CN103052154B - Device and method for performing low-power consumption indoor locating by utilizing Zigbee wireless interfaces - Google Patents
Device and method for performing low-power consumption indoor locating by utilizing Zigbee wireless interfaces Download PDFInfo
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- CN103052154B CN103052154B CN201210591033.9A CN201210591033A CN103052154B CN 103052154 B CN103052154 B CN 103052154B CN 201210591033 A CN201210591033 A CN 201210591033A CN 103052154 B CN103052154 B CN 103052154B
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Abstract
The invention provides a device and a method for performing low-power consumption indoor locating by utilizing Zigbee wireless interfaces, and the device and the method are designed for complex buildings under a wireless environment. Mobile equipment is provided with a client side which is provided with a Wi-Fi (Wireless Fidelity) wireless interface, one Zigbee wireless interface and a digital signal processing module; multiple Mappers with the Wi-Fi wireless interfaces are distributed in the building, and a locating server is used for performing processing and location on AP (Access Point) signals collected by the Zigbee wireless interfaces and data collected by the Mappers. According to the method, the digital signal processer module is used for obtaining the AP strength; and an RSS sequence alignment module utilizes a sequence with an AP marker to mark an RSS sequence collected by the client side, and obtains fingerprints at a position in which the mobile equipment with the AP marker is located, so that the locating of the mobile equipment is further realized. The device can response to a user request rapidly at a power consumption which is above 50% less than that of a traditional method, and optimal indoor locating service can be provided for the user.
Description
Technical field
The invention belongs to wireless communication field, be specifically related to one and utilize Wi-Fi infrastructure, use Zigbee wave point to carry out the device and method of low-power consumption indoor positioning.
Background technology
In recent years, location Based service (Loeation Based Services, LBSs) and a series of application of bringing thus receive the continuous concern of industrial circle.Location Based service is own to be constantly developed in fields such as Emergency Assistance, health care and individual business, as a series of navigation application based on platforms such as intelligent terminal iPhone, iPAD, BlackBerry, Android, all constantly flood the market, and day by day present wide commercial promise and huge market value.These all position-baseds service application in, accurate, real-time location technology be realize whole position-based service basic and crucial.But under the condition lacking GPS support, the location of indoor pedestrian remains a challenge.
Utilizing indoor existing Wi-Fi infrastructure to carry out indoor positioning is the focus studied at present.One typical as follows based on the method for work of the Wi-Fi indoor locating system of fingerprint matching: first, mobile device uses Wi-Fi interface scans, with (RSS, SSID) sequence describes the access points (AP) of the surrounding recorded, RSS represents the AP signal strength signal intensity of reception, and SSID is the mark of AP.Each position is using these (RSS, SSID) sequences as characteristic fingerprint; Then, according to location algorithm, from the characteristic fingerprint that a preposition data centralization inquiry is mated with the characteristic fingerprint that current location obtains most, and be mapped to the current location of mobile device.
Technology with other is compared, and the localization method based on fingerprint does not require specific hardware device, does not also need extra infrastructure support.But be applied on mobile device, the existing Wi-Fi navigation system based on fingerprint has following shortcoming: in order to calculate the position of mobile subscriber constantly, and Wi-Fi equipment constantly must scan the AP of surrounding, result in higher power consumption.On the other hand, although the function of mobile device is become stronger day by day, the development of battery technology lags behind other technologies always.The smart mobile phone that a such as Daepori leads to can only maintain the stand-by time of 2-3 days usually, and for the application that power consumption is larger, then the duration is shorter.
In September, 2010, Ruogu Zhou, Yongping Xiong, Guoliang Xing etc. disclosed " ZiFi:Wireless LAN Discovery via ZigBee Interference Signatures ", describe a kind of method Common Multiple Folding(for digital processing and be called for short CMF), periodic signal amplifies by the method, the identification of property performance period signal, apply in wireless communications, for recognition cycle signal.
