CN103561462B - Indoor positioning system and method totally based on smart mobile terminal platform - Google Patents
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Abstract
The invention discloses an indoor positioning system and method totally based on a smart mobile terminal platform. The system comprises a Wi-Fi positioning module and a gait positioning module which are based on a smart mobile terminal. The indoor positioning system and method totally based on the smart mobile terminal platform can overcome the defects of being low in precision, complex in structure, high in energy consumption and the like in the prior art so as to achieve the advantages of being high in precision, simple in structure and low in energy consumption.
Description
Technical field
The present invention relates to moving communicating field, in particular it relates to a kind of interior for being based entirely on smart mobile terminal platform
Alignment system and method.
Background technology
With the popularization gradually of mobile device, location Based service（Location-Based Service, abbreviation LBS）
Application occur in a large number and be widely used in productive life.It is as the core technology provided based on location-based service, mobile
The research of the location technology of client is also therewith gradually deeply.Movable positioning system has a wide range of applications field, running fix skill
Art cannot be only used for the positioning to object, such as the management of storage kinds of goods, medical equipment in hospital management, Technical innova- tion, also can use
In the positioning of personnel, such as coal mine underground personnel positioning, park and museum visitor lead sight, hospital need nurse patient's positioning,
The key areas such as prison inmates supervision.From the point of view of practical application angle, mobile positioning technique drastically increases management level, work
Make efficiency, and the mode of acquisition information is greatly enriched in life.
At present, wireless location system can be divided into outdoor positioning and indoor positioning according to localizing environment.
Outdoor positioning mainly includes global positioning system（Global Positioning System, abbreviation GPS）Be based on
Cellular network（Cellular Network）Alignment system.1978, U.S. Department of Defense started global positioning system, it is intended to
Improve the attack precision of weapon.And today, thousands of car is provided with gps receiver, is mainly used in urban transportation
Navigation.The civilian full accuracies of GPS can reach 5m.And have three kinds based on the alignment system of cellular network：Positioning based on mobile station
System, network alignment system and hybrid location system.What is wherein commonly used is based on mobile station（Mobile phone becomes now
Main flow mobile station）Alignment system, its positioning principle is similar to GPS.
However, the GPS system that superiority is occupied in outdoor positioning but encounters positioning precision indoors low, signal
Difference, or even situation about cannot position, that give this research direction of indoor positioning greatly to stimulate and promote, with more than 10 years
Development, indoor positioning has been developed that multiple indoor location technology has many kinds, can be basically divided into following big class：
(1) the location technology based on short-distance wireless communication：
It is different from location mechanism according to frequency range, can be substantially divided into based on short-range wireless location technology：Based on red
The location technology of outside line, based on the location technology of ultra broadband, the location technology based on RF identification.
Based on ultrared location technology：Infrared ray is a kind of electromagnetic wave of wavelength between microwave and visible ray, red
The principle of outside line indoor positioning technologies positioning is, the infrared-ray of infrared ray IR identification transmissions modulation, by installing indoors
Optical pickocff is received and is positioned.Infrared ray has an of a relatively high indoor position accuracy, but straight line sighting distance and transmission distance
The poor effect of its indoor positioning is made from shorter this two big major defect.When mark is blocked cannot normal work, need
Reception antenna is installed in each room, corridor, cost is higher.
Location technology based on ultra broadband：Ultra broadband（UWB）Technology need not use the carrier wave in traditional communication system, and
It is by sending and receiving with the ultra-narrow pulse below nanosecond or nanosecond come transmission data, so as to the band with GHz magnitudes
Width, can apply to locating and tracking and the navigation of stationary indoors or mobile object and people, and can provide and exactly accurate determine
Position precision.The precision of UWB positioning is 15 ~ 30cm at present, but cost is higher, is not suitable for large-scale application.
Location technology based on RF identification：RF identification（RFID）Technology is a kind of easy automatic identification skill of manipulation
Art.RF identification indoor locating system includes：Electronic tag, frequency read/write, middleware and data base.Electronic tag with penetrate
Signal transmission is carried out between frequency read write line, electronic tag coordinate can be calculated according to the positional information of frequency read/write.Can be
The information of centimeter-level positioning precision is obtained in several milliseconds, and transmission range is very big, cost is relatively low.But operating distance is near, does not have
There is communication capacity, and among being not easy to be incorporated into other systems.
(2) the location technology based on inertial sensor：
With MEMS（MEMS）Fast development, various size sensors are constantly reducing, are being widely used
In various equipment.Based on the indoor positioning technologies of inertial sensor, the autonomy with positioning and seriality.Inertial sensor
The sensor that positioning is used is related to accelerator, gyroscope, magnetometer etc..Based on different physical characteristics and applied environment, this
A little sensors can be combined with each other realizes different allocation plans.
Two kinds are broadly divided into based on the indoor positioning technologies of inertial sensor.A kind of is that traditional inertial sensor integration is fixed
Position, which calculates three-dimensional velocity and relative position by the accekeration integrating meter in three directions according to Newton's laws of motion.It is theoretical
Upper result of calculation should be accurate, but in practical application, shake as accelerometer is present, can produce twice and continue after integral and calculating
Cumulative error, in tens second time error up to tens meters, or even hundreds of rice；Another kind of localization method is reckoning side
Method, the reckoning method based on inertial sensor are positioned according to the step number and step-length of people's walking, and locating effect is than tradition
Inertial sensor integration positioning is more accurate.But push away as reckoning method carries out position with course according to the displacement that people walks
Calculate, positioning precision depends on the factors such as the step-length of meter step effect, pedestrian course and pedestrian, as travel time increases, inertia
The error of sensor positioning is also constantly being accumulated.
(3) the location technology based on Wi-Fi：
Wi-Fi（Wireless Fidelity）Technology is the abbreviation of adopting wireless fidelity technology, by " wireless ethernet is compatible
The certificate that alliance " issues, for the intercommunity between the radio network product of 802.11 standards of guarantee.
At present, the indoor positioning technologies based on Wi-Fi mainly have location fingerprint method, probability distribution method, signal propagation attenuation
Model etc., these technologies are all based on RSSI（Received Signal Strength Indication, received signal strength）
Indoor positioning typical algorithm.Radio-frequency fingerprint matching process belongs to location fingerprint method, and immediate K is searched from fingerprint base
Neighbours, take the average of their coordinates and estimate as coordinate.Multivariable Gauss distribution is the important models of probability distribution method, and which is fixed
Position process is divided into study stage and estimation stages, it is not necessary to extra hardware supported.MK models are then that typical signal propagation declines
Subtract model, that takes into account in communication process of the transmitting terminal with receiving terminal, the signal attenuation caused by wall and floor.It is based on
The indoor positioning technologies of Wi-Fi cover a wide range, and are adapted to extensive positioning application, have higher positioning precision（1m~5m）.Its
Cost is relatively low, and versatility is good, and penetration capacity is strong, and anti-multipath jamming effect is strong, and has unified standard.Which has the disadvantage to be easy to receive
To the interference of other environmental factorss, so as to affect its positioning precision.
