CN103002568B - Auxiliary positioning method based on building structure and user behaviors - Google Patents
Auxiliary positioning method based on building structure and user behaviors Download PDFInfo
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- CN103002568B CN103002568B CN201110266015.9A CN201110266015A CN103002568B CN 103002568 B CN103002568 B CN 103002568B CN 201110266015 A CN201110266015 A CN 201110266015A CN 103002568 B CN103002568 B CN 103002568B
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Abstract
An auxiliary positioning method based on building structure and user behaviors includes steps: through an access point AP, detecting mobile terminals in real time and sending collected MAR triples to an access center AC; through a positioning algorithm server, inquiring about the MAR triple information of the mobile terminals from the AC; selecting two or three AP with maximum signal strength by a positioning algorithm, and inquiring about ASR triples of the AP from a database server according the MAR triples to obtain a target area set of the AP, inquiring about a constraint area set from the database server according to the previous positioning result of mobile terminals, judging whether the target area set and the constraint area set are intersected or not, and solving positioning blocks in the centers of the target area intersection and the constraint area set or positioning blocks, most close to the center of the constraint area set, in the target area intersection according to a judging result. By the auxiliary positioning method, positioning error caused by signal jitter can be reduced.
Description
Technical field
The present invention relates to wireless location technology field, particularly a kind of assisted location method based on building structure and user behavior.
Background technology
Two category nodes are generally comprised: a class is the known node of space coordinates, is referred to as anchor node in conventional wireless location system; Another kind of is the node of space coordinates the unknown, is referred to as tested node.The realization of conventional localization method generally can be divided into two steps: first step is mainly in order to determine the space length (or angle) between anchor node and tested node, conventional distance-finding method has: TOA (TimeOf Arrival, the time of advent) range finding, TDOA (Time Differences Of Arrival, the time of advent is poor) range finding, RSSI (Receive Signal Strength Indicator, signal designation intensity) range finding and AOA (Angle Of Arrival, angle of arrival) angle measurement etc.Second step mainly determines the absolute coordinate space of tested node according to the absolute coordinate space of anchor node and the result of back gained, the method that this step adopts mainly contains trilateration, triangulation, maximum likelihood estimate etc.
TOA (Time Of Arrival, the time of advent) range finding, refer under the prerequisite of the transmission speed knowing wireless signal, the distance of the two is calculated by the transmission time of measuring-signal between tested node and anchor node, it not only requires that anchor node can measure the time receiving the signal that tested node sends, but also tested node sends the time of signal to require anchor node accurately to know, very high to the requirement of hardware.
TDOA (Time Differences Of Arrival, the time of advent is poor) finds range, and is the time difference that the signal sent according to tested node arrives different anchor node, calculates the distance between tested node and each anchor node; Or the time difference arriving same anchor node by measuring the different signal of speed that tested node sends calculates the distance between tested node and anchor node.
AOA (Angle Of Arrival, angle of arrival) angle measurement, refer to and calculate the angle between anchor node and tested node in the direction that anchor node is arrived by the signal that the tested node of perception is launched, general only needs two anchor nodes can determine the position of tested node.
RSSI (Received Signal Strength Indicator, signal designation intensity) range finding, under referring to the prerequisite of the power transmitted at known tested node, the intensity of the signal that anchor node sends according to the tested node received, calculate the propagation loss of signal, utilize propagation loss theory and empirical model to estimate propagation distance.
The positional information that prior art mainly utilizes wireless signal to comprise positions tested node, but, due to the interference in the external world, the blocking and the multipath fading of wireless signal of barrier, wireless signal is very unstable, and this can have a negative impact to positioning precision.
Summary of the invention
The present invention is directed to the problems referred to above, the present invention proposes a kind of assisted location method based on building structure and user behavior, the position error because the shake of signal strength signal intensity causes can be reduced, thus improve the precision of assisted location method of the present invention.
For achieving the above object, the present invention adopts following technical scheme:
Based on an assisted location method for building structure and user behavior, be applied in the system be made up of access center AC, multiple access point AP and mobile terminal, described assisted location method comprises the following steps:
Step 1: access point AP real-time sense enters the mobile terminal in its signal cover, and the information of the MAR tlv triple [MTIP, APIP, RSSI] of the mobile terminal collected is sent to access center AC;
Step 2: location algorithm server is to the information of the MAR tlv triple [MTIP, APIP, RSSI] of access center AC enquiry mobile terminal;
Step 3: select two or three AP that signal strength signal intensity is maximum, and the ASR tlv triple of inquiring about these AP according to the information of the MAR tlv triple [MTIP, APIP, RSSI] of these AP to database server, and then try to achieve the target area collection of these AP;
Step 4: ask the target area of these AP in step 3 to occur simultaneously;
Step 5: whether occur simultaneously in the target area in determining step 4 exists, and if so, then forwards step 6 to; If not, then step 12 is forwarded to;
Step 6: according to the previous positioning result of mobile terminal to database server inquiry constraint collection;
Step 7: judge that occur simultaneously in described target area and whether described constraint collection has common factor, if so, then forward step 8 to; If not, then step 9 is forwarded to;
Step 8: ask described target area common factor and the center of described constraint collection, then go to step 12;
Step 9: judge whether continuous constraint number of times is greater than 3, if so, then forward step 10 to; If not, then step 11 is forwarded to;
Step 10: ask described target area to occur simultaneously, then forward step 12 to;
Step 11: location sub-block nearest from the center of described constraint collection in asking described target area to occur simultaneously;
Step 12: terminate.
Further, the access point AP real-time sense of described step 1 enters the mobile terminal in its signal cover, and MAR tlv triple [APIP, the SID of the mobile terminal collected, RSSI] information be sent to access center AC, specifically comprise the following steps:
Step 21: described access point AP intercepts the mobile terminal entered in its signal cover, receives the wireless signal that described mobile terminal sends, and the signal strength signal intensity RSSI value between the location sub-block measuring described access point AP and described mobile terminal place;
Step 22: described access point AP records the information of the MAR tlv triple [MTIP, APIP, RSSI] of described mobile terminal, and the information of the MAR tlv triple [MTIP, APIP, RSSI] of the mobile terminal collected is sent to access center AC.
Further, the location algorithm server of described step 2, to the information of the MAR tlv triple [MTIP, APIP, RSSI] of access center AC enquiry mobile terminal, is specially:
Location algorithm server sends inquiry request to described access center AC, and center AC is according to this inquiry request in access, and the information of described MAR tlv triple [MTIP, APIP, RSSI] is sent to location algorithm server.
Further, the information of described MAR tlv triple [MTIP, APIP, RSSI] comprises the IP address of described mobile terminal, the IP address of corresponding access point AP and described signal strength signal intensity RSSI value.
Further, the constraint collection in described step 6 can by the maximum moving distance S of mobile terminal in a locating periodically
maxdetermine, S
maxby following formulae discovery:
S
max＝V
max*T
Wherein, T is the execution cycle of location algorithm, V
maxfor the maximum translational speed of mobile terminal.
Assisted location method based on building structure and user behavior provided by the invention, can reduce the position error because the shake of signal strength signal intensity causes.Assisted location method of the present invention makes full use of the characteristics of motion (such as the speed of travel) of user, again in conjunction with locating periodically (being generally one second), the user region that most probable occurs in next locating periodically can be inferred, binding signal intensity localization method again, effectively can improve positioning precision; In addition, assisted location method of the present invention makes full use of the spatial limitation of building structure to user's mobile alignment, the locating information that integrated application building structure and user behavior contain, and effectively alleviates the adverse effect of unsteadiness to positioning result of signal strength signal intensity.
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.For person of ordinary skill in the field, from detailed description of the invention, above and other object of the present invention, feature and advantage will be apparent.
Accompanying drawing explanation
Fig. 1 is the system construction drawing being applied to WIFI network of the present invention;
Fig. 2 is the overview flow chart of the assisted location method based on building structure and user behavior that the present invention proposes;
Fig. 3 is the illustrative diagram for solving constraint collection that the present invention proposes.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Below in conjunction with the drawings and specific embodiments, a kind of assisted location method based on building structure and user behavior of the present invention is described in further detail.
