CN103777175A - Indoor positioning method and device based on wireless signal similarities - Google Patents
Indoor positioning method and device based on wireless signal similarities Download PDFInfo
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- CN103777175A CN103777175A CN201410029617.6A CN201410029617A CN103777175A CN 103777175 A CN103777175 A CN 103777175A CN 201410029617 A CN201410029617 A CN 201410029617A CN 103777175 A CN103777175 A CN 103777175A
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- transmitting apparatus
- current location
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
Abstract
The invention provides an indoor positioning method and device based on wireless signal similarities. The indoor positioning method comprises the steps of acquiring transmitting equipment marks and signal intensity of all wireless signals of a current position and a target position, enhancement processing is carried out on wireless signals intensity, generating a vector X corresponding to the current position and a vector Y corresponding to the target position, adding components in the X and the Y respectively, then calculating cosine similarities, and obtaining a positioning relation between the current position and the target position. The indoor positioning method and device based on the wireless signal similarities can avoid adverse effects on positioning due to the fact that the number of reference points is too small.
Description
Technical field
The present invention relates to wireless location technology field, relate in particular to a kind of indoor orientation method and device based on wireless signal similarity.
Background technology
Existing indoor wireless positioning method need to, compared with multiple reference points, position by finding a nearest k reference point.This locator meams there are certain requirements reference point number, is difficult to realize location in the situation that reference point is less.
Summary of the invention
The invention provides a kind of indoor orientation method based on wireless signal similarity, the adverse effect that can avoid reference point number very little location to be caused.
The present invention also provides a kind of indoor positioning device based on wireless signal similarity, the adverse effect that can avoid reference point number very little location to be caused.
Technical scheme of the present invention is achieved in that
Based on an indoor orientation method for wireless signal similarity, comprising:
Obtain transmitting apparatus mark and the signal intensity of each wireless signal of current location;
Obtain transmitting apparatus mark and the signal intensity of each wireless signal of target location; The signal intensity of each wireless signal of described current location and target location is strengthened to the signal intensity after being enhanced;
The transmitting apparatus identification list of determining the transmitting apparatus mark of the transmitting apparatus mark of each wireless signal that comprises described current location and each wireless signal of target location, described transmitting apparatus identification list comprises: AP
1, AP
2and AP
n, wherein n is the number of the transmitting apparatus mark in described transmitting apparatus identification list;
Determine the n-dimensional vector X of corresponding current location and the n-dimensional vector Y of corresponding target location according to this transmitting apparatus identification list,
Wherein, in X, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of current location, x
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, x
ibe 0; Wherein, x
ifor i component in X, i=1,2 ... or n;
In Y, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of target location, y
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, y
ibe 0; Wherein, y
ifor i component in Y, i=1,2 ... or n;
In described X, add one-component, obtain (n+1) dimensional vector X'; And add one-component in the relevant position of described Y, and obtain (n+1) dimensional vector Y', calculate cos (X', Y'), obtain the positioning relation of described current location and target location.
An indoor positioning device based on wireless signal similarity, comprising:
Wireless signal acquisition module, for obtaining transmitting apparatus mark and the signal intensity of each wireless signal of current location;
Target location wireless signal feature database, for preserving transmitting apparatus mark and the signal intensity of each wireless signal of target location;
Locating module, for the signal intensity of each wireless signal of described current location and target location is strengthened, the signal intensity after being enhanced; The transmitting apparatus identification list of determining the transmitting apparatus mark of the transmitting apparatus mark of each wireless signal that comprises described current location and each wireless signal of target location, described transmitting apparatus identification list comprises: AP
1, AP
2and AP
n, wherein n is the number of the transmitting apparatus mark in described transmitting apparatus identification list; Determine the n-dimensional vector X of corresponding current location and the n-dimensional vector Y of corresponding target location according to this transmitting apparatus identification list, wherein, in X, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of current location, x
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, x
ibe 0; Wherein, x
ifor i component in X, i=1,2 ... or n; In Y, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of target location, y
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, y
ibe 0; Wherein, y
ifor i component in Y, i=1,2 ... or n; In described X, add one-component, obtain (n+1) dimensional vector X'; And add one-component in the relevant position of described Y, and obtain (n+1) dimensional vector Y', calculate cos (X', Y'), obtain the positioning relation of described current location and target location.