The quantitative limitation of mobile device electricity has become the bottleneck of mobile device development, greatly have impact on the experience of user.Therefore, reduce the power consumption of mobile device, extend the key issue having become mobile phone technique development service time of battery.Therefore, for indoor locating system, consider that energy-saving design becomes one of study hotspot and difficult point in current location technology.
Summary of the invention
The present invention is directed in wireless environment building, utilize existing Wi-Fi wireless facilities, propose one and utilize Wi-Fi infrastructure, use Zigbee wave point to carry out the device and method of low-power consumption indoor positioning.The present invention can with less power consumption, fast response user request, thus provides best indoor positioning service for user.
The device and method of low-power consumption indoor positioning of the present invention is applicable to the indoor positioning in complicated building.
Use Zigbee wave point to carry out a device for low-power consumption indoor positioning, comprising: client, location-server and assist location equipment Mapper.Mobile device to be positioned installs client, and client comprises Wi-Fi wave point, Zigbee wave point and digital signal processing module.In building, arrange more than one Mapper, each Mapper has a Wi-Fi wave point, and after having arranged, all Mapper can cover the wireless signal in whole indoor positioning region by Wi-Fi wave point.Location-server comprises a Wi-Fi wave point, RSS sequence alignment module and locating module.
Mobile device is when indoor moving, the Zigbee wave point of client scans the wireless signal of AP around periodically, send the wireless signal data received to digital signal processing module, digital signal processing module adopts CMF method to process wireless signal data, obtains (RSS, Phase, Period) RSS sequence also sends to location-server, and wherein, RSS represents AP signal strength signal intensity, Phase represents beacon frame (Beacon) phase place, and Period represents the beacon frame cycle.The Wi-Fi wave point of client is used for the wireless signal gathering AP around presetting site in off-line sample phase, obtains (BSSID, Phase, Period) RSS sequence, BSSID represents that AP identifies, and Phase represents beacon frame phase place, and Period represents the beacon frame cycle.
Mapper, after receiving the signals collecting request that location-server sends, by the wireless signal of AP around the collection of Wi-Fi wave point, obtains the RSS sequence of (BSSID, Phase, Period), sends to location-server.
Location-server, by Wi-Fi wave point, receives RSS sequence and the Location Request of (RSS, Phase, the Period) that client is sent, receives (BSSID, Phase, Period) RSS sequence that Mapper sends; Sequence after the RSS sequence received from Mapper merges by RSS sequence alignment module is alignd with the RSS sequence received from client, obtains (RSS, BSSID) sequence; (the RSS that locating module will obtain, BSSID) sequence carries out matched and searched in the geographic position data storehouse of location-server, the presetting site fingerprint finding matching degree maximum, then locate this mobile device and be in corresponding presetting site, result is sent to client by location-server, and is shown to user.
Use Zigbee wave point to carry out a method for low-power consumption indoor positioning, mobile device to be positioned install client, at building to be positioned indoor layout assist location equipment, then carry out following steps:
Step 1: generate geographic position data storehouse and be kept in location-server, store the fingerprint in each presetting site in building in geographic position data storehouse, fingerprint is the sequence of (RSS, BSSID), and RSS represents signal strength signal intensity, and BSSID represents that AP identifies.During concrete off-line, the mobile device in presetting site, by the beacon frame (Beacon) of AP around the monitoring of Wi-Fi wave point, obtains (BSSID, Phase, Period) RSS sequence, Phase represents beacon frame phase place, and Period represents the beacon frame cycle; Read the signal strength signal intensity of the AP that can monitor in room by Zigbee wave point, obtain the RSS sequence of (RSS, Phase, Period); Two RSS sequences are sent to location-server, align through RSS sequence alignment module, obtain the fingerprint in presetting site.
Step 2: mobile device to be positioned periodically scans the wireless signal of surrounding by the Zigbee wave point of client, send the wireless signal data received to digital signal processing module, digital signal processing module adopts CMF method to process wireless signal data, by abating the noise and Frame, amplify the signal of Beacon frame, obtain the phase place of AP, cycle, and then try to achieve the signal strength signal intensity of AP, then (the RSS of mobile device position is generated, Phase, Period) RSS sequence, marking this RSS sequence is RSSa, then obtained sequence RSSa is sent to location-server, request location.
Step 3: after location-server receives the Location Request that client sends, sends signals collecting request to Mapper.
After step 4:Mapper receives signals collecting request, by the RSS sequence of (BSSID, Phase, the Period) of AP around the collection of Wi-Fi wave point, then send to location-server.
Step 5: all RSS sequences received from Mapper are first merged into a sequence by location-server, are labeled as RSSb, then by RSS sequence alignment module, aligned sequence RSSb and sequence RSSa, specifically carries out following steps:
Step 5.1: the position a obtaining first phase place in RSSa;
Step 5.2: the position b obtaining first phase place in RSSb;
Step 5.3: determine travel(l)ing phase length c=|a-b|, if a-b is greater than 0, then the phase lengths of the c that sequence RSSb moved right, otherwise, sequence RSSb is moved to the left the phase lengths of c, the sequence mark obtained after sequence RSSb moves is sequence RSSc, the AP number n alignd in record RSSc and RSSa, then n is compared with maximum MAX, if n is greater than MAX, then upgrade MAX=n, and record c and sequence RSSc, otherwise, do not operate; MAX is initially 0;
Step 5.4: the position b obtaining the next phase place in sequence RSSb, if there is not next phase place, performs step 5.5; Otherwise, continue to perform step 5.3;
Step 5.5: the position a obtaining the next phase place in sequence RSSa, if there is not next phase place, performs step 5.6, otherwise, continue to perform step 5.2;
Step 5.6: exporting aligned sequence RSSc, RSSc is the sequence of (RSS, BSSID).RSSc is exactly the fingerprint of the current position of mobile device.
Step 6: by the fingerprint of the current position of mobile device obtained, searched in geographic position data storehouse by matching algorithm, the room fingerprint finding matching degree maximum, then locate this mobile device and be in corresponding room, result is sent to client by location-server, and is shown to user.
Advantage of the present invention and good effect are: in wireless environment building, utilize existing WiFi wireless facilities, propose one and utilize Wi-Fi infrastructure, Zigbee wave point is used to carry out low-power consumption indoor orientation method, the method can with less power consumption, quick response user request, thus provide best indoor positioning service for user.
Accompanying drawing explanation
Fig. 1 is the Organization Chart of the low-power consumption indoor positioning device based on Zigbee and Wi-Fi cross jamming signal of the present invention;
Fig. 2 is the schematic flow sheet of indoor orientation method of the present invention;
Fig. 3 is the schematic flow sheet RSS sequence of client and the RSS sequence of Mapper being carried out align of the present invention;
Fig. 4: (a) is the RSS sequence samples collected on channel 6; (b) for the cycle be 102.4ms Signal averaging amplify after result schematic diagram;
Fig. 5: (A) is the RSSa sequence that the client before alignment gathers; (B) sequence gathered for Mapper merges the RSSb sequence obtained, and (C) is the RSS sequence after being alignd by RSSa and RSSb.
Concrete enforcement
Below in conjunction with drawings and Examples, content of the present invention is described in further detail.
As shown in Figure 1, the present invention carries out the framework of the device of low-power consumption indoor positioning.By positioner of the present invention referred to as ZiFind.As shown in Figure 1, ZiFind comprises three main part: client Client, location-server Server and assist location equipment Mapper.
Mobile device to be positioned installs client, and client comprises a Wi-Fi wave point 11, Zigbee wave point 12 and digital signal processing module 13.In building, arrange several Mapper, each Mapper has a Wi-Fi wave point 11, and after having arranged, all Mapper can cover the wireless signal in whole indoor positioning region by Wi-Fi wave point.Location-server comprises a Wi-Fi wave point 11, RSS sequence alignment module 14 and locating module 15.
The client of ZiFind had both had Wi-Fi wave point 11, also had low-power consumption Zigbee wave point 12.Zigbee wave point 12 both can be inner integrated, also can be get on by the interface (such as USB) of mobile device self is integrated.By the Wi-Fi wave point 11 of client, client with indoor existing infrastructure-based communication, when off-line generates the fingerprint in presetting site, can position in conjunction with Zigbee wave point 12 pairs of equipment, generates the fingerprint in presetting site.When ZiFind attempts the position of locating mobile device, first the client on mobile device to be positioned is collected in the wireless signal strength of the AP that current location can receive on one's own initiative by Zigbee wave point 12.AP around the Wi-Fi interface scans that can use highly energy-consuming traditionally based on the indoor positioning technologies of fingerprint, this can cause larger power consumption, when this type of location technology is applied to real-time indoor positioning, can promptly by the running down of battery of mobile device.A distinguishing feature of the client of ZiFind of the present invention is that it can use the Zigbee wave point 12 of low-power consumption to produce address fingerprint, instead of the Wi-Fi wave point 11 of high power consumption.But Zigbee wave point 12 can not directly decode Wi-Fi packet, the packet that the access points of the wireless signal that therefore can not receive from it there Direct Recognition Wi-Fi sends, this is a problem needing to solve.In addition, the radio signal on other 2.4G frequency spectrum may be comprised in the wireless signal data that Zigbee wave point 12 is collected, such as comprise Wi-Fi, Zigbee, Bluetooth, or even the signal of such as this electric appliances of microwave oven.The client of ZiFind solves the problems referred to above by the digital signal processing module 13 arranged, and digital signal processing module 13 adopts the digital signal processing method of CMF, identifies each AP, and can calculate RSS intensity corresponding to each AP.Digital signal processing module 13 finds beacon frame (Beacon) signal from the wireless signal data that Zigbee wave point 12 collects, and obtains frame period and the phase place of beacon frame, then obtains the signal strength signal intensity of AP further.After digital signal processing module 13 processes, the sequence that client obtains (RSS, Phase, Period), and this sequence and Location Request are sent to Server.RSS represents AP signal strength signal intensity, and Phase represents beacon frame phase place, and Period represents the beacon frame cycle.Because Zigbee wave point 12 can not be decoded Wi-Fi packet, therefore client Client can only know the signal strength signal intensity of disposed AP around, but can not identify the mark BSSID of each AP.Therefore in ZiFind design, a difficult problem running into is exactly the AP that the RSS of each AP how to be collected by Client is mapped in geographic position data storehouse.
For solving this difficult problem, ZiFind is by disposing the wireless signal data of AP around Mapper collection at whole locating area.The Mapper disposed requires to cover whole locating area (in the complicated building in such as certain building), can collect the wireless signal of whole locating area.The locating area of every 1200 square meters of reference value, uses 5-6 Mapper.Mapper is the enable base stations of some Wi-Fi, is scanning Wi-Fi channel, gives location server S erver by the temporal information of around AP and BSSID information reporting.Concrete Mapper obtains AP signal strength signal intensity around and AP mark by the Wi-Fi wave point 11 of self, detects Beacon frame, generates the sequence of (BSSID, Phase, Period), send to location-server.BSSID represents that AP identifies.The Wi-Fi wave point of client gathers the wireless signal of AP around presetting site in off-line sample phase, obtain the RSS sequence of (BSSID, Phase, Period) equally.
The location-server of ZiFind receives the sequence of (BSSID, Phase, the Period) that Mapper sends by the Wi-Fi wave point 11 of self, and the sequence of (RSS, Phase, the Period) that send from client.When locating in real time, (BSSID, Phase, the Period) sequence of being sent by Mapper is merged into one, and then by RSS sequence alignment module 14, (RSS, Phase, the Period) sequence of sending with client is alignd.Have employed a novel alignment algorithm in the present invention in RSS sequence alignment module 14, the sequence from Client and Mapper to be mapped, obtain (RSS, BSSID) sequence that is used as the fingerprint of the current position of mobile device.Locating module 15 in Server, by (RSS, BSSID) sequence obtained of aliging, by matching algorithm, mates with the fingerprint in the presetting site stored in the geographic position data storehouse stored, and calculates the current most possible position of mobile device.The nearest neighbor algorithm R-KNN that locating module 15 uses one to improve is to locate the room of mobile subscriber.Shown by existing experiment and work, different AP is different for the meaning of location, R-KNN make use of this fact, according to the significance level of each AP, for different AP distributes different weights, then find the fingerprint in the maximum presetting site of matching degree, by positioning of mobile equipment to corresponding presetting site, result is sent to client by location-server, and is shown to user.
Because ZiFind uses the localization method based on RSS fingerprint, client needs the RSS measuring AP around its position.A notable feature of ZiFind client measures the RSS of AP around.But because Zigbee wave point 12 can not be decoded Wi-Fi frame, Zigbee interface can not learn whether its signal measured is Wi-Fi signal, can not distinguish the signal between different AP equally.In order to address this problem, have employed the CMF method in Digital Signal Processing, the periodicity Beacon signal of same AP can distinguish by the method from noisy wireless background signal.The alignment schemes of RSS sequence alignment module 14 is as shown in Figure 3, specifically described below.By RSS sequence alignment module 14, the sequence without AP mark that client can be obtained by Zigbee wave point 12, mark by the sequence of band AP mark, generate the sequence with AP mark, this sequence is exactly the fingerprint of the current position of mobile device.
Use Zigbee wave point to carry out a method for low-power consumption indoor positioning, mobile device to be positioned installs client, at building to be positioned indoor layout assist location equipment, then carry out following steps, as shown in Figure 2:
Step 1: first carry out an off-line sample phase, generates a fingerprint to presetting site each in building, is saved in geographic position data storehouse.Presetting site can be a room, also can be certain ad-hoc location in room.In geographic position data storehouse, the fingerprint in each presetting site is the sequence of (RSS, BSSID), and RSS represents AP signal strength signal intensity, and BSSID represents corresponding AP mark.
Specifically in off-line sample phase, the mobile terminal with Wi-Fi wave point 11 and Zigbee wave point 12 is used to gather AP wireless signal around each presetting site.Zigbee wave point 12 reads the wireless signal data in room, phase place and the cycle of beacon frame (Beacon) is obtained after the CMF method process in digital signal processing module 13, and then obtain the signal strength signal intensity of AP, generate (a RSS, Phase, Period) RSS sequence, RSS represents AP signal strength signal intensity, Phase represents beacon frame phase place, and Period represents the beacon frame cycle.Wi-Fi wave point 11 monitors the Beacon frame of AP around, obtains AP mark and corresponding wireless signal strength, obtains (BSSID, Phase, Period) RSS sequence, wherein, BSSID represents that AP identifies, and Phase represents the beacon frame cycle, and Period represents the beacon frame cycle.Obtained two RSS sequences are sent to location-server, and the RSS sequence alignment module 14 in location-server is alignd, and obtains the fingerprint in each presetting site, and this fingerprint is the sequence of (RSS, BSSID).
After generating the fingerprint in each presetting site (such as each room), be kept in the geographic position data storehouse of location-server, for positioning of mobile equipment.
Step 2: tuning on-line stage, mobile device to be positioned periodically scans the wireless signal of surrounding by the Zigbee wave point 12 of client, send the wireless signal data received to digital signal processing module 13, digital signal processing module 13 adopts CMF method to process wireless signal data, by abating the noise and Frame, amplify the signal of Beacon frame, obtain the phase place of AP, cycle, and then try to achieve the signal strength signal intensity of AP, then (the RSS of mobile device position is generated, Phase, Period) RSS sequence, marking this RSS sequence is RSSa, then obtained sequence RSSa is sent to location-server, request location.
Step 3: after location-server receives the Location Request that client sends, sends signals collecting request to Mapper.
After step 4:Mapper receives signals collecting request, gathered the wireless signal of AP around by Wi-Fi wave point 11, obtain the sequence of (BSSID, Phase, Period), then send to location-server.