The assisted location method based on building structure and user behavior that the present invention proposes comprises the following steps:
Step 1: access point AP real-time sense enters the mobile terminal in its signal cover, and the information of the MAR tlv triple [MTIP, APIP, RSSI] of the mobile terminal collected is sent to access center AC;
Step 2: location algorithm server is to the information of the MAR tlv triple [MTIP, APIP, RSSI] of access center AC enquiry mobile terminal;
Step 3: select two or three AP that signal strength signal intensity is maximum, and the ASR tlv triple of inquiring about these AP according to the information of the MAR tlv triple [MTIP, APIP, RSSI] of these AP to database server, and then try to achieve the target area collection of these AP;
Step 4: ask the target area of these AP in step 3 to occur simultaneously;
Step 5: whether occur simultaneously in the target area in determining step 4 exists, and if so, then forwards step 6 to; If not, then step 12 is forwarded to;
Step 6: according to the previous positioning result of mobile terminal to database server inquiry constraint collection;
Step 7: judge that occur simultaneously in described target area and whether described constraint collection has common factor, if so, then forward step 8 to; If not, then step 9 is forwarded to;
Step 8: ask described target area common factor and the center of described constraint collection, then go to step 12;
Step 9: judge whether continuous constraint number of times is greater than 3, if so, then forward step 10 to; If not, then step 11 is forwarded to;
Step 10: ask described target area to occur simultaneously, then forward step 12 to;
Step 11: location sub-block nearest from the center of described constraint collection in asking described target area to occur simultaneously;
Step 12: terminate.
Assisted location method based on building structure and user behavior provided by the invention, can reduce the position error because the shake of signal strength signal intensity causes.Assisted location method of the present invention makes full use of the characteristics of motion (such as the speed of travel) of user, again in conjunction with locating periodically (being generally one second), the user region that most probable occurs in next locating periodically can be inferred, binding signal intensity localization method again, effectively can improve positioning precision; Secondly, assisted location method of the present invention makes full use of the spatial limitation of building structure to user's mobile alignment, the locating information that integrated application building structure and user behavior contain, and effectively alleviates the adverse effect of unsteadiness to positioning result of signal strength signal intensity.
Be described further below, the overview flow chart of the assisted location method based on building structure and user behavior that Fig. 1 and Fig. 2 is respectively that the system construction drawing that is applied to WIFI network of the present invention and the present invention propose.
The structure of WIFI network as shown in Figure 1, mainly comprises following several equipment: access center (AC, Access Center), access point (AP, Access Point) and mobile terminal (MT, MobileTerminal).Wherein mobile terminal comprises: the notebook computer of WIFI handheld terminal, band WIFI function and other WIFI equipment.
Access point real-time sense enters the mobile terminal in its signal cover and its received signal strength indicator value (RSSI, Received Signal Strength Indicator) and the IP address of mobile terminal is sent to access center.The locating information of all mobile terminals that each access point in WIFI wireless network is collected is gathered at access center, often organizes locating information and comprises: the IP of mobile terminal, the IP of corresponding access point and signal strength values therebetween.One group of locating information represents with tlv triple [MTIP, APIP, RSSI].We claim this tlv triple to be MAR tlv triple later.If there is multiple access point to listen to same mobile terminal, the many groups of triplet information about same mobile terminal will be recorded in access center.When implementing location to mobile terminal, location algorithm server sends request to access center, and MAR tlv triple (i.e. [MTIP, APIP, RSSI]) information is sent to location algorithm server by access center.If the number of MAR tlv triple is more than or equal to three, just selects three MAR tlv triple that signal strength signal intensity (i.e. RSSI value) is maximum, and three AP location are carried out to travelling carriage; If the number of MAR tlv triple equals two, just two AP location are carried out to travelling carriage.
A WIFI navigation system is generally made up of WIFI wireless network and Architectural Equipment.WIFI navigation system is that some area of space in Architectural Equipment (hall etc. of room, corridor and spaciousness) provides location-based service.We are referred to as these area of space needing to provide location-based service is locating area.In order to improve positioning precision and simplify calculating, locating area is divided into foursquare " location sub-block ".The size of " location sub-block " is determined by the building type of its present position.Specifically, it is square that the size of " location sub-block " in cubicle and corridor can be 2m × 2m; It is square that the specification of " the location sub-block " of hall and other open field can be 5m × 5m.In the wireless signal coverage of each AP, there is a unique signal strength values (RSSI) corresponding with this AP at the center of each " location sub-block ", and this signal strength values (RSSI) is determined by the space length at center of this AP and " location sub-block " and the attenuation law of wireless signal.In order to solve the space length of AP and each " location sub-block ", we set up a three-dimensional rectangular coordinate in locating area.Like this, the locus of each AP and " location sub-block " just represents with its D coordinates value (x, y, z).Certainly, due to the complexity of fabric structure, we also need the factor considering that other hinders signal propagation, as hole, door and window and thick wall etc., only need deduct corresponding attenuation on the basis of desirable signal strength values.We represent the strong and weak situation of wireless signal between an AP and " location sub-block " (being somebody's turn to do " location sub-block " to be in the signal cover of this AP) with tlv triple [APIP, SID, RSSI].We claim this tlv triple to be ASR tlv triple later.In a WIFI navigation system, this tlv triple can be determined by actual measurement, theory calculate or mode that the two combines.In order to improve the real-time of location algorithm, this kind of tlv triple all in a WIFI navigation system stored in database, is location algorithm service afterwards by we.In FIG, database server stores ASR tlv triple, and location algorithm server is used for performing illustrated location algorithm, finally determines the space coordinates of each tested node.
In WIFI wireless system, due to factors such as the interference of multipath fading, other electronic equipment and the complexity of building structure, become when the intensity of WIFI wireless signal is.If only rely on RSSI value to position, very large error will be produced.In order to improve positioning precision, except the information of the locus about travelling carriage of containing except the intensity of WIFI wireless signal can be utilized, the topological structure of building can also be made full use of and the characteristics of motion of mobile terminal carries out assist location to mobile terminal, to reduce the position error because the shake of signal strength signal intensity causes, thus improve the precision of wireless location algorithm.
Before introducing location algorithm, first define several concept.
" target area collection ": in the wireless signal area of coverage of AP, by the set of some signal strength values determined relevant " location sub-block ".
" target area common factor ": the common factor (lap) of " the target area collection " of more than 2 or 2 AP is be made up of some " location sub-block " equally.
" constraint collection ": according to positioning result and the space structure of building and mobile tableland characteristics of motion last time, infer the travelling carriage region that most probable occurs in this location.
" continuous constraint number of times ": " continuous constraint number of times " is a prior given threshold value." constraint collection " position current with mobile terminal is relevant, if deviation appears in the current position of mobile terminal, " constraint collection " will be caused also to produce deviation.If constantly retrain location algorithm with band " constraint collection " devious, mistake will be made constantly to amplify.In order to avoid this mistake, if the number of times that " target area common factor " and " constraint collection " do not occur simultaneously continuously reaches " continuous constraint number of times ", just only use " target area common factor " to carry out wireless location, and do not use " constraint collection ".
" " center ": no matter be " target area collection ", " target area union " or " target area common factor ", its element is all " location sub-block ".These " sub-block collection " are the bases of whole location algorithm.Each " sub-block collection " have one one's own " " center ", below we agreement " sub-block collection " " computational methods of " center ".The coordinate of " sub-block collection " geometric center first the asked arithmetic mean of the coordinate of all sub-blocks (in " the sub-block collection "), if " the location sub-block " at geometric center place belongs to this " sub-block collection ", be then somebody's turn to do " the " center " that " location sub-block " is exactly this " sub-block collection ".If " the location sub-block " at geometric center place does not belong to this " sub-block collection ", then selecting should from " the " center " of nearest " the location sub-block " of geometric center as this " sub-block collection " in " sub-block collection ".