Visible, the indoor orientation method based on wireless signal similarity and device that the present invention proposes, adopt improved wireless signal similarity calculating method to carry out indoor positioning, the adverse effect that can avoid reference point number very little location to be caused.
Accompanying drawing explanation
Fig. 1 is the indoor orientation method realization flow figure based on wireless signal similarity that the present invention proposes;
Fig. 2 is the realization flow figure of the embodiment of the present invention one;
Fig. 3 is the indoor positioning apparatus structure schematic diagram based on wireless signal similarity that the present invention proposes.
Embodiment
The present invention proposes a kind of indoor orientation method based on wireless signal similarity, as the realization flow figure that Fig. 1 is the method, comprising:
Step 101: transmitting apparatus mark and the signal intensity of obtaining each wireless signal of current location;
Step 102: transmitting apparatus mark and the signal intensity of obtaining each wireless signal of target location; The signal intensity of each wireless signal of described current location and target location is strengthened to the signal intensity after being enhanced;
Step 103: determine the transmitting apparatus identification list of the transmitting apparatus mark of the transmitting apparatus mark of each wireless signal that comprises described current location and each wireless signal of target location, described transmitting apparatus identification list comprises: AP
1, AP
2and AP
n, wherein n is the number of the transmitting apparatus mark in described transmitting apparatus identification list;
Step 104: determine the n-dimensional vector X of corresponding current location and the n-dimensional vector Y of corresponding target location according to this transmitting apparatus identification list;
Wherein, in X, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of current location, x
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, x
ibe 0; Wherein, x
ifor i component in X, i=1,2 ... or n;
In Y, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of target location, y
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, y
ibe 0; Wherein, y
ifor i component in Y, i=1,2 ... or n;
Step 105: add one-component in described X, obtain (n+1) dimensional vector X'; And add one-component in the relevant position of described Y, and obtain (n+1) dimensional vector Y', calculate cos (X', Y'), obtain the positioning relation of described current location and target location.
Wherein, in above-mentioned steps 105, the value of the component adding in X can be | Y|*cos (X, Y), and the value of the component adding in Y can be | X|*cos (X, Y); Wherein, described in || be delivery; Or the value of the component adding in X is the product of mean value important in Y and cos (X, Y), the value of the component adding in Y is the product of mean value important in X and cos (X, Y).
After above-mentioned steps 101, and before step 102, may further include:
Whether be target typing stage, if so, transmitting apparatus mark and the signal intensity of each wireless signal of described current location are recorded to target location wireless signal feature database if judging current, finish current flow process; Otherwise, continue to carry out described step 102.
In above-mentioned steps 101, the transmitting apparatus mark of each wireless signal and the mode of signal intensity of obtaining current location can be: the wireless signal that obtains current location, remove the invalid data in this wireless signal, obtain transmitting apparatus mark and the signal intensity of each wireless signal of current location.
In above-mentioned steps 102, the mode that the signal intensity of each wireless signal of current location and target location is strengthened can be: signal intensity is increased to 90dBm.
Below in conjunction with accompanying drawing, lift specific embodiment and introduce in detail.
Embodiment mono-:
In the present embodiment, the transmitting apparatus of wireless signal is specially access point (AP, Access Point) equipment.
As the realization flow figure that Fig. 2 is the present embodiment, comprising:
Step 201: obtain the wireless signal of current location, remove the invalid data in this wireless signal, retain valid data, obtain AP mark (for example BSSID) and the signal intensity of each wireless signal of current location.Here, invalid data refers to the data that noise is excessive.
Step 202: determine whether the target typing stage, if so, perform step 203; Otherwise execution step 204.
Step 203: AP mark and the signal intensity of each wireless signal of current location are recorded to target location wireless signal feature database, after setting it as, other wireless signals are carried out the comparable data of indoor positioning.Finish current flow process.
Step 204: AP mark and the signal intensity of obtaining each wireless signal of target location from the wireless signal feature database of target location.
Step 205: the signal intensity of the wireless signal of the target location obtaining in the signal intensity of the wireless signal of the current location of obtaining in step 201 and step 204 is all strengthened.
Due to be conventionally greater than-90dBm of the signal intensity under 802.11 agreements, therefore, signal intensity is increased to 90dBm and can make localization method possess certain fault-tolerant ability.The present embodiment adopts signal intensity is strengthened to the mode of 90dBm, but is not limited to this kind of mode.
Step 206: supposition present bit is equipped with 3 wireless signals, comprising:
Signal 1:AP is designated AP1, and the signal intensity after enhancing is m1;
Signal 2:AP is designated AP2, and the signal intensity after enhancing is m2;
Signal 3:AP is designated AP3, and the signal intensity after enhancing is m3;
Target bit is equipped with 3 wireless signals, comprising:
Signal 1 ': AP is designated AP2, the signal intensity after enhancing is m2;
Signal 2 ': AP is designated AP3, the signal intensity after enhancing is m3;
Signal 3 ': AP is designated AP4, the signal intensity after enhancing is m4;
Determine the AP identification list of the AP mark that comprises current location and target location: AP1, AP2, AP3, AP4.Certainly, this is that one puts in order, and this list can have putting in order of other, as long as comprise all AP marks of current location and target location.
Step 207: determine 4 dimensional vector X=(m1 of corresponding current location, m2, m3,0); If the AP mark of the wireless signal that a certain AP mark is current location, the component of this AP mark correspondence position is that this AP identifies the signal intensity after corresponding enhancing; Otherwise the component of this AP mark correspondence position is 0;
And, determine 4 dimensional vector Y=(0 of corresponding target location, m2, m3, m4); If the AP mark of the wireless signal that a certain AP mark is target location, the component of this AP mark correspondence position is that this AP identifies the signal intensity after corresponding enhancing; Otherwise the component of this AP mark correspondence position is 0.
Step 208: for X and Y add respectively one-component, to eliminate the defect of cosine similarity.For the component of X interpolation can be | Y|*cos (X, Y), for the component of Y interpolation can be | X|*cos (X, Y).Do not limit for the position of X and Y interpolation component, the two position is corresponding.
For example, can be using the component adding as last component, X and Y are added and obtain respectively 25 dimensional vector X' and Y' after component:
X'=（m1，m2，m3，0，|Y|*cos(X,Y)）；
Y'=（0，m2，m3，m4，|X|*cos(X,Y)）。
The occurrence that X and Y is added to component need to meet following requirement: 1) be greater than 0 and be less than 90; 2) add after component, do not change the orthogonality of X and Y.Except above-mentioned value, can also get other values that meet this requirement, for example, the component adding for X can be mean value important in Y and cos (X, Y) product, the component adding for Y can be the product of mean value important in X and cos (X, Y).
Step 209: the cosine similarity of calculating X' and Y': cos (X', Y'), obtains the positioning relation of current location and target location.