Step 5: all RSS sequences received from Mapper are first merged into a sequence by location-server, is labeled as RSSb. then by RSS sequence alignment module 14, aligned sequence RSSb and sequence RSSa, as shown in Figure 3, specifically carries out following steps:
Step 5.1: the position a obtaining first phase place in RSSa;
Step 5.2: the position b obtaining first phase place in RSSb;
Step 5.3: determine travel(l)ing phase length c=|a-b|, if a-b is greater than 0, then the phase lengths of the c that sequence RSSb moved right, otherwise, sequence RSSb is moved to the left the phase lengths of c, the sequence mark obtained after sequence RSSb moves is sequence RSSc, the AP number n alignd in record RSSc and RSSa, then n is compared with maximum MAX, if n is greater than MAX, then upgrade MAX=n, and record c and sequence RSSc, otherwise, do not operate; MAX is initially 0;
Step 5.4: the position b obtaining the next phase place in sequence RSSb, if there is not next phase place, performs step 5.5; Otherwise, continue to perform step 5.3;
Step 5.5: the position a obtaining the next phase place in sequence RSSa, if there is not next phase place, performs step 5.6, otherwise, continue to perform step 5.2;
Step 5.6: exporting aligned sequence RSSc, RSSc is the sequence of (RSS, BSSID).RSSc is exactly the fingerprint of the current position of mobile device.
Step 6: by the fingerprint of the current position of mobile device obtained, searched in geographic position data storehouse by matching algorithm, the room fingerprint finding matching degree maximum, then locate this mobile device and be in corresponding room, result is sent to client by location-server, and is shown to user.
The cyclical signal in unknown cycle can be identified by CMF method.As shown in Figure 4, for using the signal schematic representation before and after CMF method to an original RSS sequence samples.(a) in Fig. 4 is an original RSS sequence samples gathered, and include many Beacon signals and noise in this sequence, this makes to identify that the AP of different Wi-Fi becomes very difficult.(b) of Fig. 4 give adopt CMF method with 102.4 milliseconds for the cycle superpose after result.As can be seen from (b), the signal of Beacon frame is exaggerated and noise is pressed.The position of Beacon frame in stack result that definition is exaggerated is phase place, and such as, in (b), the phase place of two AP, AP1 of detection is the phase place of 590, AP2 is 760.In a RSS sequence, any one AP can use (cycle, phase place) as unique mark.
On No. 6 channels of 802.11, the client of ZiFind at regular intervals, samples with regard to using Zigbee wave point 12.Subsequently, the RSS sequence inputting collected processes to CMF digital signal processing module 13.Longer sweep time can find more Wi-Fi AP, to reach higher precision.Generally, the time arranging scanning is 2-3 second.When after discovery Beacon signal, client use (cycle, phase place) locates the Beacon signal in RSS sequence.
By getting the signal strength signal intensity mean value of each Beacon frame, the RSS of each AP can be calculated.Due to keeping out of the way and the existence of non-Beacon frame of Beacon frame, non-Beacon signal (such as periodically Wi-Fi communication) may be thought Beacon frame by CMF digital signal processing module 13 mistakenly.Such mistake may produce larger impact to positioning precision, removes maximum for each AP signal strength signal intensity 5% for this reason.
Mapper monitors on 802.11 channels, and records the temporal information (such as arriving and the duration) of Beacon frame.Once receive the request of location-server end, mapper can return the temporal information of Beacon frame in certain hour (acquiescence 3s) and corresponding BSSID.Location-server can carry out the AP signal of identify customer end discovery by these information.
ZiFind location-server needs the Beacon information collecting whole region, to ensure sufficiently high positioning precision.But, in a building, building, only need less mapper to position.This is because Beacon frame is always with maximum power and lowest modulation speed rates.This makes Beacon frame more farther than the distance of general data frame transfer.
After a Location Request receives, first location-server extracts the RSS value of AP from the bag received.Do not comprise BSSID information due in the information that client provides, location-server needs the BSSID identifying these signals before calculating client location.The Beacon signal of client terminal to discover may comprise noise and vacation sun (false positive) signal, as shown in (A) of Fig. 5.In addition, because client and Mapper are not clock synchronous, the RSS time series that they collect may have larger skew.ZiFind location-server uses an alignment schemes as shown in Figure 3 based on Digital Signal Processing to obtain the BSSID mark of RSS sequence.This method is mainly according to the RSS sequence that RSSa sequence (Mapper acquisition) the alignment client obtaining BSSID obtains.In this way, RSSa sequence may learn the mark of AP in RSSb sequence.