The access point AP real-time sense of step 1 of the present invention enters the mobile terminal in its signal cover, and the information of the MAR tlv triple [MTIP, APIP, RSSI] of the mobile terminal collected is sent to access center AC, specifically comprises the following steps:
Step 21: described access point AP intercepts the mobile terminal entered in its signal cover, receives the wireless signal that described mobile terminal sends, and the signal strength signal intensity RSSI value between the location sub-block measuring described access point AP and described mobile terminal place;
Step 22: described AP records the information of the MAR tlv triple [MTIP, APIP, RSSI] of described mobile terminal, and the information of the MAR tlv triple [MTIP, APIP, RSSI] of the mobile terminal collected is sent to access center AC.
The location algorithm server of the step 2 described in the present invention, to the information of the MAR tlv triple [MTIP, APIP, RSSI] of access center AC enquiry mobile terminal, is specially:
Location algorithm server sends inquiry request to described access center AC, and center AC is according to this inquiry request in access, and the information of described MAR tlv triple [MTIP, APIP, RSSI] is sent to location algorithm server.
In the present invention, the information of MAR tlv triple [MTIP, APIP, RSSI] comprises the IP address of described mobile terminal, the IP address of corresponding access point AP and described signal strength signal intensity RSSI value.
The constraint collection that the present invention records can by the maximum moving distance S of mobile terminal in a locating periodically
maxdetermine, S
maxby following formulae discovery:
S
max＝V
max*T
Wherein, T is the execution cycle of location algorithm, V
maxfor the maximum translational speed of mobile terminal.
Particularly, in actual WIFI wireless location system, mobile terminal is generally carried by personnel's (hereinafter referred to as mobile object), also locates the real-time radio of mobile object with regard to indirectly achieving by carrying out real-time radio location to mobile terminal.To in the wireless location process of mobile object, we can infer according to the movement law of the topological structure of the current location of mobile object, building and mobile object the region that mobile object may occur in next locating periodically, i.e. " constraint collection ".In fact, many times, this deduction is not only necessary and is rational.Illustrate as follows, as shown in Figure 3, suppose that the execution cycle of location algorithm is 1 second, be in room 2 if mobile object is current, so in the next execution cycle of location algorithm, the region that mobile terminal most possibly occurs is the room around room 2, such as room 1, room 8, room 7, room 6, room 3 and corridor, and we claim these regions for " constraint collection ".Because the maximum speed of travel of people is about 2m/s.Obviously, to appear at the possibility in room 4 and room 5 very little next time for mobile terminal.
Thus, when the execution cycle of location algorithm is fixed, mobile object is predictable in the position in next location moment, is at least in the border circular areas of centered by current location.If the maximum translational speed of mobile object is V
max, the execution cycle of location algorithm is T.The then maximum moving distance S of mobile object in a locating periodically
maxfor:
S
max＝V
max*T
Obviously, mobile object is in centered by current location, with S in the position in next one location moment
maxfor in the border circular areas of radius.For personnel, S
maxbe about several meters.So, can according to S
maxtry to achieve " constraint collection ".After the characteristics of motion of mobile object and the topological structure of building secure, only residing locus current with mobile object is relevant to be somebody's turn to do " constraint collection ".
In the present invention, first, location algorithm server is to the MAR tlv triple [MTIP, APIP, RSSI] of access center enquiry mobile terminal.If same mobile terminal correspond to the MAR tlv triple of more than three groups, just select three groups that RSSI value is maximum.Then, location algorithm server inquires about ASR tlv triple according to selected MAR tlv triple to database server, and then obtains " the target area collection " of each mobile terminal.For a mobile terminal, an AP corresponds to one " target area collection ".Because location algorithm generally selects two or three AP, so the number of " target area collection " is also two or three.Then, ask the common factor of these " target area collection ", obtain " target area common factor ".If " target area common factor " does not exist, then algorithm terminates.If " target area common factor " exists, according to the positioning result of mobile terminal last time, to database server inquiry " constraint collection ".If " target area common factor " and " constraint collection " have common factor, then the center of this common factor is exactly final positioning result.If " target area common factor " does not occur simultaneously with " constraint collection ", so just see whether constraint number of times is greater than three times.If constraint number of times is greater than threshold value (such as 3 times), so the center of " target area common factor " is exactly final positioning result.If constraint number of times is less than threshold value (such as 3 times), just nearest from the center of " constraint collection " in " target area common factor " location sub-block is as final positioning result.