The present invention also proposes a kind of indoor positioning device based on wireless signal similarity, as the structural representation that Fig. 3 is this device, comprising:
Wireless signal acquisition module 310, for obtaining transmitting apparatus mark and the signal intensity of each wireless signal of current location;
Target location wireless signal feature database 320, for preserving transmitting apparatus mark and the signal intensity of each wireless signal of target location;
Locating module 330, for the signal intensity of each wireless signal of described current location and target location is strengthened, the signal intensity after being enhanced; The transmitting apparatus identification list of determining the transmitting apparatus mark of the transmitting apparatus mark of each wireless signal that comprises described current location and each wireless signal of target location, described transmitting apparatus identification list comprises: AP
1, AP
2and AP
n, wherein n is the number of the transmitting apparatus mark in described transmitting apparatus identification list; Determine the n-dimensional vector X of corresponding current location and the n-dimensional vector Y of corresponding target location according to this transmitting apparatus identification list, wherein, in X, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of current location, x
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, x
ibe 0; Wherein, x
ifor i component in X, i=1,2 ... or n; In Y, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of target location, y
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, y
ibe 0; Wherein, y
ifor i component in Y, i=1,2 ... or n; In described X, add one-component, obtain (n+1) dimensional vector X'; And add one-component in the relevant position of described Y, and obtain (n+1) dimensional vector Y', calculate cos (X', Y'), obtain the positioning relation of described current location and target location.
In said apparatus, the value of the component that locating module 330 adds in X can be | Y|*cos (X, Y), and the value of the component adding in Y can be | X|*cos (X, Y); Wherein, described in || be delivery; Or the value of the component adding in X is the product of mean value important in Y and cos (X, Y), the value of the component adding in Y is the product of mean value important in X and cos (X, Y).
In said apparatus, wireless signal acquisition module 310 also for, after getting the transmitting apparatus mark and signal intensity of each wireless signal of current location, judge whether current be the target typing stage, if so, transmitting apparatus mark and the signal intensity of each wireless signal of described current location are recorded to target location wireless signal feature database; If not, transmitting apparatus mark and the signal intensity of each wireless signal of described current location are offered to locating module for indoor positioning.
In said apparatus, wireless signal acquisition module 310 can comprise:
The mode that locating module 330 strengthens the signal intensity of each wireless signal of current location and target location can be: signal intensity is increased to 90dBm.
As fully visible, the indoor orientation method based on wireless signal similarity and device that the present invention proposes, wireless signal strength is done and strengthens processing and adding one-component, cannot distinguish the drawback of direct proportion signal in order to eliminate cosine similarity, obtain the positioning relation of current location and target location, thereby realize the indoor orientation method based on wireless signal similarity, broken through the restriction to reference point number in existing indoor positioning technology.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of making, be equal to replacement, improvement etc., within all should being included in the scope of protection of the invention.
Claims (10)
1. the indoor orientation method based on wireless signal similarity, is characterized in that, described method comprises:
Obtain transmitting apparatus mark and the signal intensity of each wireless signal of current location;
Obtain transmitting apparatus mark and the signal intensity of each wireless signal of target location; The signal intensity of each wireless signal of described current location and target location is strengthened to the signal intensity after being enhanced;
The transmitting apparatus identification list of determining the transmitting apparatus mark of the transmitting apparatus mark of each wireless signal that comprises described current location and each wireless signal of target location, described transmitting apparatus identification list comprises: AP
1, AP
2and AP
n, wherein n is the number of the transmitting apparatus mark in described transmitting apparatus identification list;
Determine the n-dimensional vector X of corresponding current location and the n-dimensional vector Y of corresponding target location according to this transmitting apparatus identification list,
Wherein, in X, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of current location, x
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, x
ibe 0; Wherein, x
ifor i component in X, i=1,2 ... or n;
In Y, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of target location, y
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, y
ibe 0; Wherein, y
ifor i component in Y, i=1,2 ... or n;
In described X, add one-component, obtain (n+1) dimensional vector X'; And add one-component in the relevant position of described Y, and obtain (n+1) dimensional vector Y', calculate cos (X', Y'), obtain the positioning relation of described current location and target location.
2. method according to claim 1, is characterized in that, the value of the described component adding in X is | Y|*cos (X, Y), and the value of the component adding in Y is | X|*cos (X, Y); Wherein, described in || be delivery;
Or the value of the component adding in X is the product of mean value important in Y and cos (X, Y), the value of the component adding in Y is the product of mean value important in X and cos (X, Y).
3. method according to claim 1 and 2, it is characterized in that, after the transmitting apparatus mark of described each wireless signal that obtains current location and signal intensity and before the transmitting apparatus mark and signal intensity of each wireless signal of obtaining target location, further comprise:
Whether be target typing stage, if so, transmitting apparatus mark and the signal intensity of each wireless signal of described current location are recorded to target location wireless signal feature database if judging current, finish current flow process; Otherwise, continue the transmitting apparatus mark of each wireless signal of getting target location described in carrying out and the step of signal intensity.
4. method according to claim 1 and 2, is characterized in that, described in obtain current location the transmitting apparatus mark of each wireless signal and the mode of signal intensity be:
Obtain the wireless signal of current location, remove the invalid data in this wireless signal, obtain transmitting apparatus mark and the signal intensity of each wireless signal of current location.
5. method according to claim 1 and 2, is characterized in that, the mode that the described signal intensity by each wireless signal of current location and target location strengthens is: signal intensity is increased to 90dBm.
6. the indoor positioning device based on wireless signal similarity, is characterized in that, described device comprises:
Wireless signal acquisition module, for obtaining transmitting apparatus mark and the signal intensity of each wireless signal of current location;
Target location wireless signal feature database, for preserving transmitting apparatus mark and the signal intensity of each wireless signal of target location;
Locating module, for the signal intensity of each wireless signal of described current location and target location is strengthened, the signal intensity after being enhanced; The transmitting apparatus identification list of determining the transmitting apparatus mark of the transmitting apparatus mark of each wireless signal that comprises described current location and each wireless signal of target location, described transmitting apparatus identification list comprises: AP
1, AP
2and AP
n, wherein n is the number of the transmitting apparatus mark in described transmitting apparatus identification list; Determine the n-dimensional vector X of corresponding current location and the n-dimensional vector Y of corresponding target location according to this transmitting apparatus identification list, wherein, in X, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of current location, x
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, x
ibe 0; Wherein, x
ifor i component in X, i=1,2 ... or n; In Y, definite mode of i component is: if described AP
ithe transmitting apparatus mark of a wireless signal of target location, y
ifor AP
isignal intensity after the enhancing of corresponding wireless signal; Otherwise, y
ibe 0; Wherein, y
ifor i component in Y, i=1,2 ... or n; In described X, add one-component, obtain (n+1) dimensional vector X'; And add one-component in the relevant position of described Y, and obtain (n+1) dimensional vector Y', calculate cos (X', Y'), obtain the positioning relation of described current location and target location.
7. device according to claim 6, is characterized in that, the value of the component that described locating module adds in X is | Y|*cos (X, Y), and the value of the component adding in Y is | X|*cos (X, Y); Wherein, described in || be delivery; Or the value of the component adding in X is the product of mean value important in Y and cos (X, Y), the value of the component adding in Y is the product of mean value important in X and cos (X, Y).
8. according to the device described in claim 6 or 7, it is characterized in that, described wireless signal acquisition module also for, after getting the transmitting apparatus mark and signal intensity of each wireless signal of current location, judge whether current be the target typing stage, if so, transmitting apparatus mark and the signal intensity of each wireless signal of described current location are recorded to target location wireless signal feature database; If not, transmitting apparatus mark and the signal intensity of each wireless signal of described current location are offered to locating module for indoor positioning.
9. according to the device described in claim 6 or 7, it is characterized in that, described wireless signal acquisition module comprises:
Initial acquisition submodule, for obtaining the wireless signal of current location;
Data processing submodule, for removing the invalid data of this wireless signal, obtains transmitting apparatus mark and the signal intensity of each wireless signal of current location.
10. according to the device described in claim 6 or 7, it is characterized in that, the mode that described locating module strengthens the signal intensity of each wireless signal of current location and target location is: signal intensity is increased to 90dBm.
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