It is more than, according to the different classification of device therefor, method therefor to be abstracted, all positioning modes are from principle
Substantially following several modes can be divided into：Time of arrival (toa)（Time of Arrival, abbreviation TOA）, signal arrival time difference
（Time Difference of Arrival, abbreviation TDOA）, direction of arrival（Angle of Arrival, abbreviation AOA）With
Received signal strength（Received Signal Strength Indication, abbreviation RSSI）.
Position according to time of arrival (toa)：This kind of method is mainly used in three side positioning modes.The base that the time of advent, method was positioned
Present principles are will to be multiplied by spread speed in the propagation time using to signal in the measurement in sender and recipient's go-and-retum propagation time
（For electromagnetic wave, the light velocity is typically taken）Obtain the distance between sender and recipient.Receive same with the receivers of more than 3
The radio signal of one signal source transmitting, the time that different receivers are reached by measuring same signal can calculate receiver
To the distance of signal source, so as to reach the purpose of positioning.At present, using the technology positioned by TOA mainly have circle model and
Intersecting line model.Because TOA is to obtain range information using the measurement to the time, propagation velocity of electromagnetic wave is exceedingly fast in addition, so
By range error caused by small measure of time error be it is very big, therefore TOA require degree of precision clock, with obtain
Acceptable estimated accuracy.
Position according to signal arrival time difference：This kind of method is mainly used in hyperbolic fix method.Reaching time-difference is legal
Position ultimate principle is similar with TOA, also with measurement signal transmitting terminal and multiple signal receiving ends the time of advent being treated
Survey the position of target.Except for the difference that this method measurement is difference of the signal sending end to the time of advent of multiple signal receiving ends.Survey
Amount TDOA has two ways, and the first is measured multiple TOA, subtracted each other with TOA and obtain TDOA；Its two be using multiple receiving terminals receive
The dependency of signal（Correlation）To obtain TDOA.Synchronously receive what signal source sent 3 different monitoring stations respectively
By certain algorithm, radio signal, can determine that same signal reaches the time of 3 different monitoring stations, obtains any 2
The time difference that signal is reached, so that it may obtain signal source to the range difference of different monitoring stations, 2 hyperbolics can determine by range difference
Line, 2 intersecting intersection points of hyperbola are the position of signal source.
Position according to direction of arrival：This kind of method is mainly used in triangulation location.Substantially the original of angle of arrival method positioning
Reason is the antenna using tool directivity（Directional Antenna）Or aerial array（Antenna Array）, according to electronics
The arrival direction of label signal determines the position of electronic tag.In theory, in the case where error is not considered, with two tool sides
The antenna of tropism measures the arrival direction of label signal respectively, straight on two with RFID reader as starting point arrival direction
The intersection point of line is the possible position of electronic tag.
Position according to received signal strength：Received signal strength（RSSI）Ultimate principle be using wireless signal propagate
During decay, distance is extrapolated from received signal strength.The alignment system principle of initially use received signal strength method
It is the relation that path loss and transmission range are described using indoor channel mode.The ring is constructed first using the system of this method
The loss model in border, estimates target to be positioned and known bits using the decay of signal intensity or the intensity of reception signal
The distance of the signal sending end put.Then, it is thus proposed that location fingerprint method based on RSSI, it is to be built using reference point in advance
The fingerprint database for having stood, the signal intensity for receiving is compared with the sample in fingerprint database, finds out immediate letter
Number sample, determines its position.Its degree of accuracy is improved with the increase of sample rate.
For indoor positioning, existing system or realize easy and precision is not enough, or precision preferably but it is excessively complicated, need to
Want extras or consume more multiple-energy-source.
During the present invention is realized, at least there is low precision, complex structure and energy in finding prior art in inventor
Consume high defect.
The content of the invention
It is an object of the present invention to be directed to the problems referred to above, a kind of interior for being based entirely on smart mobile terminal platform is proposed
Alignment system, the advantage low to realize high precision, simple structure and energy consumption.
The second object of the present invention is, for the problems referred to above, proposes a kind of smart mobile terminal platform that is based entirely on
Indoor orientation method, the advantage low to realize high precision, simple structure and energy consumption.
For achieving the above object, the technical solution used in the present invention is：A kind of smart mobile terminal platform of being based entirely on
Indoor locating system, including Wi-Fi locating modules and gait locating module based on intelligent mobile terminal；Wherein：
The Wi-Fi locating modules, are given just using the method for fingerprint recognition as basis on location for using RSSI value
Step positioning result；
The gait locating module, the mobile phone sensor for being carried by intelligent mobile terminal carry out gait calculating, obtain
Take human locomotion cycle and the direction of motion；Gained human body walking period and the direction of motion are calculated with reference to basic step-length, is obtained
To displacement information；Based on the displacement information for obtaining, by mobile filtering algorithm, the Primary Location obtained to Wi-Fi locating modules
As a result it is modified, obtains final positioning result.
Further, acceleration transducer and direction sensing that the mobile phone sensor, including intelligent mobile terminal is carried
Device；The mobile phone sensor, calculates the human locomotion cycle by acceleration transducer, and detects human body fortune by direction sensor
Dynamic direction.
Further, the Wi-Fi locating modules and gait locating module, the SQLite carried using intelligent mobile terminal
Database purchase corresponding data, and the CPU carried using intelligent mobile terminal accordingly calculated.