Although; the present invention is clearly demonstrated by above embodiment and accompanying drawing thereof; but when not deviating from the present invention's spirit and essence thereof; person of ordinary skill in the field is when making various corresponding change and correction according to the present invention, but these changes accordingly and correction all should belong to the protection range of claim of the present invention.
Claims (4)
1., based on an assisted location method for building structure and user behavior, be applied in the system be made up of access center AC, multiple access point AP and mobile terminal, it is characterized in that, described assisted location method comprises the following steps:
Step 1: access point AP real-time sense enters the mobile terminal in its signal cover, and the information of the MAR tlv triple [MTIP, APIP, RSSI] of the mobile terminal collected is sent to access center AC;
Step 2: location algorithm server is to the information of the MAR tlv triple [MTIP, APIP, RSSI] of access center AC enquiry mobile terminal;
Step 3: select two or three AP that signal strength signal intensity is maximum, and the ASR tlv triple of inquiring about these AP according to the information of the MAR tlv triple [MTIP, APIP, RSSI] of these AP to database server, and then try to achieve the target area collection of these AP;
Step 4: ask the target area of these AP in step 3 to occur simultaneously;
Step 5: whether occur simultaneously in the target area in determining step 4 exists, and if so, then forwards step 6 to; If not, then step 12 is forwarded to;
Step 6: according to the positioning result of mobile terminal last time to database server inquiry constraint collection;
Step 7: judge that occur simultaneously in described target area and whether described constraint collection has common factor, if so, then forward step 8 to; If not, then step 9 is forwarded to;
Step 8: ask described target area common factor and the center of described constraint collection, then go to step 12;
Step 9: judge whether continuous constraint number of times is greater than 3, if so, then forward step 10 to; If not, then step 11 is forwarded to;
Step 10: ask described target area to occur simultaneously, then forward step 12 to;
Step 11: location sub-block nearest from the center of described constraint collection in asking described target area to occur simultaneously;
Step 12: terminate;
Wherein, the information of described MAR tlv triple [MTIP, APIP, RSSI] comprises the IP address of described mobile terminal, the IP address of corresponding access point AP and described signal strength signal intensity RSSI value.
2. assisted location method according to claim 1, it is characterized in that, the access point AP real-time sense of described step 1 enters the mobile terminal in its signal cover, and the MAR tlv triple [MTIP of the mobile terminal collected, APIP, RSSI] information be sent to access center AC, specifically comprise the following steps:
Step 21: described access point AP intercepts the mobile terminal entered in its signal cover, receives the wireless signal that described mobile terminal sends, and the signal strength signal intensity RSSI value between the location sub-block measuring described access point AP and described mobile terminal place;
Step 22: described access point AP records the information of the MAR tlv triple [MTIP, APIP, RSSI] of described mobile terminal, and the information of the MAR tlv triple [MTIP, APIP, RSSI] of the mobile terminal collected is sent to access center AC.
3. assisted location method according to claim 1, is characterized in that, the location algorithm server of described step 2, to the information of the MAR tlv triple [MTIP, APIP, RSSI] of access center AC enquiry mobile terminal, is specially:
Location algorithm server sends inquiry request to described access center AC, and center AC is according to this inquiry request in access, and the information of described MAR tlv triple [MTIP, APIP, RSSI] is sent to location algorithm server.
4. assisted location method according to claim 1, is characterized in that, the constraint collection in described step 6 is by the maximum moving distance S of mobile terminal in a locating periodically
maxdetermine, S
maxby following formulae discovery:
S
max＝V
max*T
Wherein, T is the execution cycle of location algorithm, V
maxfor the maximum translational speed of mobile terminal.
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