CN103260239B - A kind of positioning of mobile equipment method based on WIFI - Google Patents
A kind of positioning of mobile equipment method based on WIFI Download PDFInfo
- Publication number
- CN103260239B CN103260239B CN201310137097.6A CN201310137097A CN103260239B CN 103260239 B CN103260239 B CN 103260239B CN 201310137097 A CN201310137097 A CN 201310137097A CN 103260239 B CN103260239 B CN 103260239B
- Authority
- CN
- China
- Prior art keywords
- postulated point
- wifi
- equipment
- postulated
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
- Telephone Function (AREA)
Abstract
The present invention relates to a kind of positioning of mobile equipment method based on WIFI, comprise the following steps: one, in mobile scope, evenly can sow postulated point at mobile device, form postulated point set; Two, regularly monitor mobile device, the relative movement distance of equipment is vectorial, upgrades the current location of each postulated point in postulated point set accordingly, and each each WIFI source signal intensity upgrading rear postulated point positional information and receive of record; Three, to each postulated point, each position data on recording track is carried out matching with the signal strength data in N number of WIFI source 1 respectively, form fitting function, and obtain N number of variance, obtain the unreliable numerical value of this postulated point accordingly, delete the high postulated point of unreliable numerical value according to the threshold value of user preset, and repeat step 3, until reach user's requirement.The method can realize the effective location under indoor environment, can make up the practical difficulty being difficult to realize accurate equipment location under the environment such as current edifice.
Description
Technical field
The present invention relates to a kind of positioning of mobile equipment technology, particularly a kind of positioning of mobile equipment method based on WIFI signal.
Background technology
In gps system, passing of satelline short-wave signal, makes receiver receive the position of satellite broadcasting, thus determines the position of receiver.Owing to employing short wave communication means, GPS is Shortcomings in global location, and namely short-wave signal is difficult to penetrate barrier, cannot complete the location of covered court.
In order to overcome the shortcoming of gps system, people are finding a kind of instrument that can complete indoor positioning, are used for supplementary global position system, improve global location.Since 1999, IEEE determined 802.11 standards so far, and WIFI has become one of the most most widely used wireless technology, devices communicating technology.In early days, WIFI user is roughly located by the physical location of WIFI, in order to advertisement head picture, the broadcast of directed program, in recent years, by the improvement to WIFI equipment, researcher finds to there is obvious relation between the WIFI signal intensity that receives and WIFI receiving equipment distance, and this makes to become possibility by the accurate locating mobile device of WIFI.
Researcher, by adding up different WIFI sources and mobile device, finds, after large-scale data input, to there is following relation between WIFI signal intensity and WIFI receiving equipment distance:
H=K+E*log
10(dis)
Wherein dis is distance, and H is signal strength signal intensity, and K and E is natural value, and its numerical value and WIFI signal source device, mobile device, environment has close relation.Usually, when WIFI source, mobile device, environment are fixed, the change fluctuation of KE value is little.Therefore, after passing through a large amount of measurements right to H-dis, the envirment factor KE in a WIFI source can be determined.
Based on the WIFI localization method of off-line learning, be under fixed environment, WIFI source, the measurement carrying out signal strength signal intensity under full-length is carried out to equipment, after the signal strength signal intensity acquiring a large amount of distance and correspondence thereof, matching is carried out to it, determines the envirment factor KE value in formula 1.Subsequently, mobile device is put into circumstances not known, by signal strength signal intensity, determine the distance in equipment and WIFI source.Current WIFI location adopts the scheme of off-line learning mostly.
But off-line learning scheme also also exists problem.Relation between the signal strength signal intensity of WIFI and distance is not unalterable, and its relation is subject to the impact of mobile device performance, WIFI source state, even ambient temperature, and it is in particular in distance-strength formula (H=K+E*log
10(dis)) in K, E two envirment factors.Because the time of off-line learning is not identical with the time of actual location, after the off-line learning that equipment completes based on environment, probably because the change that interval time is longer or other reasons makes equipment produce, thus make KE envirment factor produce not predictable fluctuation, as under these conditions, proceed later stage location, although strength information does not change, but also cannot obtain the distance value estimated, produce mistake.
And the WIFI localization method with off-line learning step is difficult to be applied in actual position fixing process.System is difficult to require each to expect, and the equipment of acquisition geographical location information carries out the process of an off-line learning.Because this off-line learning needs user to carry out manual intervention in specific position, this is difficult to realize.And the process of this off-line learning or manual intervention is again this equipment uniquely once carry out envirment factor KE value confirm process.