As shown in Figure 5, (A) the RSSa sequence that client gathers is given, RSSa sequence comprises the Beacon signal of AP around, in addition this RSSa sequence also comprises a false Yangxin number, and this false Yangxin number does not gather in the RSSb sequence merged at the Mapper shown in (B) of Fig. 5 and occurs.After RSS alignment, false Yangxin is number found and be removed, as shown in (C) of Fig. 5.The RSSb sequence shown in (B) of Fig. 5 is (BSSID, Phase, Period) information composition provided by all Mapper.Due to Mapper and server clock synchronous, so their data can be contacted directly.Experiment process in also find that different AP has different clock drifts, this make the relative time error between the Beacon signal of AP with one slowly speed move.So location-server needs to use the alignment schemes in RSS sequence alignment module 14 to mate two RSS sequences.Alignment schemes calculates the cross correlation of two sequences, then finds two most suitable skews of sequence.
By test, can prove that the inventive method can be less than the power consumption of conventional method more than 50%, fast response user request, thus provide best indoor positioning service for user.
Claims (3)
1. use Zigbee wave point to carry out a device for low-power consumption indoor positioning, for the indoor positioning in complicated building, it is characterized in that, this device comprises client, location-server and assist location equipment Mapper; Mobile device to be positioned is equipped with client, and client comprises a Wi-Fi wave point, a Zigbee wave point and digital signal processing module; In building, arrange more than one Mapper, each Mapper has a Wi-Fi wave point, and after having arranged, all Mapper can cover the wireless signal in whole indoor positioning region by Wi-Fi wave point; Location-server comprises a Wi-Fi wave point, RSS sequence alignment module and locating module;
Mobile device is when indoor moving, the Zigbee wave point of client scans the wireless signal of AP around periodically, send the wireless signal data received to digital signal processing module, digital signal processing module adopts CMF method to process wireless signal data, obtain (RSS, Phase, Period) RSS sequence also sends to location-server, wherein, CMF represents Common Multiple Folding, RSS represents AP signal strength signal intensity, and Phase represents beacon frame phase place, and Period represents the beacon frame cycle; The Wi-Fi wave point of client is used for the wireless signal gathering AP around presetting site in off-line sample phase, and obtain the RSS sequence of (BSSID, Phase, Period), wherein, BSSID represents that AP identifies; AP represents access points;
Mapper, after receiving the signals collecting request that location-server sends, by the wireless signal of AP around the collection of Wi-Fi wave point, obtains the RSS sequence of (BSSID, Phase, Period), sends to location-server;
Location-server, by Wi-Fi wave point, receives RSS sequence and the Location Request of (RSS, Phase, the Period) that client is sent, receives (BSSID, Phase, Period) RSS sequence that Mapper sends; Sequence after the RSS sequence received from Mapper merges by RSS sequence alignment module is alignd with the RSS sequence received from client, obtains (RSS, BSSID) sequence; (the RSS that locating module will obtain, BSSID) sequence carries out matched and searched in the geographic position data storehouse of location-server, the presetting site fingerprint finding matching degree maximum, locate this mobile device and be in this presetting site, result is sent to client by location-server, and is shown to user.
2. use Zigbee wave point according to claim 1 carries out the device of low-power consumption indoor positioning, it is characterized in that, described assist location equipment Mapper, at the locating area of every 1200 square meters, arranges 5 ~ 6.