Meanwhile, another technical scheme that the present invention is adopted is：It is a kind of to be based entirely on intelligent mobile terminal with above-described
The indoor orientation method for being based entirely on smart mobile terminal platform of the indoor locating system matching of platform, including：
A, using RSSI value as basis on location, provide Primary Location result using the method for fingerprint recognition；
B, gait calculating is carried out by the mobile phone sensor that intelligent mobile terminal is carried, obtain human locomotion cycle and motion
Direction；Gained human body walking period and the direction of motion are calculated with reference to basic step-length, displacement information is obtained；Based on what is obtained
Displacement information, by mobile filtering algorithm, is modified to the Primary Location result that Wi-Fi locating modules are obtained, and obtains final
Positioning result；
In stepb, it is described by mobile filtering algorithm, the Primary Location result that Wi-Fi locating modules are obtained is carried out
The operation of amendment, specifically includes：
(1) Wi-Fi positioning initial point produces four matchings positioning result O={ A1, A2, A3, A4 }；
(2) move the k seconds, refresh, produce four new position matching results R={ B1, B2, B3, B4 }；
(3) the data processing of k second inner sensors is calculated, move distance and direction are converted into into the change of grid bearing；
(4) travel through from set O and R and take a little（Example A1 and B1）, Euclidean distance calculating is carried out two-by-two, obtains Euclidean distance most
Little value, and record at corresponding 2 points（An, Bn）, if accept and believe according to threshold value MIN：
1. be less than threshold value MIN, it is believed that gait reflects true traveling situation, use is fed back to using Bn as true anchor point
Family；
2. be more than threshold value MIN, still user is fed back to using the average result of calculations of the KNN of set R.
Further, step a is specifically included：
A1, training stage：
A11, stress and strain model is carried out in area to be targeted, the size of grid represents the limit of accuracy of positioning；
A12, subregion is carried out according to Wi-Fi characteristic distributions；
A2, enter measuring phases：
A21, the intelligent mobile terminal direction according to residing for direction sensor obtains intelligent mobile terminal, simultaneously scans for examining
The Wi-Fi points for measuring and its RSSI value；
A212, obtain metrical information after, the data-base content only and on equidirectional is compared.
Further, in step a11, the grid, including including at least foursquare regular figure；
And/or,
In step a12, the operation that subregion is carried out according to Wi-Fi characteristic distributions is specifically included：
Find mark Wi-Fi points, explore mark Wi-Fi point coverages, since carry out subregion, it is contemplated that surrounding pair
The impact of RSSI, each cell by multiple mark Wi-Fi signals determining, strong access system is used during subregion, that is, is surveyed
Mark Wi-Fi minimum quantities and signal strength threshold that the signal value measured must is fulfilled for；
If can not meet, whole great Qu will be belonged to rather than at will be put under other cells；By MAC Address and RSSI value
Record, in order to prevent body from blocking to Wi-Fi signal, select multiple directions to be trained, on each direction, gather multigroup
Data are averaged, post processing after information with training positional information together be stored in data base as finger print information, using intelligence
Energy mobile terminal carries data base and is stored, and each training coordinate deposits a table, the information of point direction difference record；
And/or,
Step a21 and step a22, specifically include：
The comparison situation of basis and mark Wi-Fi points first determines affiliated subdistrict, so as to by range shorter；Then according to public affairs
Formula（1）, in computation and measurement point and data base, the Euclidean distance of interior each the fingerprint point of the cell, takes Euclidean distance result minimum
K point, i.e.,Four minimum points, while mesh coordinate belonging to reading ：
（1）；
In formula（1）In,Represent the Euclidean distance of measurement point and data-base recording fingerprint in cell；Represent
In the Wi-Fi signal value that current location measures in j-th and cell the matching of data base's MAC Address RSSI value；Represent
The RSSI averages of the j-th matching MAC Address stored under data base's specified coordinate；
After obtaining mesh coordinate, the PRELIMINARY RESULTS of Wi-Fi positioning is obtained according to KNN algorithms【Formula（2）- formula（3）】：
（2）；
（3）；
After weighted calculation obtains result, four segmented results for obtaining are not deleted, but are retained until and obtain
Next group of data；
Secondly, stablize the operation of registration using Kalman filter processing data, specially：
When sensor judges human body in lasting resting state, the result of calculation of moment n is subject to state, moment n- before
1 restriction（Formula（4）：
（4）；
In formula（4）In,Represent n moment final registration；Represent n moment instant computing results；A is represented
The weights of status praesenss and past state importance are weighed, Binding experiment environment is obtained.
Further, step b is specifically included：
B1, course differentiate：The location coordinate of real-time positioning is carried out to human body walking, using geographic coordinate system, motion is taken
Object place earth surface point be origin, Ox point to due east direction, Oy point to direct north, the vertical Oxy planes of Oz are upwards；
When human body walking, the mobile terminal coordinate system of carrying produces angle with fixed geomagnetic coordinate system, according to this
Angle is obtained with the course change of human motion；Obtain data to estimate people by the built-in direction sensor of mobile terminal
Real-time course when body is walked；
B2, gait detection：Using the built-in acceleration transducer of intelligent mobile terminal；The built-in acceleration of intelligent mobile terminal
Degree sensor coordinates axle is similar with the coordinate system of human body walking, and horizontal positioned terminal z-axis positive direction is the vertical direction of human body,
Y-axis positive direction is human body direction of advance；
When pedestrian walks, in 3-axis acceleration, change side straight up that is most obvious and being most periodically human body
To i.e. z-axis, gait detection is carried out using z-axis, reject in real time or decrease human body is slight in body gait detection process
The interference that vibrations are caused；The walking of human body has randomness, such as halts suddenly, static not take a step, after a period of time
Walk again；
The adjacent time inter of N group acceleration transducers is taken, is averaged and is obtained average sensor frequency values；By calculating certainly
The unbiased esti-mator of correlation function determines gait cycle；The unbiased esti-mator of the auto-correlation function for using adopts formula（5）Calculate：
（5）.
Further, in step b2, also include：
In order to reduce the measurement error brought due to sensor initializing, every time during the numerical value of record sensor, before rejecting
20 groups of data, then taking N groups data carries out the calculating of auto-correlation function, and N is drawn by experiment；N is natural number；
After calculating without partial autocorrelation function, the corresponding time point of q peak value of the function is obtained, judge the size of this q peak value, if peak value be less than 0.1, then it is assumed that terminal be it is static, otherwise then
Think that terminal is mobile；
In order to reduce error, first peak value and last peak value are rejected, and calculates remaining q-2 peak intervals
Averagely, as final calculated gait cycle【Formula（6）】：
（6）；
After obtaining gait cycle, different stride St are input into according to different people, you can calculate a period of time（T）Interior people's walking
Apart from Dis【Formula（7）】：
（7）；
After obtaining travel distance and direction, Wi-Fi positioning results are corrected using the method for mobile screening.