Summary of the invention
The object of the invention is the problem for prior art, a kind of WIFI localization method is proposed, the method can weaken the environment of dynamic change in original " off-line location " method to the impact of WIFI positioning precision, and the problem that " off-line location " method that solves to a certain extent is difficult to apply.
The present invention adopts following technical proposals to realize:
Based on a positioning of mobile equipment method of WIFI, comprise the following steps:
One, in mobile scope, evenly can sow postulated point at mobile device, form postulated point set; Within the scope of this, there is N number of WIFI source;
Two, according to the time interval that user is arranged, regularly monitor mobile device, each data measured comprise Measuring Time, the speed of equipment, each WIFI source signal intensity of receiving; After each measurement, by device rate and Measuring Time, the relative movement distance of equipment is vectorial, upgrades the current location of each postulated point in postulated point set accordingly, and each each WIFI source signal intensity upgrading rear postulated point positional information and receive of record;
Three, after record length and pendulous frequency reach the length S of user preset, circulation performs following steps, until converge to the scope of user's license:
1) to each postulated point, the signal strength data in WIFI source 1 when each position data on recording track and this position is carried out matching, form fitting function, and obtain variance 1;
2) signal strength data of WIFI source i when each position data on postulated point recording track and this position is carried out matching, form fitting function, and obtain variance i; Wherein i=1,2 ..., N;
3) by variance 1, variance 2 ..., variance N is added, and obtains the unreliable numerical value of this postulated point;
4) calculate the unreliable numerical value of each postulated point, according to this unreliable numerical value, each postulated point is sorted, delete the high postulated point of unreliable numerical value according to the threshold value of user preset;
5) to the postulated point retained, record a up-to-date measurement data, and abandon a oldest measurement data.
As a kind of prioritization scheme of the present invention, after step 3 restrains a set, also comprise the step that a set is dispersed, centered by the simulation points retained in step 3, equipment can carry out in mobile scope near close far away dredge spread a little, form new postulated point set, and the convergence process described in step 3 is performed, until meet system requirements to this set.
Beneficial effect
The method can realize the effective location under indoor environment, can make up at current edifice, realizes the practical difficulty of accurate equipment location as being difficult under the environment such as sales field, gymnasium.
Accompanying drawing explanation
Fig. 1 is the network environment figure based on three WIFI sources;
Fig. 2 is the localization method flow chart of embodiment;
Fig. 3 is track record form schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, illustrate the preferred embodiment of the present invention.
The present embodiment constructs a focus environment based on three WIFI sources, and wherein the relative position in three WIFI sources is known, and as shown in Figure 1, the hot spot networks of an isosceles right triangle is constructed in three WIFI sources, and wherein the right angle length of side is L.
The method of the present embodiment as shown in Figure 2, comprises the following steps:
One, in mobile scope, evenly can sow postulated point at mobile device, form postulated point set;
The quality of postulated point set is one of key of this method convergence rate, if just comprise certain in postulated point set from the postulated point close to equipment actual position, then the convergence of method can complete within tens time cycles, if do not comprise equipment actual position in postulated point set, whole postulated points even are almost all distant with the true point of equipment, although the convergence of method still can complete, its convergence rate will reduce greatly.The set of postulated point arranges very crucial for this reason.
At initial phase, in order to make postulated point energy collecting enough not concentrate on certain region, not omit certain region, mode a little is evenly spread in usual employing.First environmentally situation determines right angle, place side length L, then determines the quantity D of unit length mid point as required.
According to some actual needs, equipment is larger at some local probability occurred, can suitably increase the postulated point quantity in this region, to be put the convergence of set faster.
In the present embodiment, prime area is set to the square that the length of side is L, and three WIFI sources lay respectively on foursquare three summits.In unit length, postulated point quantity is more, and computation complexity is higher, but result is more accurate.In the present embodiment, for less experimental situation, postulated point is set according to the distance of 1cm.
Two, according to the time interval that user is arranged, regularly monitor mobile device, each data measured comprise Measuring Time, the speed of equipment, each WIFI source signal intensity of receiving; After each measurement, by device rate and Measuring Time, the relative movement distance of equipment is vectorial, upgrades the current location of each postulated point in postulated point set accordingly, and each each WIFI source signal intensity upgrading rear postulated point positional information and receive of record.
