subject to high lower deployment cost and low autgmentability.Another kind of method utilizes ubiquitous wireless signal (such as from global system for mobile communications, FM broadcasting etc.) and finger print matching method to position; The method is with " fingerprint " of received signal strength (RSSI) as each place, and make up the fingerprint fingerprint database corresponding with the position in this place, fingerprint and the fingerprint database of unknown position mate, and position corresponding to fingerprint that will mate most estimated as current location.These class methods are suitable for extensive use, but its positioning accuracy is subject to the impact of signal source number and indoor multipath effect, still have the larger situation of position error, and positioning accuracy can't satisfy the requirement of many application.
Summary of the invention
For above-mentioned technical problem, the object of the present invention is to provide the auxiliary indoor orientation method of a kind of movement based on intelligent mobile phone platform and system, it is when utilizing indoor radio signal, user's mobile message is attached in the position fixing process, positioning accuracy is high, worst error is little, can continue to provide accurate location in the position fixing process in real time.
For reaching this purpose, the present invention by the following technical solutions:
The auxiliary indoor orientation method of a kind of movement based on intelligent mobile phone platform comprises the steps:
A, structure fingerprint database;
The place of determining to have in the indoor environment logical implication is location reference point;
Gather received signal strength (RSSI) value of each location reference point, with its RSSI fingerprint as location reference point;
Positional information and the RSSI fingerprint corresponding with it of described location reference point are deposited in the database, finish the structure of fingerprint database;
B, structure move database;
RSSI fingerprint in the RSSI fingerprint of user position and the described fingerprint database is mated, according to matching result, obtain a location estimation;
Calculate the average of the bearing data that digital compass gathers in the mobile phone, obtain user's moving direction information;
According to the change information of user's acceleration of accelerometer collection in the mobile phone, obtain user's moving distance information;
In conjunction with described location estimation described moving direction information and moving distance information are processed, and result is deposited in the database, finish the structure of move database;
C, consumer positioning position;
Receive the Location Request that the user sends, and gather the RSSI fingerprint of user position according to this Location Request;
RSSI fingerprint in described RSSI fingerprint and the described fingerprint database is mated, return the set that comprises the fixed qty position candidate according to matching result;
Calculate the average of the bearing data that digital compass gathers in the mobile phone, obtain user's moving direction information;
According to the change information of user's acceleration of accelerometer collection in the mobile phone, obtain user's moving distance information;
According to the data in the described move database, user's moving direction information and user's moving distance information, the position candidate of calculating in the described set that comprises the fixed qty position candidate is the probability of user position, obtains the user position.
Especially, among the described step B RSSI fingerprint in the RSSI fingerprint of user position and the described fingerprint database is mated, specifically comprises:
Calculate the dissimilar degree of RSSI fingerprint in the RSSI fingerprint of user position and the described fingerprint database according to formula (a), the RSSI fingerprint of dissimilar degree minimum is matching result, and its corresponding position is then as a location estimation of user position;
φ 2 ( F , F ′ ) = Σ i = 1 n ( f i - f i ′ ) 2 - - - ( a )
Wherein, the quantity of establishing the WAP (wireless access point) (AP) in the indoor whole zone is n, and n is positive integer, and then the RSSI fingerprint of user position can be expressed as F=(f 1, f 2..., f n), f wherein iExpression is from the RSSI fingerprint of i WAP (wireless access point), and is same, the arbitrary RSSI fingerprint in the fingerprint database be F '=(f ' 1, f ' 2..., f ' n)
Especially, the change information of the user's acceleration that gathers according to accelerometer in the mobile phone among the described step B, acquisition user's moving distance information specifically comprises:
Change information according to user's acceleration of accelerometer collection in the mobile phone calculates user's walking step number, and calculates user's step-length according to user's height, goes out user's moving distance information by described step number and step size computation.
Especially, in conjunction with described location estimation described moving direction information and moving distance information are processed among the described step B, are specifically comprised:
With the moving direction information between original position and end position and moving distance information in each timeslice with compare according to the value of indoor environment map calculation, if difference surpasses set threshold value, then abandon moving direction information and moving distance information in this timeslice, and the recorded information that original position is identical with end position in each timeslice gathered average and standard deviation for user's moving direction and displacement, deposit move database in.