Further, in step b2, also include：
CalculateEurope
Formula distance【Formula（8）】：
（8）；
In the multi-group data for obtaining, make difference respectively with travel distance and take absolute value, find and gait result of calculation phase
One group of minimum data of difference【Formula（9）-（10）】：
（9）；
（10）；
If least absolute value MinED is less than a certain error threshold MinDis, sat using this group for obtaining least absolute value
The coordinate that mark modified result is obtained due to Wi-Fi position errors, otherwise, does not change what original Wi-Fi positioning was drawn by KNN algorithms
Coordinate.
The indoor locating system and method that are based entirely on smart mobile terminal platform of various embodiments of the present invention, as this is
System includes Wi-Fi locating modules and gait locating module based on intelligent mobile terminal；Intelligent mobile terminal can only be used（Such as
Smart mobile phone）Positioning can be completed, is capable of the privacy of effective protection user, while reducing indoor locating system overall power；From
And the defect of low precision in prior art, complex structure and high energy consumption can be overcome, to realize high precision, simple structure and energy consumption
Low advantage.
Other features and advantages of the present invention will be illustrated in the following description, also, partly be become from description
Obtain it is clear that or being understood by implementing the present invention.
Below by drawings and Examples, technical scheme is described in further detail.
Description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and constitutes a part for description, the reality with the present invention
Applying example is used for explaining the present invention together, is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the general frame schematic diagram of the indoor locating system that the present invention is based entirely on smart mobile terminal platform；Fig. 1
Show：Android intelligent receives the signal of Wi-Fi points, and four software and hardware parts of mobile phone correspond to respectively and are based entirely on intelligence
One function of the indoor locating system of energy mobile-terminal platform；
Fig. 2 is the schematic flow sheet of the indoor orientation method that the present invention is based entirely on smart mobile terminal platform；
Fig. 3 is that the present invention is based entirely on Wi-Fi ends positioning in the indoor locating system and method for smart mobile terminal platform
Training stage and actual measurement procedure schematic diagram.
Specific embodiment
The preferred embodiments of the present invention are illustrated below in conjunction with accompanying drawing, it will be appreciated that preferred reality described herein
Apply example and be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Take into account in terms of efficiency and effectiveness two so as to overall preferably strategy to adopt, so as to realize preferably positioning
Scheme, as shown in Figure 1-Figure 3, the invention provides a kind of indoor locating system for being based entirely on smart mobile terminal platform and side
Method, only can complete positioning using smart mobile phone, be capable of the privacy of effective protection user, while reducing indoor locating system entirety
Power consumption.
As mobile Internet is developed rapidly, location Based service（Location-Based Service, abbreviation LBS）
Apply and a large amount of economic worths have been popularized very much and produced in life, this causes the present invention's to be based entirely on intelligent mobile terminal
The indoor locating system and method for platform have great significance, while the present invention's is based entirely on smart mobile terminal platform
The method used by indoor locating system and method need not connect network in positioning, reduce system energy consumption, also effectively protect
Privacy of user is protected.
System embodiment
According to embodiments of the present invention, as shown in figures 1 and 3, there is provided a kind of smart mobile terminal platform of being based entirely on
Indoor locating system, including Wi-Fi locating modules and gait locating module based on intelligent mobile terminal.The intelligent mobile end
End, including the smart mobile phone for supporting Android and the panel computer for supporting Android etc..
The indoor locating system for being based entirely on smart mobile terminal platform of the present embodiment, can be divided mainly into two big modules,
I.e. Wi-Fi locating modules and gait locating module, compare with prior art with the easy advantage of energy-saving safety.With regard to Wi-Fi
Illustrating for locating module and gait locating module, it is as follows：
(1) Wi-Fi locating modules use received signal strength（Received Signal Strength Indication,
Abbreviation RSSI）Value provides PRELIMINARY RESULTS using the method for fingerprint recognition as basis on location.
The workflow of Wi-Fi locating modules, can be divided into two big flow processs：Training stage and measuring phases.Due to eliminating
Server, so there is no longer traditional offline and online dividing.The SQLite data that storage is carried by Android phone
Storehouse completes, and calculating is then carried out by mobile phone CPU.
A, training stage：
1. stress and strain model is carried out in area to be targeted first, for convenience of calculating, grid suggestion is divided into regular figure, square
Shape is optimal.The size of grid represents the limit of accuracy of positioning, because positioning result is reflected with the coordinate form of grid
's.Although grid is crossed conference and reduces precision, grid can not be excessively reduced therefore, too small grid both increased data stock
Reserves and operand, it is also very limited to precision increase.Various environmental factorss interference because Wi-Fi signal is originally experienced, what is delivered
In paper, precision is generally in several meters of this ranks.The appropriate sizing grid of selection is very crucial, and this is based entirely on intelligent mobile end
Length of side 1.2m square is chosen in the indoor locating system of end platform as basic grid.
2. then, subregion is carried out according to Wi-Fi characteristic distributions.As the present embodiment group is not independently set up Wi-Fi,
All Wi-Fi points that surrounding can be detected are recorded using mobile phone search completely, in order to improve precision, when saving database search
Between, the present embodiment will find mark Wi-Fi points（Basic demand is that signal intensity is stronger, and covering is not very wide）, explore mark Wi-
Fi point coverages, since carry out subregion, it is contemplated that impact of the surrounding to RSSI, each cell by multiple marks
Wi-Fi signal uses strong access system determining, during subregion, that is, the mark Wi-Fi that the signal value for measuring must is fulfilled for is most
Low quantity and signal strength threshold, if can not meet, will be belonged to whole great Qu rather than at will be put under other cells.Will
MAC Address and RSSI value are recorded, and in order to prevent body from blocking to Wi-Fi signal, the present embodiment selects four direction to carry out
Training, five groups of data are gathered on each direction and are averaged, post processing after information and training positional information together with conduct refer to
Stricture of vagina information is stored in data base, carries data base using android system and is stored, and each training coordinate deposits a table, point side
To the information of difference record.
B, enter measuring phases：
1. mobile phone will obtain the direction of oneself according to direction sensor first, simultaneously scan for the Wi-Fi points being able to detect that
And its RSSI value.After obtaining metrical information, the data-base content only and on equidirectional is compared.
The comparison situation of basis and mark Wi-Fi points first determines affiliated subdistrict, so as to by range shorter；Then according to public affairs
Formula（1）, in computation and measurement point and data base, the Euclidean distance of interior each the fingerprint point of the cell, takes Euclidean distance result minimum
K point（Take into account efficiency and effect simultaneously, the suggestion in this programme selects k=4）, i.e.,Four minimum points, while mesh coordinate belonging to reading ：
（1）；
In formula（1）In,Represent the Euclidean distance of measurement point and data-base recording fingerprint in cell；Represent
In the Wi-Fi signal value that current location measures in j-th and cell the matching of data base's MAC Address RSSI value；Represent
The RSSI averages of the j-th matching MAC Address stored under data base's specified coordinate.
After obtaining mesh coordinate, the PRELIMINARY RESULTS of Wi-Fi positioning is obtained according to KNN algorithms【Formula（2）- formula（3）】：
（2）；
（3）；
It is noted that after weighted calculation obtains result, four segmented results for obtaining are not deleted, but quilt
Retain until obtaining next group of data.This is because group of the present invention finds in practice, although the average of four values subtracts very well
Error is lacked, but this four values has had larger probability to include true coordinate point（RSSI value fluctuation problem causes this chosen candidate value
Euclidean distance may not be caused minimum）, this true coordinate point will be by the mobile filtering algorithm acquisition being presented below.
In actual registration, the RSSI value moment due to Wi-Fi is being changed, and registration is also acutely being shaken, and is reduction
Registration jitter conditions, the present invention is using Kalman filter processing data so as to stablizing registration.When sensor judges that human body is in
When continuing resting state, the result of calculation of moment n is restricted by state before, moment n-1【（Formula（4）】：
（4）；
In formula（4）In,Represent n moment final registration；Represent n moment instant computing results；A represents weighing apparatus
The weights of amount status praesenss and past state importance, Binding experiment environment are obtained.
(2) the fortune that gait locating module is calculated by acceleration transducer human locomotion cycle, direction sensor are obtained
Dynamic direction, both obtain displacement information with reference to basic step-length, are then obtained most by the mobile filtering algorithm amendment of the present embodiment
Whole positioning result.In mobile filtering algorithm, the k seconds at two result of calculation intervals and processor speed, Wi-Fi module refresh speed
Degree, required for calculating cycle, data number is closely bound up, and the present embodiment is tested using k=3.
Mobile phone sensor, the present embodiment focus on the acceleration transducer carried using smart mobile phone and direction sensor to enter
Row gait is calculated.As the fast development of mobile communication, intelligent mobile terminal are more and more, current mobile terminal city is already taken up
The main flow of field.Intelligent terminal great majority have all contained various sensor hardwares, and the sensor carried by them is hard
Part carries out positioning the use range for having expanded pedestrian navigation positioning, also provides more probabilities to following indoor positioning.
Reckoning method is main localization method in the pedestrian's alignment system for be currently based on inertial sensor.Flight path is pushed away
Calculation method is referred to from the beginning of a upper known position, in the time period according to walking, displacement and course that pedestrian passes by,
Know the coordinate of a upper moment position, on the basis of course, extrapolate the current position of pedestrian and course.But this method
Have obvious limitation, once that is, can not accurate computed range, error will continue to build up.To solve this kind of problem, this
The sensor auxiliary positioning algorithm that embodiment is proposed（Filtering algorithm is moved）, human body is judged in mistake using reckoning method
Go to the track of walking in the short time, and the result positioned using Wi-Fi to compare with track, the mistake of Wi-Fi positioning can be corrected
Difference.What the present embodiment was proposed is based entirely in the indoor locating system of smart mobile terminal platform, and sensor is orientated as memoryless
Scheme, will not bring cumulative error, the program be divided into two aspects：
A, course differentiate：Carry out the location coordinate of real-time positioning to human body walking, conventional there are two kinds of coordinate systems, one
It is earth-based coordinate system to plant, and is represented using latitude and longitude coordinates, is absolute geographical location information；Another kind is geographical coordinate
System, it is origin to take moving object place earth surface point, and Ox sensings due east direction, Oy sensing direct norths, the vertical Oxy of Oz are put down
Face upwards.This alignment system adopts geographic coordinate system.
When human body walking, the mobile terminal coordinate system of carrying produces angle with fixed geomagnetic coordinate system, according to this
Angle is obtained with the course change of human motion.Obtain data to estimate people by the built-in direction sensor of mobile terminal
Real-time course when body is walked.In theory, the orientation angle scope that direction sensor is obtained：0 ° ~ 359 °, the direct north number of degrees are
359 ° or 0 °, due east direction is 90 °, and due south direction is 180 °, and due west direction is 270 °.
Differentiate that the purpose in direction has two, one is to coordinate training stage point direction record data, reduces what anthropic factor was caused
The path loss of RSSI value, under this scheme, substantially judges according to gained angle travel direction.Wherein, it is more than 315 ° or little
In 45 °, then it is judged to direct north；More than 45 ° and less than 135 °, then it is judged to due east direction；More than 135 ° and less than 225 °,
Then it is judged to due south direction；More than 225 ° and less than 315 °, then it is judged to due west direction.Two is to determine that human body is advanced according to direction
The angle of Shi Weiyi.
B, gait detection：The sensor that gait detection is mainly utilized is acceleration transducer.The present invention uses intelligent terminal
Built-in acceleration transducer.Intelligent mobile phone terminal acceleration transducer coordinate axess are similar with the coordinate system of human body walking, level
The vertical direction that terminal z-axis positive direction is human body is placed, y-axis positive direction is human body direction of advance.
When pedestrian walks, in 3-axis acceleration, change side straight up that is most obvious and being most periodically human body
To（That is z-axis）.Gait detection is carried out using z-axis, needs to consider Railway Project：When human body is taken a step, mobile terminal occurs slightly
Vibrations, these vibrations can affect the Changing Pattern of vertical direction acceleration, so needing in body gait detection process in real time
Rejecting or weaken the interference that the slight vibrations of human body are caused；The walking of human body has randomness, such as halts suddenly, quiet
Only（Do not take a step）, walked after a period of time again.Quiescent period also may can contain slight vibrations, can disturb normal step
The detection of state, so needing to check the resting state of human body, rejects the vibrations of this section of resting state in step number statistic processess
Interference；The frequency of mobile phone sensor is not constant constant, even if the sensor by calling android system
API is changing frequency values, but can also there is drift.It is unstable for intelligent Android phone sensor frequency that may be present
Problem, this programme propose following solution：The adjacent time inter of N group acceleration transducers is taken, is averaged and is averagely passed
Sensor frequency values；Gait cycle is determined by calculating the unbiased esti-mator of auto-correlation function.During traditional computation of Period, during by judging
Determining the cycle, do so is not suitable for accurate identification to the extreme point of domain signal first, secondly in mobile phone sensor limited precision
In the case of effect on driving birds is not good.The unbiased esti-mator of the auto-correlation function that the system is used adopts formula（5）Calculate：
（5）；
In order to reduce the measurement error brought due to sensor initializing, every time during the numerical value of record sensor, before rejecting
20 groups of data, then taking N groups data carries out the calculating of auto-correlation function, and N is drawn by experiment, and N=150 is taken in the system suggestion.
After calculating without partial autocorrelation function, the corresponding time point of q peak value of the function is obtained,
Judge the size of this q peak value, if peak value be less than 0.1, then it is assumed that terminal be it is static, otherwise then think that terminal is mobile.
In order to reduce error, first peak value and last peak value are rejected, and calculates the average of remaining q-2 peak intervals, made
For final calculated gait cycle【Formula（6）】：
（6）；
After obtaining gait cycle, different stride St are input into according to different people, you can calculate a period of time（T）Interior people's walking
Apart from Dis【Formula（7）】.
（7）；
After obtaining travel distance and direction, the present invention corrects Wi-Fi positioning results using the method for mobile screening, specifically
It is as follows：
Wi-Fi positioning initial points produce four matchings positioning result O={ A1, A2, A3, A4 }；
The mobile k seconds, refresh, produce four new position matching results R={ B1, B2, B3, B4 }；
The data processing of k second inner sensors is calculated, move distance and direction are converted into into the change of grid bearing；
Travel through from set O and R and take a little（Example A1 and B1）, Euclidean distance calculating is carried out two-by-two, obtains Euclidean distance minimum
Value, and record at corresponding 2 points（An, Bn）, if accept and believe according to threshold value MIN：
1. be less than threshold value MIN, it is believed that gait reflects true traveling situation, use is fed back to using Bn as true anchor point
Family；
2. be more than threshold value MIN, still user is fed back to using the average result of calculations of the KNN of set R.
CalculateEurope
Formula distance【Formula（8）】：
（8）；
One is obtained 16 groups of data.In these data, make difference respectively with travel distance and take absolute value, find and gait
One group of minimum data of result of calculation difference【Formula（9）-（10）】：
（9）；
（10）；
If least absolute value MinED is less than a certain error threshold MinDis, sat using this group for obtaining least absolute value
The coordinate that mark modified result is obtained due to Wi-Fi position errors, otherwise, does not change what original Wi-Fi positioning was drawn by KNN algorithms
Coordinate.
The present embodiment, to guarantee that acquired results do not lose general significance, is Android low and middle-ends intelligence handss using experimental facilitiess
Machine, it is anticipated that any same level or middle and high end mobile phone can have no pressure, smooth this sets of plan of operation.
Experimental situation residing for the present embodiment is a floor in a building, and area is about 5300m2（About 70m*74m）, in order that
Obtain basic grid module and be easy to identification, be of moderate size, the present embodiment selects the square of length of side 1.2m as basic fixed position grid.
With regard to the implementation method of the indoor locating system for being based entirely on smart mobile terminal platform of the present embodiment, Ke Yican
With regard to the indoor locating system phase for being based entirely on smart mobile terminal platform with the present embodiment in the embodiment of the method for seeing below
The related description of the indoor orientation method for being based entirely on smart mobile terminal platform of matching, will not be described here.
Embodiment of the method
According to embodiments of the present invention, as shown in Figures 2 and 3, there is provided a kind of smart mobile terminal platform of being based entirely on
Indoor orientation method, mainly includes the following steps that：
A, by the received signal strength of Wi-Fi（Received Signal Strength Indication, abbreviation RSSI）
Fingerprint base, is stored in the data base that Android intelligent is carried；
B, the subregion to measuring signal, matching primitives work, are carried out by the CPU of smart mobile phone completely；
Data are processed by c, measuring phases using kalman wave filter, reduce signal jitter and measurement result is caused
Impact；
D, the gait information to detecting, using auto-correlation function calculating cycle；
E, proposition combine the correction algorithm of gait aiding sensors.
In step e, in gait auxiliary positioning, using mobile filtering algorithm, cumulative error, specific algorithm are effectively reduced
It is as follows：
(1) Wi-Fi positioning initial point produces four matchings positioning result O={ A1, A2, A3, A4 }；
(2) the k seconds are moved（And processor speed, Wi-Fi module refresh rate, data number required for calculating cycle are related）, brush
Newly, four new position matching results R={ B1, B2, B3, B4 } are produced；
(3) the data processing of k second inner sensors is calculated, move distance and direction are converted into into the change of grid bearing；
(4) travel through from set O and R and take a little（Example A1 and B1）, Euclidean distance calculating is carried out two-by-two, obtains Euclidean distance most
Little value, and record at corresponding 2 points（An, Bn）, if accept and believe according to threshold value MIN（Binding experiment place and leg speed is answered to determine）：
1. be less than threshold value MIN, it is believed that gait reflects true traveling situation, use is fed back to using Bn as true anchor point
Family；
2. be more than threshold value MIN, still user is fed back to using the average result of calculations of the KNN of set R.
Referring to Fig. 2, when being embodied as, the indoor positioning side for being based entirely on smart mobile terminal platform of above-described embodiment
Method, comprises the following steps that：
(1) program is opened, each module initialization is completed；
(2) Wi-Fi locating modules and mobile phone sensor start simultaneously at work；
(3) sensor assembly persistently detects the state of acceleration transducer and direction sensor, and wherein acceleration transducer is used
In step 7；Direction sensor can be used for step 5 and step 8；
(4) based on accompanying drawing 3, the training stage carries out space pretreatment and Wi- in area to be targeted to the work of Wi-Fi locating modules
The acquisition process work of Fi fingerprints；
(5) Wi-Fi locating modules measuring phases, first basis and mark Wi-Fi point comparison determinations affiliated subdistrict, such as can not
It is determined that then belonging to whole great Qu, in bonding position sensor, with data base, corresponding data carries out matching primitives afterwards；
(6) the result that matching primitives are obtained alternately result, will step (9) used in；
(7) sensor assembly detects kinestate always by acceleration transducer, detects user's setting in motion, persistently remembers
Record acceleration information execution step is (8)；
(8) gait cycle is calculated using auto-correlation function, with reference to step-length, direction sensor is determined in one section of movement time
Displacement；
(9) the alternative location data that (6) step obtains obtains referring to displacement according to mobile filtering algorithm, and step (8) sensor
Absolute difference is done in calculated displacement, and if less than threshold value, (10), otherwise step is (11) for execution step；
Step (8) in cause absolute difference minimum result centering, the positioning result of current state is by as final result
User is shown to, execution step is (12) afterwards；
(11) the segmented result that (6) step obtains carries out KNN algorithms, is as a result shown to user as final result, is held afterwards
Row step is (12)；
(12) user decides whether to proceed positioning, and (2) continuation then performs from step again, otherwise exit.
