CN103974414B - Based on the simplified indoor orientation method layouted - Google Patents
Based on the simplified indoor orientation method layouted Download PDFInfo
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- CN103974414B CN103974414B CN201410207476.2A CN201410207476A CN103974414B CN 103974414 B CN103974414 B CN 103974414B CN 201410207476 A CN201410207476 A CN 201410207476A CN 103974414 B CN103974414 B CN 103974414B
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Abstract
The present invention relates to a kind of based on the simplified indoor orientation method layouted, comprise the following steps：Building is divided, all subregion formed in full building；In all subregion layout data collector；Data acquisition unit cloth is postponed, and sets the positional information and weighted information of the data acquisition unit；And data acquisition unit is grouped；The data acquisition unit cycle obtains the data on collection signal card, and data are uploaded into substation terminal；Substation terminal determines the location Calculation mode of data according to the grouping information of data acquisition unit：Central server pushes the location Calculation result by substation terminal or central server in itself.This method is applied to interior architecture in units of room and ship's fix, positioning precision can specific to interior architecture layer, room and passage area.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of indoor locating system layouted based on simplification and method.
Background technology
Complexity based on indoor environment and to positioning precision and the particular/special requirement of security so that indoor wireless positions skill
Art has the distinguishing feature different from common alignment system, and these features are not available for other location technologies.It is indoor
Orientation range is relatively small, therefore comparatively requires higher to the required precision of positioning.Indoor signal is faint, and multipath, anti-
Penetrate phenomenon seriously, therefore require that error correction of the location algorithm to various errors is eager to excel.The application scenario of indoor positioning is generally determined
Location equipment is simple, small power consumption, amount of calculation and communication overhead can not be too big.
The content of the invention
The technical problem to be solved in the present invention is to layout based on simplifying there is provided a kind of for defect of the prior art
Indoor orientation method, this method is applied to interior architecture and ship's fix in units of room, and positioning precision can be specific to room
Layer, room and the passage area of interior building.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of indoor orientation method layouted based on simplification, is comprised the following steps：
1）Building is divided, all subregion formed in full building；
2）In all subregion layout data collector；
3）Data acquisition unit cloth is postponed, and sets the positional information and weighted information of the data acquisition unit；And to data acquisition
Device is grouped；
4）The data acquisition unit cycle obtains the data on collection signal card, and data are uploaded into substation terminal；
5）Substation terminal determines the location Calculation mode of data according to the grouping information of data acquisition unit：
If all belong to same substation terminal with group data acquisition unit, determine that computation attribute calculates for substation terminal local,
The substation terminal completes location Calculation and positioning result is uploaded into central server；
If all belong to different substation terminals with group data acquisition unit, server is calculated centered on determining computation attribute, should
The raw information that data acquisition unit is gathered directly is uploaded central server by substation terminal, and central server receives each substation terminal
Upload unified progress location Calculation after data；
6）Central server pushes the location Calculation result by substation terminal or central server in itself.
By such scheme, the division of all subregion in the building is to carry out three-level by layer, room, long-channel section to draw
Point, method is as follows：
1.1）The division of layer：Divided with the construction level of building, it is ensured that should have between each floor clearly by stair or electricity
Ladder, which is connected, to be separated, and across the floor room to be formed for being got through above and below part is same subregion, wherein, staircase is individually divided into
One sub-regions；
1.2）Room is divided：For same layer, first by minimum room unit zoning, secondly for compartment, inner room
The same area is divided into etc. the room that need not be defined in positioning function；
1.3）Long-channel section region division：From passage center line toward both sides a sub-regions are divided into every setpoint distance.
It is specific as follows in the points distributing method of all subregion layout data collector by such scheme：
2.1）Layouted by layer subregion：Stairs port, lift port and middle part in levels region are respectively arranged data
Collector；
2.2）With being layouted in layer by room subregion：Adjacency channel is punished at the gateway in each room and outside room
Other layout data collector；
2.3）Long-channel segmentation is layouted：The layout data collector on roof in the middle of all subregion that long-channel is segmented；
2.4）Discrepancy Architectural Services Department layouts：Export in building, data acquisition unit is set respectively at mouth and at neighbouring passage.
By such scheme, the location Calculation uses following methods：
5.1）First determine sub-district field type where target；
5.2）By layer and the localization method of room subregion：Substation terminal or central server are adopted according to each data of upload
The collection signal card signal intensity that storage is collected is ranked up, and is taken two data acquisition units of maximum intensity, is then filtered out it
The data acquisition unit group at place, is compared after the corresponding intensity level of the two data acquisition units is added into its correspondence weighted value,
Big its data acquisition unit position of i.e. correspondence of value；
5.3）Location algorithm when being advanced inside long-channel section region：Initially set up each subregion position and each data acquisition
Device signal intensity table, including the subregion position coordinates and signal that receives of correspondence associated data collector is strong in the subregion
Representative value is spent, the mean square deviation of actual signal intensity and signal intensity representative value is then calculated respectively during actual location,
Compare the corresponding position coordinates of four values for showing that mean square deviation is minimum, then calculate this four position coordinateses and collection signal card respectively
The mean square deviation of last moment position coordinate, the minimum as current persons position of mean square deviation；The representative value passes through measurement
Personnel measure determination in advance；
5.4）The localization method of discrepancy building or room：With reference to two set at building gateway and at neighbouring passage
The historical data of collector is judged；Personnel are at gateway and when process adjacency channel must be through position, and these collectors are adopted
There is the relative change of clearly signal intensity in the signal intensity of collection, when personnel walk out building, and collector is gathered at gateway
Signal intensity change from weak to strong, then by dying down by force, and the signal intensity that collector is gathered at passage gradually dies down, and thus judges people
The movement tendency of member is outer to building out of building；Conversely, the movement tendency that then can be determined that personnel is outer to building from building
It is interior.
The beneficial effect comprise that：
1. an alignment system and method are applied to the interior architecture positioning in units of room, ship's fix is also applied for,
Positioning precision can specific to interior architecture layer, room and passage area；
2. by the inventive method, the set signalling comprehensive that some regions can be received by the equipment in other regions,
The signal intensity size and variation trends collected by card reader can judge the region of personnel, subtract significantly
Lack layouting for card reader, also improve the efficiency of indoor occupant positioning.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the method flow diagram of the embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein is not used to limit only to explain the present invention
The fixed present invention.
As shown in Fig. 2 it is a kind of based on the simplified indoor orientation method layouted, comprise the following steps：
1）Building is divided, all subregion formed in full building；
The division of all subregion in building is to carry out three-level division by layer, room, long-channel section, and method is as follows：
1.1）The division of layer：Divided with the construction level of building, it is ensured that should have between each floor clearly by stair or electricity
Ladder, which is connected, to be separated, and across the floor room to be formed for being got through above and below part is same subregion, wherein, staircase is individually divided into
One sub-regions；
1.2）Room is divided：For same layer, first by minimum room unit zoning, secondly for compartment, inner room
The same area is divided into etc. the room that need not be defined in positioning function；
1.3）Long-channel section region division：From passage center line toward both sides a sub-regions are divided into every setpoint distance.
2）In all subregion layout data collector；
It is specific as follows in the points distributing method of all subregion layout data collector：
2.1）Layouted by layer subregion：Stairs port, lift port and middle part in levels region are respectively arranged data
Collector；
2.2）With being layouted in layer by room subregion：Adjacency channel is punished at the gateway in each room and outside room
Other layout data collector；
2.3）Long-channel segmentation is layouted：The layout data collector on roof in the middle of all subregion that long-channel is segmented；
2.4）Discrepancy Architectural Services Department layouts：Export in building, data acquisition unit is set respectively at mouth and at neighbouring passage.
3）Data acquisition unit cloth is postponed, and sets the positional information and weighted information of the data acquisition unit；And to data acquisition
Device is grouped；
4）The data acquisition unit cycle obtains the data on collection signal card, and data are uploaded into substation terminal；
5）Substation terminal determines the location Calculation mode of data according to the grouping information of data acquisition unit：
If all belong to same substation terminal with group data acquisition unit, determine that computation attribute calculates for substation terminal local,
The substation terminal completes location Calculation and positioning result is uploaded into central server；
If all belong to different substation terminals with group data acquisition unit, server is calculated centered on determining computation attribute, should
The raw information that data acquisition unit is gathered directly is uploaded central server by substation terminal, and central server receives each substation terminal
Upload unified progress location Calculation after data；
Location Calculation uses following methods：
5.1）First determine sub-district field type where target；
5.2）By layer and the localization method of room subregion：Substation terminal or central server are adopted according to each data of upload
The collection signal card signal intensity that storage is collected is ranked up, and is taken two data acquisition units of maximum intensity, is then filtered out it
The data acquisition unit group at place, is compared after the corresponding intensity level of the two data acquisition units is added into its correspondence weighted value,
Big its data acquisition unit position of i.e. correspondence of value；
5.3）Location algorithm when being advanced inside long-channel section region：Initially set up each subregion position and each data acquisition
Device signal intensity table, including the subregion position coordinates and signal that receives of correspondence associated data collector is strong in the subregion
Representative value is spent, the mean square deviation of actual signal intensity and signal intensity representative value is then calculated respectively during actual location,
Compare the corresponding position coordinates of four values for showing that mean square deviation is minimum, then calculate this four position coordinateses and collection signal card respectively
The mean square deviation of last moment position coordinate, the minimum as current persons position of mean square deviation；The representative value passes through measurement
Personnel measure determination in advance；
For example：The subregion position of location A and each data acquisition unit signal intensity table（1,2）, { 1,2,3 } }, wherein（1,
2）The x-axis and y-axis coordinate of location A are represented respectively, and { 1,2,3 } corresponds to a at location A, b, the allusion quotation of tri- data acquisition units of c respectively
Type signal strength values, B location for（2,2）, { 2,1,1 } }, there are its corresponding position and intensity table in same C, D, E, F position.
The signal strength values that current each data acquisition unit collects certain collection signal card are { 1,2,2 }, calculate the letter corresponding to location A
Number intensity mean square deviation is=1, the signal intensity calculated corresponding to B location is square
Difference is, the signal intensity mean square deviation corresponding to C, D, E, F position is equally calculated, signal intensity mean square deviation is determined by comparing
It is minimum for A, B, D, F, if collection signal card last moment corresponding position is（2,2）, its position is calculated corresponding to location A
Coordinate mean square deviation is=1, it is 0 to calculate its position corresponding to the coordinate mean square deviation of B location, equally
Calculate the coordinate mean square deviation corresponding to D, F position, through comparison determine coordinate mean square deviation it is minimum for B, then personnel are current
Position is B.
5.4）The localization method of discrepancy building or room：With reference to two set at building gateway and at neighbouring passage
The historical data of collector is judged；Personnel are at gateway and when process adjacency channel must be through position, and these collectors are adopted
There is the relative change of clearly signal intensity in the signal intensity of collection, when personnel walk out building, and collector is gathered at gateway
Signal intensity change from weak to strong, then by dying down by force, and the signal intensity that collector is gathered at passage gradually dies down, and thus judges people
The movement tendency of member is outer to building out of building；Conversely, the movement tendency that then can be determined that personnel is outer to building from building
It is interior.
6）Central server pushes the location Calculation result by substation terminal or central server in itself.
Positioning in the past navigates to some region if desired, and this region necessarily needs corresponding equipment and receives letter
Number it can just judge personnel in current region.By the inventive method, some regions can be received by the equipment in other regions
The set signalling comprehensive arrived, such as when personnel enter some room, the signal intensity size that is collected by card reader and strong
Degree variation tendency can judge the region of personnel, and this is that have very much feature.
Comparatively require higher because indoor positioning scope is relatively small, therefore to the required precision of positioning.Indoor letter
It is number faint, and multipath, reflex are serious, therefore require that error correction of the location algorithm to various errors is eager to excel.Indoor positioning should
Location equipment simple, small power consumption, amount of calculation and communication overhead are generally determined with occasion can not be too big.The inventive method was both big
Layouting for card reader is reduced greatly, the efficiency of indoor occupant positioning is also improved.
According to the above method, we can obtain a kind of based on the simplified indoor locating system layouted, including center service
Device, substation terminal, data acquisition unit and collection signal card, wherein collection signal card is by needing locating personnel to wear；Central server
Using CAN or wireless mode connection substation terminal and data acquisition unit.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (3)
1. it is a kind of based on the simplified indoor orientation method layouted, it is characterised in that to comprise the following steps：
1）Building is divided, all subregion formed in full building；
2）In all subregion layout data collector；
3）Data acquisition unit cloth is postponed, and sets the positional information and weighted information of the data acquisition unit；And data acquisition unit is entered
Row packet；
4）The data acquisition unit cycle obtains the data on collection signal card, and data are uploaded into substation terminal；
5）Substation terminal determines the location Calculation mode of data according to the grouping information of data acquisition unit：
If all belong to same substation terminal with group data acquisition unit, determine that computation attribute calculates for substation terminal local, this point
Terminal of standing completes location Calculation and positioning result is uploaded into central server；
If all belong to different substation terminals with group data acquisition unit, server is calculated centered on determining computation attribute, the substation
The raw information that data acquisition unit is gathered directly is uploaded central server by terminal, and central server receives each substation terminal and uploaded
It is unified after data to carry out location Calculation；
Step 5）Described in location Calculation use following methods：
5.1）First determine sub-district field type where target；
5.2）By layer and the localization method of room subregion：Substation terminal or central server are according to each data acquisition unit of upload
The collection signal card signal intensity of collection is ranked up, and takes two data acquisition units of maximum intensity, then filters out its place
Data acquisition unit group, by the corresponding intensity level of the two data acquisition units plus being compared after its correspondence weighted value, value is big
I.e. correspondence its data acquisition unit position；
5.3）Location algorithm when being advanced inside long-channel section region：Each subregion position is initially set up with each data acquisition unit to believe
Number intensity table, including subregion position coordinates and correspondence associated data collector is received in the subregion signal intensity allusion quotation
Offset, then calculates the mean square deviation of actual signal intensity and signal intensity representative value, compares respectively during actual location
The minimum corresponding position coordinates of four values of mean square deviation is drawn, then is calculated respectively one on this four position coordinateses and collection signal card
The mean square deviation of moment position coordinate, the minimum as current persons position of mean square deviation；The representative value passes through survey crew
Measurement is determined in advance；
5.4）The localization method of discrepancy building or room：With reference to two collections set at building gateway and at neighbouring passage
The historical data of device is judged；Personnel at gateway and by adjacency channel must be through position when, these collectors collection
There is the relative change of clearly signal intensity in signal intensity, when personnel walk out building, the letter that collector is gathered at gateway
Number intensity changes from weak to strong, then by dying down by force, and the signal intensity that collector is gathered at passage gradually dies down, and thus judges personnel's
Movement tendency is outer to building out of building；Conversely, the movement tendency that then can be determined that personnel is outer interior to building from building；
6）Central server pushes the location Calculation result by substation terminal or central server in itself.
2. indoor orientation method according to claim 1, it is characterised in that the division of all subregion in the building
It is to carry out three-level division by layer, room, long-channel section, method is as follows：
1.1）The division of layer：Divided with the construction level of building, it is ensured that should have between each floor clearly by stair or elevator phase
Even separate, across the floor room to be formed for being got through above and below part is same subregion, wherein, staircase is individually divided into one
Subregion；
1.2）Room is divided：For same layer, first by minimum room unit zoning, secondly for compartment, inner room etc. is fixed
The room that need not be defined on bit function is divided into the same area；
1.3）Long-channel section region division：From passage center line toward both sides a sub-regions are divided into every setpoint distance.
3. indoor orientation method according to claim 1, it is characterised in that step 2）In adopted in all subregion layout data
The points distributing method of storage is specific as follows：
2.1）Layouted by layer subregion：Stairs port, lift port and middle part in levels region are respectively arranged data acquisition
Device；
2.2）With being layouted in layer by room subregion：Cloth is distinguished at the gateway in each room and outside room at adjacency channel
Put data acquisition unit；
2.3）Long-channel segmentation is layouted：The layout data collector on roof in the middle of all subregion that long-channel is segmented；
2.4）Discrepancy Architectural Services Department layouts：Data acquisition unit is set respectively at building outlet, porch and neighbouring passage.
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| CN108414975B (en) * | 2018-02-05 | 2020-12-11 | 武汉理工大学 | Ship-borne node positioning method based on RSSI sequence matching |
| CN112988739B (en) * | 2019-12-18 | 2024-04-19 | 阿里巴巴集团控股有限公司 | Data management and processing method, device, computer system and readable storage medium |
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| WO2008147877A1 (en) * | 2007-05-22 | 2008-12-04 | Trimble Navigation Limited | Handling raster image 3d objects |
| CN101873607A (en) * | 2010-06-25 | 2010-10-27 | 哈尔滨工业大学 | WLAN (Wireless Local Area Network) indoor step-type RD-ANFIS (Region Division-Adaptive Network-based Fuzzy Inference System) positioning method |
| CN102682572A (en) * | 2012-03-27 | 2012-09-19 | 南京邮电大学 | Wireless sensor network positioning-based intelligent person nursing method |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008147877A1 (en) * | 2007-05-22 | 2008-12-04 | Trimble Navigation Limited | Handling raster image 3d objects |
| CN101873607A (en) * | 2010-06-25 | 2010-10-27 | 哈尔滨工业大学 | WLAN (Wireless Local Area Network) indoor step-type RD-ANFIS (Region Division-Adaptive Network-based Fuzzy Inference System) positioning method |
| CN102682572A (en) * | 2012-03-27 | 2012-09-19 | 南京邮电大学 | Wireless sensor network positioning-based intelligent person nursing method |
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