Especially, described step C specifically comprises:
Receive the Location Request that the user sends for the first time, gather the RSSI fingerprint of user position according to this Location Request, calculate the dissimilar degree of RSSI fingerprint in the RSSI fingerprint of this user position and the described fingerprint database, return the set that comprises the fixed qty position candidate, and the position that the RSSI fingerprint of dissimilar degree minimum is corresponding in will gathering is as a location estimation of user position;
In the next time interval, the user moves to reposition, then gather the RSSI fingerprint of this reposition, calculate the average of the bearing data that digital compass gathers in the mobile phone within the described time interval, obtain user's moving direction information, the change information of the user's acceleration that gathers within the described time interval according to accelerometer in the mobile phone obtains user's moving distance information;
Calculate the dissimilar degree of RSSI fingerprint in the RSSI fingerprint of described reposition and the described fingerprint database, obtain to comprise the set of fixed qty position candidate, and calculate the probability that each position candidate is described reposition by formula (b);
P ( X = l i | F ) = 1 / m i Σ j = 1 k 1 / m j - - - ( b )
Wherein, suppose that the position candidate set is L={l 1, l 2..., l k, position candidate l iCorresponding dissimilar degree is m i, F is the RSSI fingerprint of reposition, P (X=l i| be that reposition X is l F) iProbability;
Described user's moving direction information and user's moving distance information are modeled as Gaussian Profile, the average of user's moving direction and displacement and standard deviation are average and the standard deviation of Gaussian Profile in the move database, calculate according to formula (c) under the moving direction d and displacement o condition of the user within the described time interval, reposition X is l iProbability;
P ( X = l i | d , o ) = Σ s j ∈ S P ( X ′ = s j ) × P ( V s j , l i = 1 ) - - - ( c )
Wherein, given position i defines 0-1 stochastic variable V to the direction d of j with apart from o I, j, its value be 1 and if only if user can through such direction d and apart from o from i to j, thereby obtain P (V I, j, j=1)=D I, j(d, α) O I, j(o, β); D I, j(d, α) and O I, j(o, β) is that corresponding siding-to-siding block length is α and β Gaussian Profile discretization, and X ' is described location estimation, and its value set is S={s 1, s 2..., s k;
Formula (b) and formula (c) are processed, and the RSSI fingerprint, user's moving direction information and the moving distance information assessment reposition X that obtain to utilize simultaneously reposition are l iThe formula (d) of probability, and to calculate reposition X according to formula (d) be l iProbability, obtain the positional information of described reposition;
P ( X = l i ) = P ( X = l i | F ) × P ( X = l i | d , o ) N - - - ( d )
Wherein, P (X=l i) for reposition X be l iProbability.
The invention also discloses the auxiliary indoor locating system of a kind of movement based on intelligent mobile phone platform, this system comprises:
The fingerprint database construction unit, be used for gathering received signal strength (RSSI) value of each location reference point, with its RSSI fingerprint as location reference point, the positional information of described location reference point and the RSSI fingerprint corresponding with it are deposited in the database, finish the structure of fingerprint database;
The move database construction unit is used for RSSI fingerprint and the described fingerprint database RSSI fingerprint of user position are mated, and according to matching result, obtains a location estimation; Calculate the average of the bearing data that digital compass gathers in the mobile phone, obtain user's moving direction information; According to the change information of user's acceleration of accelerometer collection in the mobile phone, obtain user's moving distance information; And in conjunction with described location estimation described moving direction information and moving distance information are processed, and result is deposited in the database, finish the structure of move database;
The engine of positioning unit be used for to receive the Location Request that the user sends, and RSSI fingerprint in the RSSI fingerprint of the user position that gathers and the described fingerprint database is mated, and returns the set that comprises the fixed qty position candidate according to matching result; Calculate the average of the bearing data that digital compass gathers in the mobile phone, obtain user's moving direction information; According to the change information of user's acceleration of accelerometer collection in the mobile phone, obtain user's moving distance information; And according to the data in the described move database, user's moving direction information and user's moving distance information, the position candidate of calculating in the described set that comprises the fixed qty position candidate is the probability of user position, obtains the user position.
The present invention is after receiving the Location Request that the user sends, to gather according to this Location Request the RSSI fingerprint of user position, and RSSI fingerprint in described RSSI fingerprint and the described fingerprint database mated, return the set that comprises the fixed qty position candidate according to matching result.Then according to the data in the move database, user's moving direction information and user's moving distance information, the position candidate of calculating in the described set that comprises the fixed qty position candidate is the probability of user position, obtains the user position.Compare with traditional indoor orientation method, the present invention is attached to user's mobile message in the position fixing process when utilizing indoor radio signal, and positioning accuracy is high, and worst error is little, can continue to provide accurate location in the position fixing process in real time.