The indoor orientation method for being based entirely on smart mobile terminal platform of the present embodiment, it is complete with said system embodiment
Matched based on the indoor locating system of smart mobile terminal platform entirely.With regard to being based entirely on intelligent mobile end with the present embodiment
The indoor locating system for being based entirely on smart mobile terminal platform that the indoor orientation method of end platform matches, referring to system reality
The related description of example is applied, be will not be described here.
The indoor locating system and method that are based entirely on smart mobile terminal platform of the various embodiments described above of the present invention, experiment
The use of equipment is Android low and middle-end intelligent machines, represents substantially the performance of most intelligent machines.This is based entirely on intelligent sliding
The indoor locating system and method for dynamic terminal platform, generation technique its development when fully combining have captured smart mobile phone
The fact that Jing can complete heavier storage process task.It is equipped with rational solution simultaneously, has reached
The purpose of energy-saving safety in the case of precision.
In sum, the various embodiments described above of the present invention are based entirely on smart mobile phone（As Android intelligent,
Android panel computers etc.）The indoor locating system and method for platform, it is intended in the case of precision is not lost, there is provided a kind of
Efficiently, succinctly, energy-conservation, the indoor locating system of safety and method.This is based entirely on the indoor positioning of smart mobile terminal platform
System and method, are based entirely on mobile phone, voluntarily do not set up experimental situation, use background server；In mobile Internet at a high speed
Under the spring tide of development, mobile phone self performance is substantially improved, and must can be handed over by the storage evaluation work that server is completed originally
Completed by mobile phone., there is customer location and reveal the case for causing itself to be subject to lawless person's infringement in present application, complete due to this
Full indoor locating system and method based on smart mobile terminal platform can not also complete positioning by network and extraneous communication, have
Effect realizes the protection to privacy of user.
Finally it should be noted that：The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to,
Although being described in detail to the present invention with reference to the foregoing embodiments, for a person skilled in the art, which still may be used
To modify to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic.
All any modification, equivalent substitution and improvements within the spirit and principles in the present invention, made etc., should be included in the present invention's
Within protection domain.
Claims (9)
1. a kind of indoor locating system for being based entirely on smart mobile terminal platform, it is characterised in that include based on intelligent mobile
The Wi-Fi locating modules and gait locating module of terminal；Wherein described Wi-Fi locating modules, for using RSSI value as fixed
Position foundation, provides Primary Location result using the method for fingerprint recognition；
The gait locating module, the mobile phone sensor for being carried by intelligent mobile terminal carry out gait calculating, obtain people
Body walking period and the direction of motion；Gained human body walking period and the direction of motion are calculated with reference to basic step-length, is obtained in place
Shifting information；Based on the displacement information for obtaining, by mobile filtering algorithm, the Primary Location result obtained to Wi-Fi locating modules
It is modified, obtains final positioning result,
The operation being modified to the Primary Location result that Wi-Fi locating modules are obtained, specifically includes：
(1) Wi-Fi positioning initial point produces four matchings positioning result O={ A1, A2, A3, A4 }；
(2) move the k seconds, refresh, produce four new position matching results R={ B1, B2, B3, B4 }；
(3) the data processing of k second inner sensors is calculated, move distance and direction are converted into into the change of grid bearing；
(4) from set O and R, traversal takes point (example A1 and B1), carries out Euclidean distance calculating two-by-two, obtains Euclidean distance minima,
And record corresponding 2 points (An, Bn), the anchor point after the An and Bn respectively calculating, if accept and believe according to threshold value MIN：
1. be less than threshold value MIN, it is believed that gait reflects true traveling situation, user is fed back to using Bn as true anchor point；
2. be more than threshold value MIN, still user is fed back to using the average result of calculations of the KNN of set R.
2. the indoor locating system for being based entirely on smart mobile terminal platform according to claim 1, it is characterised in that institute
State mobile phone sensor, including the acceleration transducer that carries of intelligent mobile terminal and direction sensor；The mobile phone sensor, leads to
Cross acceleration transducer and calculate the human locomotion cycle, and human motion direction is detected by direction sensor.
3. the indoor locating system for being based entirely on smart mobile terminal platform according to claim 1, it is characterised in that institute
Wi-Fi locating modules and gait locating module are stated, the SQLite database purchase corresponding datas carried using intelligent mobile terminal,
And the CPU carried using intelligent mobile terminal is accordingly calculated.
4. a kind of indoor locating system for being based entirely on smart mobile terminal platform with any one of claim 1-3
That what is matched somebody with somebody is based entirely on the indoor orientation method of smart mobile terminal platform, it is characterised in that include：
A, using RSSI value as basis on location, provide Primary Location result using the method for fingerprint recognition；
B, gait calculating is carried out by the mobile phone sensor that intelligent mobile terminal is carried, obtain human locomotion cycle and motion side
To；Gained human body walking period and the direction of motion are calculated with reference to basic step-length, displacement information is obtained；Based on the position for obtaining
Shifting information, by mobile filtering algorithm, is modified to the Primary Location result that Wi-Fi locating modules are obtained, and obtains finally fixed
Position result；
In stepb, it is described by mobile filtering algorithm, the Primary Location result that Wi-Fi locating modules are obtained is modified
Operation, specifically include：
(1) Wi-Fi positioning initial point produces four matchings positioning result O={ A1, A2, A3, A4 }；
(2) move the k seconds, refresh, produce four new position matching results R={ B1, B2, B3, B4 }；
(3) the data processing of k second inner sensors is calculated, move distance and direction are converted into into the change of grid bearing；
(4) from set O and R, traversal takes point (example A1 and B1), carries out Euclidean distance calculating two-by-two, obtains Euclidean distance minima,
And record corresponding (An, Bn) at 2 points, if accept and believe according to threshold value MIN：
1. be less than threshold value MIN, it is believed that gait reflects true traveling situation, user is fed back to using Bn as true anchor point；
2. be more than threshold value MIN, still user is fed back to using the average result of calculations of the KNN of set R.
5. the indoor orientation method for being based entirely on smart mobile terminal platform according to claim 4, it is characterised in that institute
State step a to specifically include：
A1, training stage：
A11, stress and strain model is carried out in area to be targeted, the size of grid represents the limit of accuracy of positioning；
A12, subregion is carried out according to Wi-Fi characteristic distributions；
A2, enter measuring phases：
A21, the intelligent mobile terminal direction according to residing for direction sensor obtains intelligent mobile terminal, simultaneously scans for being able to detect that
Wi-Fi points and its RSSI value；
A212, obtain metrical information after, the data-base content only and on equidirectional is compared.