3. the use Zigbee wave point based on the device of indoor positioning described in claim 1 carries out the method for low-power consumption indoor positioning, it is characterized in that, mobile device to be positioned installs client, at building to be positioned indoor layout assist location equipment, then carries out following steps:
Step 1: generate geographic position data storehouse and be kept in location-server, store the fingerprint in each presetting site in building in geographic position data storehouse, fingerprint is the sequence of (RSS, BSSID), and RSS represents AP signal strength signal intensity, and BSSID represents that AP identifies; During concrete off-line, the mobile device in presetting site is by the beacon frame of AP around the monitoring of Wi-Fi wave point, and obtain the RSS sequence of (BSSID, Phase, Period), Phase represents beacon frame phase place, and Period represents the beacon frame cycle; Read the signal strength signal intensity of the AP that can monitor in room by Zigbee wave point, obtain the RSS sequence of (RSS, Phase, Period); Two RSS sequences are sent to location-server, align through RSS sequence alignment module, obtain the fingerprint in presetting site;
Step 2: mobile device to be positioned periodically scans the wireless signal of surrounding by the Zigbee wave point of client, send the wireless signal data received to digital signal processing module, digital signal processing module adopts CMF method to process wireless signal data, by abating the noise and Frame, amplify the signal of Beacon frame, obtain phase place and the cycle of AP, and then try to achieve the signal strength signal intensity of AP, then (the RSS of mobile device position is generated, Phase, Period) RSS sequence, marking this sequence is RSSa, obtained sequence RSSa is sent to location-server, request location, CMF represents Common Multiple Folding,
Step 3: after location-server receives the Location Request that client sends, sends signals collecting request to Mapper;
After step 4:Mapper receives signals collecting request, obtain RSS sequence (BSSID, Phase, Period) by the wireless signal of AP around the collection of Wi-Fi wave point, then send to location-server;
Step 5: all RSS sequences received from Mapper are first merged into a sequence by location-server, are labeled as RSSb, then by RSS sequence alignment module, aligned sequence RSSb and sequence RSSa, concrete steps are as follows:
Step 5.1: the position a obtaining first phase place in sequence RSSa;
Step 5.2: the position b obtaining first phase place in sequence RSSb;
Step 5.3: determine travel(l)ing phase length c=|a-b|, if a-b is greater than 0, then the phase lengths of the c that sequence RSSb moved right, otherwise, sequence RSSb is moved to the left the phase lengths of c, the sequence mark obtained after sequence RSSb moves is sequence RSSc, the AP number n alignd in record RSSc and RSSa, then n is compared with maximum MAX, if n is greater than MAX, then upgrade MAX=n, and record c and sequence RSSc, otherwise, do not operate; MAX is initially 0;
Step 5.4: the position b obtaining the next phase place in sequence RSSb, if there is not next phase place, performs step 5.5; Otherwise, continue to perform step 5.3;
Step 5.5: the position a obtaining the next phase place in sequence RSSa, if there is not next phase place, performs step 5.6, otherwise, continue to perform step 5.2;
Step 5.6: export the sequence RSSc corresponding to current MAX, RSSc is the sequence of (RSS, BSSID); RSSc is exactly the fingerprint of the current position of mobile device;
Step 6: by the fingerprint of the current position of mobile device obtained, searched in geographic position data storehouse by matching algorithm, the room fingerprint finding matching degree maximum, then locate this mobile device and be in corresponding room, result is sent to client by location-server, and is shown to user.
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| CN104567862B (en) * | 2015-01-19 | 2017-10-20 | 华侨大学 | A kind of movement locus acquisition methods positioned based on bipod |
| CN105205114B (en) * | 2015-09-06 | 2018-12-04 | 重庆邮电大学 | A kind of Wi-Fi location fingerprint data base construction method based on image procossing |
| CN105228202B (en) * | 2015-10-12 | 2020-03-03 | 小米科技有限责任公司 | Network connection method and device |
| US10849205B2 (en) | 2015-10-14 | 2020-11-24 | Current Lighting Solutions, Llc | Luminaire having a beacon and a directional antenna |
| CN105611502B (en) * | 2015-12-22 | 2018-12-18 | 广西瀚特信息产业股份有限公司 | A kind of indoor locating system and method based on WiFi Mesh network |
| US11044689B2 (en) | 2017-03-28 | 2021-06-22 | Huawei Technologies Co., Ltd. | Fingerprint positioning method and related device |
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