In the present embodiment, each measurement data all needs to send to and server calculates in real time and processes, and therefore will be set to mobile device (mobile phone) and computer synchronous minimum time the time interval.
Gyroscope, accelerometer and compass that the speed of mobile device is carried by mobile device obtain.Equipment extensive uses on mobile phone and other equipment such as three-axis gyroscope, triaxial accelerometer, digital compass, the mobile device all at present with this equipment comprises more than Iphone4 i Phone, Galaxy Note etc.The method being obtained speed by the equipment such as gyroscope, accelerometer is a lot, and complexity and precision are not quite similar.The method adopted in the present embodiment is:
1, make equipment static;
2, when equipment setting in motion, accelerometer is utilized to obtain acceleration in all directions at quarter in some time;
3, utilize the gravity numerical value judgment device attitude in accelerometer (rotate as produced equipment, then utilize gyroscope to assist simultaneously), equipment Acceleration is projected in the horizontal direction based on equipment;
4, utilize the finger north effect of digital compass, the acceleration of the horizontal direction based on equipment is projected into the horizontal acceleration based on direct north;
5, the acceleration information of record subsequent time is continued;
6, the acceleration of certain period is carried out integration, obtain the device rate (speed of equipment and direction) at time end place.
By device rate and the timestamp of acquisition, relative movement distance vector can be obtained.According to relative movement distance vector, upgrade the current location of each postulated point in postulated point set, and this current location and each WIFI source strength received are carried out record.
Along with constantly passing back of mobile terminal data, server will upgrade rear postulated point positional information and signal strength signal intensity according to said method record at every turn.As shown in Figure 3, wherein the direction of arrow represents the content comprised to record form on server.
Three, after record length and pendulous frequency reach the length S of user preset, following steps are performed to all postulated points in a set:
1, by each position of postulated point track with carry out matching with the intensity in WIFI source 1 during this position, form fitting function, and obtain variance 1;
2, by each position of postulated point track with carry out matching with the intensity in WIFI source 2 during this position, form fitting function, and obtain variance 2;
3, by each position of postulated point track with carry out matching with the intensity in WIFI source 3 during this position, form fitting function, and obtain variance 3;
4, variance 1, variance 2, variance 3 expanded and be added, obtaining the unreliable numerical value of this postulated point;
5, according to this numerical value, each postulated point is sorted, and get rid of the higher postulated point of those unreliable numerical value.
Above step repeats once after often carrying out one-shot measurement, until converge to the scope of user's license.
Meanwhile, in order to the burst of the factor K E that can conform changes, while being recorded in of track dynamically updates, tackle old track and reject, therefore length of record S should remain unchanged.The setting of record length should be able to meet the accuracy requirement of ambient trace being carried out to matching.After record length reaches S, need to forget old measurement data when recording new measurement data.
Matching can use any general approximating method, and this example adopts least square method to carry out matching.Delete the threshold value of postulated point to be arranged according to actual conditions by user, such as, can be set to a concrete unreliable numerical value, when just abandoning postulated point higher than during this numerical value.Be set to a percent data 20% in the present embodiment, all abandon 20% the highest postulated point of unreliable numerical value at every turn, use the realization that this threshold value can be simple and quick to restrain.
The termination condition of convergence step also can be arranged according to actual conditions by user.Such as, for the system had, require that the variance of matching can not higher than a default threshold value.In the present embodiment, using the condition that the quantity of the point retained terminates as convergence, when remaining point is less than 10, terminate convergence process.
When a set is converged in certain limit, the fitting result of some set likely keeps concussion within the specific limits, and this is mainly because we are in the process of postulated point, and initial postulated point density cannot mate actual point preferably.
In order to improve the precision of location on this basis, the present embodiment is further dispersed a set.Disperse and mainly within the scope of current postulated point, again increase simulation points quantity, auxiliary point set.First select those more outstanding simulation points, then around these points, carry out point and supplement, supplementing of point should not carried out according to the scheme evenly dispensed, because in the process of initial point set, we also do not know general location a little, in order to not omit, so evenly spread a little.But now, we have been aware of general location a little, namely around the simulation points that these are outstanding, therefore we will carry out nearly close thin spreading a little far away centered by these simulation points.In the present embodiment, adopt the method for Gauss number, centered by the simulation points that these retain, in the scope of activities that equipment is possible, dispense postulated point.The simulation points addition point set newly-built by these, then continue the convergence and divergence process of execution point, until its variance meets system requirements.