Description of drawings
The auxiliary indoor orientation method flow chart of the movement based on intelligent mobile phone platform that Fig. 1 provides for the embodiment of the invention;
Fig. 2 disposes the situation schematic diagram for location reference point and WAP (wireless access point) that the embodiment of the invention provides;
The acceleration change feature schematic diagram that the user that Fig. 3 provides for the embodiment of the invention walks;
Direction and apart from schematic diagram between the adjacent position of the user mobile phone record that Fig. 4 provides for the embodiment of the invention;
The auxiliary indoor positioning system construction drawing of the movement based on intelligent mobile phone platform that Fig. 5 provides for the embodiment of the invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, the invention will be further described below in conjunction with drawings and Examples.
Please refer to shown in Figure 1, Fig. 1 for the embodiment of the invention provide based on the auxiliary indoor orientation method flow chart of the movement of intelligent mobile phone platform.
Comprise the steps: based on the auxiliary indoor orientation method of the movement of intelligent mobile phone platform in the present embodiment
Step S101, structure fingerprint database.The specific implementation process is as follows:
Step S1011, the place of determining to have in the indoor environment logical implication are location reference point.
As shown in Figure 2, Fig. 2 disposes the situation schematic diagram for location reference point and WAP (wireless access point) that the embodiment of the invention provides.Whole office hall size is 40.8 meters * 16 meters among the figure, wherein has some support columns, baffle plate, office desk and chair etc., the location reference point that the circle of numbering 1 to 28 represents, and asterisk represents the placement location of WAP (wireless access point).
Indoor environment is investigated, and the place of determining to have logical implication is location reference point.In whole indoor plane domain, (1 meter to 5 meters) is for determining location reference point in the interval at a certain distance.The selection of these location reference point can be to have the place of logical implication such as counseling platform, phone, bar desk etc. in turning, corridor, gateway, room or any indoor environment.Described have logical implication and refer to that location comparison is special, has its specific function.
Step S1012, gather received signal strength (RSSI) value of each location reference point, with its RSSI fingerprint as location reference point.
Certain time for example gathered received signal strength (RSSI) value from peripheral WAP (wireless access point) (AP) in one minute.Consider human body towards the interference to wireless signal, four in all directions of RSSI values are calculated the average from the RSSI value of all WAP (wireless access point) towards the equalization collection, and with its RSSI fingerprint as this place.
Step S1013, the positional information of described location reference point and the RSSI fingerprint corresponding with it are deposited in the database, finish the structure of fingerprint database.
Step S102, structure move database.
For the user in the movement, its two the most basic mobile attributes are direction and distance, and they have determined the motion track of mobile subscriber within certain period jointly.On the other hand, at present embedded digital compass, accelerometer in the popular smart mobile phone, wherein digital compass has provided the direction of mobile phone front end with respect to north, earth magnetic field, and accelerometer has provided the trend of mobile phone velocity variations.The application of these transducers on mobile phone becomes possibility so that catch user's motion track.The user can arbitrarily walking in the indoor environment that builds fingerprint database.Generally speaking, user's handheld mobile phone, wherein mobile phone front end indicated direction consistent with user's moving direction (the common placement of mobile phone when the user operates send short messages, online etc., this condition can further be relaxed).Mobile phone periodically perception and generates the RSSI fingerprint according to this from the received signal strength of peripheral WAP (wireless access point), and the RSS fingerprint current according to the user comes the estimating user position.Meanwhile, digital compass and accelerometer embedded in the mobile phone continue moving direction information and the moving distance information that each RSS fingerprint of record generates the interval, have so just obtained the relative position information between the adjacent position.
The detailed process that makes up move database is as follows:
Step S1021, RSSI fingerprint in the RSSI fingerprint of user position and the described fingerprint database is mated, according to matching result, obtain a location estimation.