6. the indoor orientation method for being based entirely on smart mobile terminal platform according to claim 5, it is characterised in that
In step a11, the grid, including including at least foursquare regular figure；
And/or,
In step a12, the operation that subregion is carried out according to Wi-Fi characteristic distributions is specifically included：
Find mark Wi-Fi points, explore mark Wi-Fi point coverages, since carry out subregion, it is contemplated that surrounding is to RSSI
Impact, each cell by multiple mark Wi-Fi signals determining, strong access system is used during subregion, that is, is measured
The mark Wi-Fi minimum quantities that must are fulfilled for of signal value and signal strength threshold；
If can not meet, whole great Qu will be belonged to rather than at will be put under other cells；MAC Address and RSSI value are recorded
Get off, in order to prevent body from blocking to Wi-Fi signal, select multiple directions to be trained, on each direction, gather multi-group data
Average, post processing after information with training positional information together be stored in data base as finger print information, using intelligent sliding
Dynamic terminal carries data base and is stored, and each training coordinate deposits a table, the information of point direction difference record；
And/or,
Step a21 and step a212, specifically include：
The comparison situation of basis and mark Wi-Fi points first determines affiliated subdistrict, so as to by range shorter；Then according to formula
(1), computation and measurement point and the Euclidean distance of each fingerprint point in the cell in data base, take the minimum k of Euclidean distance result
It is individual, i.e. VnFour minimum point (Vm1, Vm2, Vm3, Vm4), while mesh coordinate ((x belonging to reading1, y1), (x2, y2), (x3,
y3), (x4, y4))：
In formula (1), VnRepresent the Euclidean distance of measurement point and data-base recording fingerprint in cell；LvjRepresent in present bit
Put in the Wi-Fi signal value for measuring j-th and cell in the matching of data base's MAC Address RSSI value；AvgjRepresent data base
The RSSI averages of the j-th matching MAC Address stored under specified coordinate；
After obtaining mesh coordinate, the PRELIMINARY RESULTS of Wi-Fi positioning is obtained according to KNN algorithms【Formula (2)-formula (3)】：
After weighted calculation obtains result, four segmented results for obtaining are not deleted, but are retained until and obtain next
Group data；
Secondly, stablize the operation of registration using Kalman filter processing data, specially：
When sensor judge human body in continue resting state when, the result of calculation of moment n is subject to state before, moment n-1
Restriction formula (4)：
X (n) '=aX (n)+(1-a) X (n-1) ' (4)；
In formula (4), X (n) ' represents n moment final registration；X (n) represents n moment instant computing results；A represents that measurement is existing
In state and the weights of past state importance, Binding experiment environment is obtained.
7. the indoor orientation method for being based entirely on smart mobile terminal platform according to claim 5, it is characterised in that institute
State step b to specifically include：
B1, course differentiate：The location coordinate of real-time positioning is carried out to human body walking, using geographic coordinate system, moving object is taken
Place earth surface point be origin, Ox point to due east direction, Oy point to direct north, the vertical Oxy planes of Oz are upwards；
When human body walking, the mobile terminal coordinate system of carrying produces angle with fixed geomagnetic coordinate system, according to this angle
It is obtained with the course change of human motion；Obtain data to estimate human body row by the built-in direction sensor of mobile terminal
Real-time course when walking；
B2, gait detection：Using the built-in acceleration transducer of intelligent mobile terminal；The built-in acceleration of intelligent mobile terminal is passed
Sensor coordinate axess are similar with the coordinate system of human body walking, and horizontal positioned terminal z-axis positive direction is the vertical direction of human body, y-axis
Positive direction is human body direction of advance；
When pedestrian walks, change direction straight up that is most obvious and being most periodically human body in 3-axis acceleration i.e.
Z-axis, carries out gait detection using z-axis, rejects in real time or weaken the slight vibrations of human body in body gait detection process
The interference for causing；The walking of human body has randomness, such as halts suddenly, static not take a step, after a period of time again
Walking；
The adjacent time inter of N group acceleration transducers is taken, is averaged and is obtained average sensor frequency values；By calculating auto-correlation
The unbiased esti-mator of function determines gait cycle；The unbiased esti-mator of the auto-correlation function for using is calculated using formula (5)：
8. the indoor orientation method for being based entirely on smart mobile terminal platform according to claim 7, it is characterised in that
In step b2, also include：
In order to reduce the measurement error brought due to sensor initializing, every time during the numerical value of record sensor, reject first 20 groups
Data, then taking N groups data carries out the calculating of auto-correlation function, and N is drawn by experiment；N is natural number；
After calculating without partial autocorrelation function, the corresponding time point (Mc of q peak value of the function is obtained1, Mc2..., Mcq), sentence
Break the size of this q peak value, if peak value is less than 0.1, then it is assumed that terminal be it is static, otherwise then think that terminal is mobile；
In order to reduce error, first peak value and last peak value are rejected, and calculates the flat of remaining q-2 peak intervals
, as final calculated gait cycle【Formula (6)】：
After obtaining gait cycle, different stride St are input into according to different people, you can calculate the distance of people's walking in a period of time T
Dis【Formula (7)】：
Dis=(T*St)/Cy (7)；
After obtaining travel distance and direction, Wi-Fi positioning results are corrected using the method for mobile screening.
9. the indoor orientation method for being based entirely on smart mobile terminal platform according to claim 8, it is characterised in that
In step b2, also include：
Calculatep1, yp1),
(xp2, yp2), (xp3, yp3), (xp4, yp4)；((xf1, yf1), (xf2, yf2), (xf3, yf3), (xf4, yf4))
Euclidean distance【Formula (8)】：
In the multi-group data for obtaining, make difference respectively with travel distance and take absolute value, find and differ most with gait result of calculation
One group of little data【Formula (9)-(10)】：
MinEDk=| EuDisk- Dis |, k ∈ [1,16], i, j ∈ [Isosorbide-5-Nitrae] (9)；
MinED=minK ∈ [1,16]{MinEDk} (10)；
If least absolute value MinED is less than a certain error threshold MinDis, using this group of coordinate knot for obtaining least absolute value
The coordinate that fruit amendment is obtained due to Wi-Fi position errors, otherwise, does not change the seat that original Wi-Fi positioning is drawn by KNN algorithms
Mark.
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