The method can realize the effective location under indoor environment, can make up at current edifice, realizes the practical difficulty of accurate equipment location as being difficult under the environment such as sales field, gymnasium.
There is the indoor area of business of 520,000 square metres sales field as Eurasian in Chinese Changchun, wants to understand employee whether on duty very difficult.The location model adopting this method to build, can effectively determine employee position, indirectly increases the rate of attendance of employee, improves enterprise profit.
It should be understood that present embodiment is instantiation of the invention process, should not be the restriction of scope.When not departing from spirit of the present invention and scope, carry out equivalent amendment or change all should being included within the present invention's scope required for protection to foregoing.
Claims (4)
1., based on a positioning of mobile equipment method of WIFI, it is characterized in that, comprise the following steps:
One, in mobile scope, evenly can sow postulated point at mobile device, form postulated point set; Within the scope of this, there is N number of WIFI source;
Two, according to the time interval that user is arranged, regularly monitor mobile device, each data measured comprise Measuring Time, the speed of equipment, each WIFI source signal intensity of receiving; After each measurement, by device rate and Measuring Time, the relative movement distance of equipment is vectorial, upgrades the current location of each postulated point in postulated point set accordingly, and each each WIFI source signal intensity upgrading rear postulated point positional information and receive of record;
Three, after record length and pendulous frequency reach the length S of user preset, circulation performs following steps, until reach convergence termination condition, convergence termination condition is that the variance of matching can not be less than default value higher than the quantity of point of the threshold value preset or reservation:
1) to each postulated point, the signal strength data in WIFI source 1 when each position data on recording track and this position is carried out matching, form fitting function, and obtain variance 1;
2) signal strength data of WIFI source i when each position data on postulated point recording track and this position is carried out matching, form fitting function, and obtain variance i; Wherein i=1,2 ..., N;
3) by variance 1, variance 2 ..., variance N is added, and obtains the unreliable numerical value of this postulated point;
4) calculate the unreliable numerical value of each postulated point, according to this unreliable numerical value, each postulated point is sorted, delete the high postulated point of unreliable numerical value according to the threshold value of user preset;
5) to the postulated point retained, record a up-to-date measurement data, and abandon a oldest measurement data.
2. a kind of positioning of mobile equipment method based on WIFI according to claim 1, it is characterized in that, after step 3 restrains a set, also comprise the step that a set is dispersed, centered by the simulation points retained in step 3, equipment can carry out in mobile scope near close far away dredge spread a little, form new postulated point set, and the convergence process described in step 3 is performed, until meet system requirements to this set.
3. a kind of positioning of mobile equipment method based on WIFI according to claim 1 and 2, is characterized in that, gyroscope, accelerometer and compass that the speed of mobile device is carried by mobile device obtain, and method is:
1) make equipment static;
2) when equipment setting in motion, accelerometer is utilized to obtain acceleration in all directions at quarter in some time;
3) the gravity numerical value judgment device attitude in accelerometer is utilized to be projected in by equipment Acceleration in the horizontal direction based on equipment;
4) utilize the finger north effect of digital compass, the acceleration of the horizontal direction based on equipment is projected into the horizontal acceleration based on direct north;
5) acceleration information of record subsequent time is continued;
6) acceleration of certain period is carried out integration, obtain the device rate at time end place.