Calculate the dissimilar degree of RSSI fingerprint in the RSSI fingerprint of user position and the described fingerprint database according to formula (a), the RSSI fingerprint of dissimilar degree minimum is matching result, and its corresponding position is then as a location estimation of user position;
φ 2 ( F , F ′ ) = Σ i = 1 n ( f i - f i ′ ) 2 - - - ( a )
Wherein, the quantity of establishing the WAP (wireless access point) (AP) in the indoor whole zone is n, and n is positive integer, and then the RSSI fingerprint of user position can be expressed as F=(f 1, f 2..., f n), f wherein iExpression is from the RSSI fingerprint of i WAP (wireless access point), and is same, the arbitrary RSSI fingerprint in the fingerprint database be F '=(f ' 1, f ' 2..., f ' n).
The average of the bearing data that digital compass gathers in step S1022, the calculating mobile phone, acquisition user's moving direction information.
When foregoing mobile phone modes of emplacement, the direction that the user moves is the reading of digital compass, namely with respect to the angle in north, battery magnetic field.Calculate the moving direction in the digital compass reading average conduct during this period of time of user in induction RSSI fingerprint interval.In addition, the method of estimation of user shift position when also putting arbitrarily with a kind of mobile phone, the Fourier transform of its resolving acceleration meter induced signal is northwards and two components westwards, try to achieve the approximate range of the angle that moving direction and mobile phone point to, recycle and indoorly walk the characteristics that the path limits by wall and try to achieve a fine estimation value.
The change information of step S1023, user's acceleration of gathering according to accelerometer in the mobile phone obtains user's moving distance information.
Behind the pin kiss the earth that the user steps, a maximum will appear in acceleration forward.Continuous so normal stable walking about also so that accelerometer readings presents the peak value of series of periodic.Characteristic according to such can detect each step that the people walks.
As shown in Figure 3, the acceleration change feature schematic diagram of user's walking of providing for the embodiment of the invention of Fig. 3.From figure, can clearly observe accekeration and lofty peak value periodically occur.The acceleration (Acceleration) that represents in the drawings the user with curve has marked each step (steps) that detects with cross symbols.Change information according to user's acceleration of accelerometer collection in the mobile phone calculates user's walking step number, and calculates user's step-length according to user's height, goes out user's moving distance information by described step number and step size computation.
Step S1024, in conjunction with described location estimation described moving direction information and moving distance information are processed, and result is deposited in the database, finish the structure of move database.
For the data that mass-rent more effectively gets, the data in each timeslice are recombinated.If the station location marker of initial time number (ID) is number larger than the station location marker of the finish time in a period of time interval, reverse so the station location marker number (namely so that the station location marker of initial time number less) of initial time and the finish time, the moving direction in this timeslice is reversed.In the situation that the mutual accessibility (if can reach position D2 from position D1 through certain path, then can reach position D1 from position D2 through inverse path) of position is set up (most indoor environments are all set up), such restructuring can effectively reduce the time of mass-rent.
On the other hand, because this moment, location estimation only depended on the RSSI fingerprint, the mass-rent data may be brought larger error owing to the location estimation of mistake.Therefore with the moving direction information between original position and end position and moving distance information in each timeslice with compare according to the value of indoor environment map calculation, if difference surpasses set threshold value, then abandon moving direction information and moving distance information in this timeslice, and the recorded information that original position is identical with end position in each timeslice gathered average and standard deviation for user's moving direction and displacement, deposit move database in.Wherein, described threshold size can be adjusted flexibly according to the requirement of positioning accuracy, spends above 20 such as the difference of moving direction, and the difference of displacement is above 3 meters.
Step S103, consumer positioning position.
The Location Request that step S1031, reception user send for the first time, gather the RSSI fingerprint of user position according to this Location Request, calculate the dissimilar degree of RSSI fingerprint in the RSSI fingerprint of this user position and the described fingerprint database, return the set that comprises the fixed qty position candidate, and the position that the RSSI fingerprint of dissimilar degree minimum is corresponding in will gathering is as a location estimation of user position.
Step S1032, in the next time interval, the user moves to reposition, then gather the RSSI fingerprint of this reposition, calculate the average of the bearing data that digital compass gathers in the mobile phone within the described time interval, obtain user's moving direction information, the change information of the user's acceleration that gathers within the described time interval according to accelerometer in the mobile phone obtains user's moving distance information.
The dissimilar degree of RSSI fingerprint obtains to comprise the set of fixed qty position candidate in step S1033, the RSSI fingerprint that calculates described reposition and the described fingerprint database, and calculates the probability that each position candidate is described reposition by formula (b);
P ( X = l i | F ) = 1 / m i Σ j = 1 k 1 / m j - - - ( b )
Wherein, suppose that the position candidate set is L={l 1, l 2..., l k, position candidate l iCorresponding dissimilar degree is m i, F is the RSSI fingerprint of reposition, P (X=l i| be that reposition X is l F) iProbability.
Step S1034, described user's moving direction information and user's moving distance information are modeled as Gaussian Profile, the average of user's moving direction and displacement and standard deviation are average and the standard deviation of Gaussian Profile in the move database, calculate according to formula (c) under the moving direction and displacement o condition of the user within the described time interval, reposition X is l iProbability;
P ( X = l i | d , o ) = Σ s j ∈ S P ( X ′ = s j ) × P ( V s j , l i = 1 ) - - - ( c )
Wherein, given position i defines 0-1 stochastic variable V to the direction d of j with apart from o I, j, its value be 1 and if only if user can through such direction d and apart from o from i to j, thereby obtain P (V I, j=1)=D I, j(d, α) O I, j(o, β) D I, j(d, α) and O I, j(o, β) is that corresponding siding-to-siding block length is α and β Gaussian Profile discretization, and X ' is described location estimation, and its value set is S={s 1, s 2..., s k.As shown in Figure 4, direction and apart from schematic diagram between the adjacent position of the user mobile phone record that provides for the embodiment of the invention of Fig. 4.In user's whole run trace, the user has passed through respectively A, B, C, D and E totally five positions, embedded digital compass and accelerometer continue the mobile message of recording user in the mobile phone of each position, moving direction and the range coordinate of B, C, D and four positions of E correspond to (d1, o1), (d2, o2), (d3, o3), (d4, o4).
Step S1035, formula (b) and formula (c) are processed, the RSSI fingerprint, user's moving direction information and the moving distance information assessment reposition X that obtain to utilize simultaneously reposition are l iThe formula (d) of probability, and to calculate reposition X according to formula (d) be l iProbability, obtain the positional information of described reposition;
P ( X = l i ) = P ( X = l i | F ) × P ( X = l i | d , o ) N - - - ( d )
Wherein, P (X=l i) for reposition X be l iProbability.
Please refer to shown in Figure 5, Fig. 5 for the embodiment of the invention provide based on the auxiliary indoor positioning system construction drawing of the movement of intelligent mobile phone platform.
Comprise fingerprint database construction unit 501, move database construction unit 502 and engine of positioning unit 503 based on the auxiliary indoor locating system of the movement of intelligent mobile phone platform in the present embodiment.
Described fingerprint database construction unit 501 is used for gathering received signal strength (RSSI) value of each location reference point, with its RSSI fingerprint as location reference point, positional information and the RSSI fingerprint corresponding with it of described location reference point are deposited in the database, finish the structure of fingerprint database.
Certain time for example gathered received signal strength (RSSI) value from peripheral WAP (wireless access point) (AP) in one minute.Consider that human body is towards the interference to wireless signal, four in all directions of RSSI values are towards the equalization collection, calculating is from the average of the RSSI value of all WAP (wireless access point), and with its RSSI fingerprint as this place, then positional information and the RSSI fingerprint corresponding with it with described location reference point deposits in the database, finishes the structure of fingerprint database.
Described move database construction unit 502 is used for RSSI fingerprint and the described fingerprint database RSSI fingerprint of user position are mated, and according to matching result, obtains a location estimation; Calculate the average of the bearing data that digital compass gathers in the mobile phone, obtain user's moving direction information; According to the change information of user's acceleration of accelerometer collection in the mobile phone, obtain user's moving distance information; And in conjunction with described location estimation described moving direction information and moving distance information are processed, and result is deposited in the database, finish the structure of move database.
Calculate the dissimilar degree of RSSI fingerprint in the RSSI fingerprint of user position and the described fingerprint database according to formula (a), the RSSI fingerprint of dissimilar degree minimum is matching result, and its corresponding position is then as a location estimation of user position;
φ 2 ( F , F ′ ) = Σ i = 1 n ( f i - f i ′ ) 2 - - - ( a )
Wherein, the quantity of establishing the WAP (wireless access point) (AP) in the indoor whole zone is n, and n is positive integer, and then the RSSI fingerprint of user position can be expressed as F=(f 1, f 2..., f n), f wherein iExpression is from the RSSI fingerprint of i WAP (wireless access point), and is same, the arbitrary RSSI fingerprint in the fingerprint database be F '=(f ' 1, f ' 2..., f ' n).
When foregoing mobile phone modes of emplacement, the direction that the user moves is the reading of digital compass, namely with respect to the angle in north, battery magnetic field.Calculate the moving direction in the digital compass reading average conduct during this period of time of user in induction RSSI fingerprint interval.In addition, the method of estimation of user shift position when also putting arbitrarily with a kind of mobile phone, the Fourier transform of its resolving acceleration meter induced signal is northwards and two components westwards, try to achieve the approximate range of the angle that moving direction and mobile phone point to, recycle and indoorly walk the characteristics that the path limits by wall and try to achieve a fine estimation value.
Change information according to user's acceleration of accelerometer collection in the mobile phone calculates user's walking step number, and calculates user's step-length according to user's height, goes out user's moving distance information by described step number and step size computation.
With the moving direction information between original position and end position and moving distance information in each timeslice with compare according to the value of indoor environment map calculation, if difference surpasses set threshold value, then abandon moving direction information and moving distance information in this timeslice, and the recorded information that original position is identical with end position in each timeslice gathered average and standard deviation for user's moving direction and displacement, deposit move database in.Wherein, described threshold size can be adjusted flexibly according to the requirement of positioning accuracy, spends above 20 such as the difference of moving direction, and the difference of displacement is above 3 meters.
Described engine of positioning unit 503 is used for receiving the Location Request that the user sends, and RSSI fingerprint in the RSSI fingerprint of the user position that gathers and the described fingerprint database is mated, and returns the set that comprises the fixed qty position candidate according to matching result; Calculate the average of the bearing data that digital compass gathers in the mobile phone, obtain user's moving direction information; According to the change information of user's acceleration of accelerometer collection in the mobile phone, obtain user's moving distance information; And according to the data in the described move database, user's moving direction information and user's moving distance information, the position candidate of calculating in the described set that comprises the fixed qty position candidate is the probability of user position, obtains the user position.
Receive the Location Request that the user sends for the first time, gather the RSSI fingerprint of user position according to this Location Request, calculate the dissimilar degree of RSSI fingerprint in the RSSI fingerprint of this user position and the described fingerprint database, return the set that comprises the fixed qty position candidate, and the position that the RSSI fingerprint of dissimilar degree minimum is corresponding in will gathering is as a location estimation of user position.
In the next time interval, the user moves to reposition, then gather the RSSI fingerprint of this reposition, calculate the average of the bearing data that digital compass gathers in the mobile phone within the described time interval, obtain user's moving direction information, the change information of the user's acceleration that gathers within the described time interval according to accelerometer in the mobile phone obtains user's moving distance information.
Calculate the dissimilar degree of RSSI fingerprint in the RSSI fingerprint of described reposition and the described fingerprint database, obtain to comprise the set of fixed qty position candidate, and calculate the probability that each position candidate is described reposition by formula (b);
P ( X = l i | F ) = 1 / m i Σ j = 1 k 1 / m j - - - ( b )
Wherein, suppose that the position candidate set is L={l 1, l 2..., l k, position candidate l iCorresponding dissimilar degree is m i, F is the RSSI fingerprint of reposition, P (X=l i| be that reposition X is l F) iProbability.
Described user's moving direction information and user's moving distance information are modeled as Gaussian Profile, the average of user's moving direction and displacement and standard deviation are average and the standard deviation of Gaussian Profile in the move database, calculate according to formula (c) under the moving direction d and displacement o condition of the user within the described time interval, reposition X is l iProbability;
P ( X = l i | d , o ) = Σ s j ∈ S P ( X ′ = s j ) × P ( V s j , l i = 1 ) - - - ( c )
Wherein, given position i defines 0-1 stochastic variable V to the direction d of j with apart from o I, j, its value be 1 and if only if user can through such direction d and apart from o from i to j, thereby obtain P (V I, j=1)=D I, j(d, α) O I, j(o, β); D I, j(d, α) and O I, j(o, β) is that corresponding siding-to-siding block length is α and β Gaussian Profile discretization, and X ' is described location estimation, and its value set is S={s 1, s 2..., s n.
Formula (b) and formula (c) are processed, and the RSSI fingerprint, user's moving direction information and the moving distance information assessment reposition X that obtain to utilize simultaneously reposition are l iThe formula (d) of probability, and to calculate reposition X according to formula (d) be l iProbability, obtain the positional information of described reposition;
P ( X = l i ) = P ( X = l i | F ) × P ( X = l i | d , o ) N - - - ( d )
Wherein, P (X=l i) for reposition X be l iProbability.
Compare with traditional indoor orientation method, technical scheme of the present invention is attached to user's mobile message in the position fixing process when utilizing indoor radio signal, and positioning accuracy is high, and worst error is little, can continue to provide accurate location in the position fixing process in real time.
Above-mentioned only is preferred embodiment of the present invention and institute's application technology principle, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses, and the variation that can expect easily or replacement all should be encompassed in protection scope of the present invention.

Claims (6)

1. the auxiliary indoor orientation method of the movement based on intelligent mobile phone platform is characterized in that, comprises the steps:
A, structure fingerprint database;
The place of determining to have in the indoor environment logical implication is location reference point;
Gather received signal strength (RSSI) value of each location reference point, with its RSSI fingerprint as location reference point;
Positional information and the RSSI fingerprint corresponding with it of described location reference point are deposited in the database, finish the structure of fingerprint database;
B, structure move database;
RSSI fingerprint in the RSSI fingerprint of user position and the described fingerprint database is mated, according to matching result, obtain a location estimation;
Calculate the average of the bearing data that digital compass gathers in the mobile phone, obtain user's moving direction information;
According to the change information of user's acceleration of accelerometer collection in the mobile phone, obtain user's moving distance information;
In conjunction with described location estimation described moving direction information and moving distance information are processed, and result is deposited in the database, finish the structure of move database;
C, consumer positioning position;
Receive the Location Request that the user sends, and gather the RSSI fingerprint of user position according to this Location Request;
RSSI fingerprint in described RSSI fingerprint and the described fingerprint database is mated, return the set that comprises the fixed qty position candidate according to matching result;
Calculate the average of the bearing data that digital compass gathers in the mobile phone, obtain user's moving direction information;
According to the change information of user's acceleration of accelerometer collection in the mobile phone, obtain user's moving distance information;
According to the data in the described move database, user's moving direction information and user's moving distance information, the position candidate of calculating in the described set that comprises the fixed qty position candidate is the probability of user position, obtains the user position.
2. the auxiliary indoor orientation method of the movement based on intelligent mobile phone platform according to claim 1 is characterized in that, among the described step B RSSI fingerprint in the RSSI fingerprint of user position and the described fingerprint database is mated, and specifically comprises:
Calculate the dissimilar degree of RSSI fingerprint in the RSSI fingerprint of user position and the described fingerprint database according to formula (a), the RSSI fingerprint of dissimilar degree minimum is matching result, and its corresponding position is then as a location estimation of user position;
φ 2 ( F , F ′ ) = Σ i = 1 n ( f i - f i ′ ) 2 - - - ( a )
Wherein, the quantity of establishing the WAP (wireless access point) (AP) in the indoor whole zone is n, and n is positive integer, and then the RSSI fingerprint of user position can be expressed as F=(f 1, f 2..., f n), f wherein iExpression is from the RSSI fingerprint of i WAP (wireless access point), and is same, the arbitrary RSSI fingerprint in the fingerprint database be F '=(f ' 1, f ' 2..., f ' n).
3. indoor orientation method is assisted in the movement based on intelligent mobile phone platform according to claim 2, it is characterized in that, the change information of the user's acceleration that gathers according to accelerometer in the mobile phone among the described step B, acquisition user's moving distance information specifically comprises:
Change information according to user's acceleration of accelerometer collection in the mobile phone calculates user's walking step number, and calculates user's step-length according to user's height, goes out user's moving distance information by described step number and step size computation.
4. the auxiliary indoor orientation method of the movement based on intelligent mobile phone platform according to claim 3 is characterized in that, in conjunction with described location estimation described moving direction information and moving distance information is processed among the described step B, specifically comprises:
With the moving direction information between original position and end position and moving distance information in each timeslice with compare according to the value of indoor environment map calculation, if difference surpasses set threshold value, then abandon moving direction information and moving distance information in this timeslice, and the recorded information that original position is identical with end position in each timeslice gathered average and standard deviation for user's moving direction and displacement, deposit move database in.
5. the auxiliary indoor orientation method of the movement based on intelligent mobile phone platform according to claim 4 is characterized in that, described step C specifically comprises:
Receive the Location Request that the user sends for the first time, gather the RSSI fingerprint of user position according to this Location Request, calculate the dissimilar degree of RSSI fingerprint in the RSSI fingerprint of this user position and the described fingerprint database, return the set that comprises the fixed qty position candidate, and the position that the RSSI fingerprint of dissimilar degree minimum is corresponding in will gathering is as a location estimation of user position;
In the next time interval, the user moves to reposition, then gather the RSSI fingerprint of this reposition, calculate the average of the bearing data that digital compass gathers in the mobile phone within the described time interval, obtain user's moving direction information, the change information of the user's acceleration that gathers within the described time interval according to accelerometer in the mobile phone obtains user's moving distance information;
Calculate the dissimilar degree of RSSI fingerprint in the RSSI fingerprint of described reposition and the described fingerprint database, obtain to comprise the set of fixed qty position candidate, and calculate the probability that each position candidate is described reposition by formula (b);
P ( X = l i | F ) = 1 / m i Σ j = 1 k 1 / m j - - - ( b )
Wherein, suppose that the position candidate set is L={l 1, l 2..., l k, position candidate l iCorresponding dissimilar degree is m i, F is the RSSI fingerprint of reposition, P (X=l i| be that reposition X is l F) iProbability;
Described user's moving direction information and user's moving distance information are modeled as Gaussian Profile, the average of user's moving direction and displacement and standard deviation are average and the standard deviation of Gaussian Profile in the move database, calculate according to formula (c) under the moving direction d and displacement o condition of the user within the described time interval, reposition X is l iProbability;
P ( X = l i | d , o ) = Σ s j ∈ S P ( X ′ = s j ) × P ( V s j , l i = 1 ) - - - ( c )
Wherein, given position i defines 0-1 stochastic variable V to the direction d of j with apart from o I, j, its value be 1 and if only if user can through such direction d and apart from o from i to j, thereby obtain P (V I, j=1)=D I, j(d, α) O I, j(o, β); D I, j(d, α) and O I, j(o, β) is that corresponding siding-to-siding block length is α and β Gaussian Profile discretization, and X ' is described location estimation, and its value set is S={s 1, s 2..., s k;
Formula (b) and formula (c) are processed, and the RSSI fingerprint, user's moving direction information and the moving distance information assessment reposition X that obtain to utilize simultaneously reposition are l iThe formula (d) of probability, and to calculate reposition X according to formula (d) be l iProbability, obtain the positional information of described reposition;
P ( X = l i ) = P ( X = l i | F ) × P ( X = l i | d , o ) N - - - ( d )
Wherein, P (X=l i) for reposition X be l iProbability.
6. the auxiliary indoor locating system of the movement based on intelligent mobile phone platform is characterized in that, comprising:
The fingerprint database construction unit, be used for gathering received signal strength (RSSI) value of each location reference point, with its RSSI fingerprint as location reference point, the positional information of described location reference point and the RSSI fingerprint corresponding with it are deposited in the database, finish the structure of fingerprint database;
The move database construction unit is used for RSSI fingerprint and the described fingerprint database RSSI fingerprint of user position are mated, and according to matching result, obtains a location estimation; Calculate the average of the bearing data that digital compass gathers in the mobile phone, obtain user's moving direction information; According to the change information of user's acceleration of accelerometer collection in the mobile phone, obtain user's moving distance information; And in conjunction with described location estimation described moving direction information and moving distance information are processed, and result is deposited in the database, finish the structure of move database;
The engine of positioning unit be used for to receive the Location Request that the user sends, and RSSI fingerprint in the RSSI fingerprint of the user position that gathers and the described fingerprint database is mated, and returns the set that comprises the fixed qty position candidate according to matching result; Calculate the average of the bearing data that digital compass gathers in the mobile phone, obtain user's moving direction information; According to the change information of user's acceleration of accelerometer collection in the mobile phone, obtain user's moving distance information; And according to the data in the described move database, user's moving direction information and user's moving distance information, the position candidate of calculating in the described set that comprises the fixed qty position candidate is the probability of user position, obtains the user position.
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Address before: 100176 Beijing Beijing economic and Technological Development Zone Yuncheng Street 2, 1 A block 11 11 1109

Patentee before: BEIJING TAIHAO INFORMATION TECHNOLOGY Co.,Ltd.

Country or region before: China