4. a kind of positioning of mobile equipment method based on WIFI according to claim 1 and 2, it is characterized in that, the threshold value in step 3 is set to a percent data 20%, all abandons 20% the highest postulated point of unreliable numerical value at every turn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310137097.6A CN103260239B (en) | 2013-04-19 | 2013-04-19 | A kind of positioning of mobile equipment method based on WIFI |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310137097.6A CN103260239B (en) | 2013-04-19 | 2013-04-19 | A kind of positioning of mobile equipment method based on WIFI |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103260239A CN103260239A (en) | 2013-08-21 |
| CN103260239B true CN103260239B (en) | 2015-09-30 |
Family
ID=48963867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310137097.6A Expired - Fee Related CN103260239B (en) | 2013-04-19 | 2013-04-19 | A kind of positioning of mobile equipment method based on WIFI |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103260239B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104981011B (en) * | 2014-04-14 | 2019-11-29 | 李巍岳 | The acquisition of Wi-Fi hotspot data and update method based on Sequential processing |
| TWI554136B (en) * | 2014-09-24 | 2016-10-11 | 緯創資通股份有限公司 | Methods for indoor positioning and apparatuses using the same |
| CN108375168B (en) * | 2014-09-26 | 2020-11-17 | 海信集团有限公司 | Method for adjusting air conditioning equipment |
| CN105825555B (en) * | 2016-03-14 | 2019-05-17 | 谷振宇 | Attendance management method and system based on Wifi positioning |
| CN106028353B (en) * | 2016-05-13 | 2019-11-15 | 北京小米移动软件有限公司 | WIFI signal amplifier location detection method and device |
| CN105898074A (en) * | 2016-06-13 | 2016-08-24 | 广东小天才科技有限公司 | Motion state detection method and system |
| CN106971601A (en) * | 2017-03-28 | 2017-07-21 | 刘星宇 | A kind of intelligent parking based on WiFi and the System and method for given for change |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102595592A (en) * | 2012-01-10 | 2012-07-18 | 西北工业大学 | Indoor positioning method for goal nodes of mobile social network |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2585495C (en) * | 2004-10-29 | 2016-06-21 | Skyhook Wireless, Inc. | Location beacon database and server, method of building location beacon database, and location based service using same |
-
2013
- 2013-04-19 CN CN201310137097.6A patent/CN103260239B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102595592A (en) * | 2012-01-10 | 2012-07-18 | 西北工业大学 | Indoor positioning method for goal nodes of mobile social network |
Non-Patent Citations (2)
| Title |
|---|
| 《一种传播模型无关的快速WiFi 访问点定位算法》;白云;《小型微型计算机系统》;20130228;第2卷(第34期);第220-233页 * |
| Joydeep Biswas.《WiFi Localization and Navigation for Autonomous Indoor Mobile Robots》.《Robotics and Automation (ICRA), 2010 IEEE International Conference on 》.2010,第1-8页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103260239A (en) | 2013-08-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103260239B (en) | A kind of positioning of mobile equipment method based on WIFI | |
| Fascista et al. | A localization algorithm based on V2I communications and AOA estimation | |
| Johnson et al. | Ultra-wideband aiding of GPS for quick deployment of anchors in a GPS-denied ad-hoc sensor tracking and communication system | |
| Kang et al. | Improved heading estimation for smartphone-based indoor positioning systems | |
| WO2018036297A1 (en) | Indoor positioning technique and information pushing system, method and device based thereon, and terminal | |
| CN105550203B (en) | A kind of article lending system and method based on mobile terminal location search | |
| CN105849579B (en) | The localization method and mobile terminal of target device | |
| JP6195971B2 (en) | Method and apparatus for location activated sensor initialization | |
| US20170192102A1 (en) | eLORAN POSITIONING VIA CROWDSOURCING | |
| CN103363988A (en) | Method for realizing geomagnetic indoor positioning and navigation by utilization of smartphone sensors | |
| EP2878925B1 (en) | Method and apparatus for probe-based routing | |
| CN107111641A (en) | For the location estimation for the database for updating location data | |
| CN109212570B (en) | Low-power-consumption satellite positioning method and system and electronic equipment | |
| CN108120436A (en) | Real scene navigation method in a kind of iBeacon auxiliary earth magnetism room | |
| CN105052215A (en) | Mobile device power management while providing location services | |
| CN106461786A (en) | Indoor global positioning system | |
| CN104197930A (en) | Indoor positioning device and method based on inertial guidance and radio frequency identification | |
| CN104931051A (en) | Indoor electronic map drawing and navigating method and system based on big data | |
| CN105372687A (en) | A mobile device-based movement track drawing method and system | |
| Caballero et al. | A general gaussian-mixture approach for range-only mapping using multiple hypotheses | |
| CN109765585A (en) | A kind of satellite ephemeris prediction technique, satellite positioning method and device, storage medium | |
| CN106455046A (en) | Satellite-WiFi flight time integrated positioning system and method thereof | |
| CN108828643A (en) | A kind of indoor and outdoor seamless positioning system and method based on grey forecasting model | |
| CN114845236A (en) | Initialization method, terminal and system for newly added base station under UWB system | |
| Bhatia et al. | A new approach for Location based Tracking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150930 Termination date: 20160419 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |