CN104244409A - Server and method and system for implementing positioning by utilizing wireless signals - Google Patents
Server and method and system for implementing positioning by utilizing wireless signals Download PDFInfo
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- CN104244409A CN104244409A CN201410522525.1A CN201410522525A CN104244409A CN 104244409 A CN104244409 A CN 104244409A CN 201410522525 A CN201410522525 A CN 201410522525A CN 104244409 A CN104244409 A CN 104244409A
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Abstract
The invention discloses a server and method and system for implementing positioning by utilizing wireless signals and belongs to the technical field of communications. The positioning implementation method includes: acquiring data of standard signals collected by a compensation device; acquiring data of reference signals collected by a collecting device, then calculating the compensated signals of collecting points and establishing a compensation positioning fingerprint database; acquiring data, collected by a mobile terminal, of wireless signals and taking the data of the wireless signals as data of positioning signals; according to the data of the standard signals and the data of the positioning signals, performing compensation calculation to acquire the compensated signals of the mobile terminal on the basis of the compensation device; searching the coordinate of the mobile terminal in the compensation positioning database by means of a positioning algorithm according to the compensated signals. The standard signals are collected by the compensation device, the signals collected by the collecting device and the mobile terminal to be positioned are compensated, and the problem about decreasing of positioning precision and accuracy due to changes of transmission power of the wireless signals is solved.
Description
Technical field
The present invention relates to communication technical field, particularly relate to a kind of method, server and the system that utilize wireless signal to realize location.
Background technology
Positional information plays an important role in daily life.Although global positioning system Global Positioning System, GPS) gps satellite signal receiver acquisition can be passed through, measure the broadcast singal from satellite in orbit, high accuracy and round-the-clock stationkeeping ability can be provided in the world, but be blocked (as the city etc. that high building gathers) in serious intensive environment at indoor or other satellite-signals, the alignment quality of GPS cannot ensure even cannot complete location, for above-mentioned situation, prior art usually uses wireless network (Wireless Fidelity, WIFI), WLAN (Wireless Local Area Network, etc. WALN) mode of wireless signal location realizes the location of the object in indoor or the not high region of GSP alignment quality.
Example is orientated as with WIFI, normal employing WIFI fingerprinting localization algorithm in the location of prior art, namely gather WIFI fingerprint signal at indoor each point and set up WIFI fingerprint base, wherein WIFI fingerprint signal is the set that media access control address (Media Access Control Address, MAC) and the signal strength signal intensity of all WIFI comprised forms.Mobile device gathers WIFI signal and intensity thereof, then obtains corresponding indoor coordinate by inquiry WIFI fingerprint base.WIFI fingerprinting localization algorithm location is adopted to depend on the intensity of WIFI signal, and increasing router have employed its transmitting power of intelligent router dynamic conditioning, WIFI transmission power is changed, causes fingerprint to change greatly, greatly have impact on the accuracy and precision of location.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is to provide a kind of method, the Apparatus and system that utilize wireless signal to realize location, the problem that the setting accuracy caused by the change of wireless signal transmission power with solution and accuracy decline.
It is as follows that the present invention solves the problems of the technologies described above adopted technical scheme:
According to an aspect of the present invention, provide a kind of method utilizing wireless signal to realize location, comprise the steps: the lasting data of data as reference signal obtaining the wireless signal that compensation arrangement gathers in fixed position; Obtaining harvester is the data of reference signal in the data of the wireless signal of different acquisition point collection; According to the data of described reference signal and the data of described reference signal, calculate the signal after the compensation of each collection point; By the corresponding relation of the signal after the compensation of described each collection point and coordinate thereof stored in compensation location fingerprint storehouse; Obtain the data of data as framing signal of the wireless signal that described mobile terminal gathers; Calculating is compensated, to obtain described mobile terminal based on the signal after the compensation of described compensation arrangement according to the data of described reference signal and the data of framing signal; In described compensation location database, location algorithm is used to search the coordinate of described mobile terminal according to the signal after described compensation.
A kind of method as above is provided, the data of the wireless signal that described lasting acquisition compensation arrangement gathers in fixed position are as the data of reference signal, comprise: receive the data that described compensation arrangement continues the wireless signal sent, and the data of described wireless signal are kept in reference signal queue as the data of reference signal, the data of described reference signal comprise one group of wireless signal and timestamp, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address; Described acquisition harvester is the data of reference signal in the data of the wireless signal of different acquisition point collection, comprise: receive described harvester it can be used as reference signal data in the data disease of the wireless signal of different acquisition point collection, the data of the reference signal of described each collection point comprise the coordinate of the collection point of a group of wireless signal, timestamp and correspondence, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address; The data of the described data according to described reference signal and described reference signal, calculate the signal after the compensation of each collection point, and by the corresponding relation of the signal after the compensation of described each collection point and coordinate thereof stored in compensation location fingerprint storehouse, comprising: find out from described reference signal queue and the timestamp of the reference signal of calculated collection point and all identical reference signal of MAC Address; Calculate the relative value of the difference in signal strength between described reference signal and the timestamp found out and all identical reference signal of MAC Address; Described relative value is utilized to compensate described reference signal, by the corresponding relation of coordinate at the signal after compensating and place, described calculated collection point stored in described compensation location fingerprint storehouse.
A kind of method as above is provided, the data of the wireless signal of the described mobile terminal of described acquisition are as the data of framing signal, comprise: the data receiving the wireless signal that described mobile terminal gathers, the data of described wireless signal comprise one group of wireless signal and timestamp, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address; Described basis compensates calculating with the data of described reference signal and the data of framing signal, to obtain described mobile terminal based on the signal after the compensation of described compensation arrangement, comprising: find out from described reference signal queue and the timestamp of the framing signal that described mobile terminal gathers and all identical reference signal of MAC Address; Calculate the relative value of the difference in signal strength between all identical reference signal of described framing signal and described timestamp and MAC Address, utilize described relative value to compensate described framing signal.
A kind of method as above is provided, describedly in described compensation location database, use location algorithm to search the coordinate of described mobile terminal according to the signal after described compensation, comprising: utilize manhatton distance algorithm to calculate the coordinate of the minimum point of selected distance after the signal after compensation and the distance D of each collection point compensated in location database as described mobile terminal; Or the signal after utilizing Euclidean distance algorithm to calculate compensation gathers the coordinate of the minimum point of selected distance after the distance of D as described mobile terminal with to compensate in location database each.
A kind of method as above is provided, describedly in described compensation location database, location algorithm is used to search the coordinate of described mobile terminal according to the signal after described compensation, comprise: utilize the sampling point data in Bayesian formula probability of use models fitting fingerprint base to obtain the coordinate (x of mobile terminal, y, z), (x, y, z)=∑ (P (Li|S)+P (LCi|S)) × (xi, yi, zi), wherein (position of P (Li|S) mobile terminal location is the probability of Li, P (LCi|S) for the position that mobile terminal is located be the probability of LCi, (xi, yi, zi) be the coordinate of collection point.
According to another aspect of the present invention, provide a kind of server utilizing wireless signal to position, described server comprises: the first acquiring unit, and the data of the wireless signal gathered in fixed position for lasting acquisition compensation arrangement are as the data of reference signal; Second acquisition unit, for obtaining the data of the wireless signal that harvester gathers at different acquisition point as the data with reference to signal; First computing unit, for according to the data of described reference signal and the data of described reference signal, calculates the signal after the compensation of each collection point; First processing unit, for by the corresponding relation of the signal after the compensation of described each collection point and coordinate thereof stored in compensation location fingerprint storehouse; 3rd acquiring unit, for obtaining the data of data as framing signal of the wireless signal that described mobile terminal gathers; Second computing unit, for compensating calculating according to the data of described reference signal and the data of framing signal, to obtain described mobile terminal based on the signal after the compensation of described compensation arrangement; Coordinate calculating unit, for using location algorithm to search the coordinate of described mobile terminal according to the signal after described compensation in described compensation location database.
A kind of server as above is provided, described first acquiring unit also comprises the first reception subelement and storing sub-units, described reception subelement continues the data of data as reference signal of the wireless signal sent for receiving described compensation arrangement, the data of described reference signal comprise one group of wireless signal and timestamp, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address; Described preservation subelement, the data for the reference signal obtained by described reception subelement are kept in the data queue of reference signal; Described second acquisition unit also comprises the second reception subelement, for receiving the data of the wireless signal that described harvester gathers at different acquisition point as the data with reference to signal, the data of the reference signal of described each collection point comprise the coordinate of one group of wireless signal, collection point that timestamp is corresponding, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address; Described first computing unit also comprises first and searches subelement and first and compensate subelement, and described first searches subelement for finding out from described reference signal queue and the timestamp of the reference signal of calculated collection point and all identical reference signal of MAC Address; Described first compensates subelement, for calculating the relative value of the difference in signal strength between described reference signal and the timestamp found out and all identical reference signal of MAC Address, utilizes described relative value to compensate described reference signal; Described first processing unit, also for by the corresponding relation of coordinate of the signal after compensating and place, described calculated collection point stored in described compensation location fingerprint storehouse.
A kind of server as above is provided, described 3rd acquiring unit also comprises the 3rd and receives subelement, for receiving the data of the wireless signal that described mobile terminal gathers as positioning signal data, the data of described wireless signal comprise one group of wireless signal and timestamp, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address; Described second computing unit comprises second and searches subelement and the second compensating unit, and described second searches subelement for finding out from described reference signal queue and the timestamp of the framing signal that described mobile terminal gathers and all identical reference signal of MAC Address; Described second compensating unit, for calculating the relative value of the difference in signal strength between all identical reference signal of described framing signal and described timestamp and MAC Address, utilizes described relative value to compensate described framing signal.
A kind of server as above is provided, described coordinate calculating unit, also for utilizing manhatton distance algorithm to calculate the coordinate of the minimum point of selected distance after described mobile terminal and the distance D of each collection point compensated in location database as described mobile terminal; Or calculate described mobile terminal for utilizing Euclidean distance algorithm and to gather the coordinate of the minimum point of selected distance after the distance of D as described mobile terminal with to compensate in location database each; Or described coordinate calculating unit, coordinate (x also for utilizing the sampling point data in Bayesian formula probability of use models fitting fingerprint base to obtain mobile terminal, y, z), (x, y, z)=∑ (P (Li|S)+P (LCi|S)) × (xi, yi, zi), wherein (position of P (Li|S) mobile terminal location is the probability of Li, P (LCi|S) for the position that mobile terminal is located be the probability of LCi, the coordinate that (xi, yi, zi) is collection point.
According to a further aspect of the invention, a kind of system utilizing wireless signal to realize location is provided, described system comprises compensation arrangement, harvester, mobile terminal and server as above, described compensation arrangement, for the collection wireless signal continued in fixed position, and the data of the wireless signal of collection are sent to described server, the data of wherein said wireless signal comprise one group of wireless signal and timestamp, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address; Described harvester, for gathering wireless signal in different collection points, and the data of described wireless signal are sent to described server, set up to make described server and compensate coordinate fingerprint base, the data of the reference signal of described each collection point comprise the coordinate of one group of wireless signal, collection point that timestamp is corresponding, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address; Described mobile terminal, for gathering the wireless signal of position, and the data of described wireless signal sent to described server with the coordinate making described server determine described mobile terminal, the data of described wireless signal comprise one group of wireless signal and timestamp, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address.
A kind of method utilizing wireless signal to realize location of the present invention, Apparatus and system, compensation calculation has been carried out at the wireless signal of wireless signal to harvester or mobile terminal collection gathering wireless fingerprint and all receive with the compensation arrangement at fixed position place when positioning mobile terminal, and because when compensation arrangement position is fixing, compensating signal between each collection point and compensation arrangement is fixing, so position by calculating generation compensating signal, the fingerprint that the change that can solve wireless signal transmission power causes changes problem greatly, improve the accuracy and precision of wireless location.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention;
A kind of system configuration schematic diagram utilizing wireless signal to realize location that Fig. 2 provides for the embodiment of the present invention;
Fig. 3 is the modular structure schematic diagram of server in Fig. 2;
A kind of flow chart utilizing wireless signal to realize the method for location that Fig. 4 provides for the embodiment of the present invention;
Fig. 5 utilizes wireless signal to realize the method flow diagram of wireless fingerprint acquisition phase in the method for location for another kind that the embodiment of the present invention provides;
Fig. 6 utilizes wireless signal to realize the method flow diagram of positioning stage in the method for location for another kind that the embodiment of the present invention provides.
Embodiment
In order to make technical problem to be solved by this invention, technical scheme and beneficial effect clearly, understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, suppose that mobile terminal 110 is D to the distance of wireless signal transmission equipment 120, compensation arrangement 130 is D ' to the distance of wireless signal transmission equipment 120.
The received power Pr of mobile terminal 110 is:
Pr=Pt+Gt+Gr-46 mono-10nlogD-A
The received power Pr ' of compensation equipment 120 is:
Pr’＝Pt+Gt+Gr’-46-10nlogD’-A’
Wherein, Pt is transmitting power, and Gt is transmitter antenna gain (dBi), Gr, Gr ' be respectively the receiving antenna gain of mobile terminal and not gluttonous equipment, n is decay factor, and A, A' are respectively the constant resistance loss of mobile terminal and not gluttonous equipment.
As can be seen from above-mentioned two formula, the wireless signal that compensation arrangement 130 gathers and the wireless signal that mobile terminal 110 gathers all contain the signal intensity caused by emitter 120 transmit power variation.
When the wireless signal taking compensation arrangement as benchmark and mobile device collection does poor, being compensated received power Δ Pr is:
ΔPr＝α-10n(lgD-lgD′)
Wherein, α=Gr-Gr '-A+A ', includes receiving antenna gain difference and constant resistance loss difference, because receiving antenna gain difference and constant resistance loss difference are constant, so α is also constant.
As seen from the above analysis, the wireless signal that compensation arrangement 130 gathers and the wireless signal that mobile terminal 110 gathers all contain the signal intensity caused by transmitter 120 transmit power variation, so when the position of compensation arrangement 120 is fixed, be that the compensating signal that the received power of the wireless signal that benchmark and mobile terminal 140 gather and signal strength signal intensity ask difference to obtain also can not change with compensation arrangement 120, when therefore setting up the compensation location fingerprint based on compensating signal, the impact of transmit power variation can be eliminated.
Based on above-mentioned principle, the invention provides a kind of system utilizing wireless signal to realize location.Refer to Fig. 2, this system comprises harvester 210, compensation arrangement 220, server 230 and mobile terminal 240 to be positioned.
The position of compensation arrangement 220 is fixed, and for the wireless signal of lasting this position of collection, and the data of the wireless signal gathered each time is sent to server 230.What the data of the wireless signal that this compensation arrangement 220 sends at every turn all comprised this collection comprises one group of wireless signal and timestamp, and each wireless signal in each group wireless signal includes signal strength signal intensity and MAC Address.In practical application, the data of this wireless signal can also comprise the coordinate of this compensation arrangement.
It should be noted that, wireless signal of the present invention comprises WIFI signal and WLAN signal.Coordinate comprises X-axis coordinate, Y-axis coordinate and layer coordinate, wherein layer coordinate represents the map nomenclature of use, the numbering of different floor maps can be referred to, also can refer to the numbering of different chorography, the present invention calls layer coordinate using the value that the numbering of all maps that will use is united as a reference axis.
Harvester 210, for gathering wireless signal in different collection points, and the data of this wireless signal are sent to this server, the data of the reference signal of each collection point comprise the coordinate of one group of wireless signal, collection point that timestamp is corresponding, and each wireless signal in each group wireless signal includes signal strength signal intensity and MAC Address.
Refer to Fig. 3, server 230 comprises the first acquiring unit 231, second acquisition unit 232, the 3rd acquiring unit 233, first computing unit 234, second computing unit 235, first processing unit 236 coordinate search unit 238 and compensate location fingerprint storehouse 239.
First acquiring unit 231, the data of the wireless signal gathered in fixed position for lasting acquisition compensation arrangement 220 are as the data of reference signal.Concrete, the first acquiring unit 231 also comprises the first reception subelement and storing sub-units.Described reception subelement continues the data of data as reference signal of the wireless signal sent for receiving described compensation arrangement, the data of described reference signal comprise one group of wireless signal and timestamp, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address; Described preservation subelement, the data for the reference signal obtained by described reception subelement are kept in the data queue of reference signal.
Second acquisition unit 232, for obtaining the data of the wireless signal that harvester 210 gathers at different acquisition point as the data with reference to signal.Concrete, second acquisition unit 232 also comprises the second reception subelement, for receiving the data of the wireless signal that described harvester 210 gathers at different acquisition point as the data with reference to signal, the data of the reference signal of described each collection point comprise the coordinate of one group of wireless signal, collection point that timestamp is corresponding, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address.
First computing unit 234, for according to the data of described reference signal and the data of described reference signal, calculates the signal after the compensation of each collection point.Concrete, first computing unit 234 also comprises first and searches subelement and first and compensate subelement, and described first searches subelement for finding out from described reference signal queue and the timestamp of the reference signal of calculated collection point and all identical reference signal of MAC Address; Described first compensates subelement, for calculating the relative value of the difference in signal strength between described reference signal and the timestamp found out and all identical reference signal of MAC Address, utilizes described relative value to compensate described reference signal.
First processing unit 236, for by the corresponding relation of the signal after the compensation of described each collection point and coordinate thereof stored in compensation location fingerprint storehouse 239.
3rd acquiring unit 233, for when positioning mobile terminal, obtains the data of data as framing signal of the wireless signal that described mobile terminal gathers.Concrete, 3rd acquiring unit 233 also comprises the 3rd and receives subelement, also gather the data of the wireless signal of 240 as positioning signal data for receiving described mobile terminal, the data of described wireless signal comprise one group of wireless signal and timestamp, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address.
Second computing unit 235, for compensating calculating according to the data of described reference signal and the data of framing signal, to obtain described mobile terminal based on the signal after the compensation of described compensation arrangement.Concrete, second computing unit 235 comprises second and searches subelement and the second compensating unit, and described second searches subelement for finding out from described reference signal queue and the timestamp of the framing signal that described mobile terminal gathers and all identical reference signal of MAC Address; Described second compensating unit, for calculating the relative value of the difference in signal strength between all identical reference signal of described framing signal and described timestamp and MAC Address, utilizes described relative value to compensate described framing signal.
Coordinate calculating unit 238, for using location algorithm to search the coordinate of described mobile terminal according to the signal after described compensation in described compensation location database 239.
Concrete, coordinate calculating unit 238 calculates the coordinate of mobile terminal by following three kinds of modes:
Mode one, manhatton distance algorithm is utilized to calculate the coordinate of the minimum point of selected distance after described mobile terminal and the distance D of each collection point compensated in location database as described mobile terminal.
Mode two, utilize Euclidean distance algorithm to calculate described mobile terminal to gather the coordinate of the minimum point of selected distance after the distance of D as described mobile terminal with to compensate in location database each.
Mode three, the sampling point data in Bayesian formula probability of use models fitting fingerprint base are utilized to obtain the coordinate (x of mobile terminal, y, z), (x, y, z)=∑ (P (Li|S)+P (LCi|S)) × (xi, yi, zi), wherein (P (Li|S) mobile terminal location position be the probability of Li, P (LCi|S) for the position that mobile terminal is located be the probability of LCi, (xi, yi, zi) be the coordinate of collection point.
In practical application, the coordinate position inquired can also be fed back to this mobile terminal 140 by server 130.
The system utilizing wireless signal to realize location of the present embodiment is provided with compensation arrangement at fixed position place, the acquisition that can be continued by compensation arrangement in wireless fingerprint acquisition phase is as the data of the wireless signal of reference signal, the data of the wireless signal then gathered in each collection point by harvester are as the data with reference to signal, according to the data of described reference signal and the data of described reference signal, calculate each collection point compensate after signal, by the corresponding relation of the signal after the compensation of described each collection point and coordinate thereof stored in compensation location fingerprint storehouse; When positioning mobile terminal, the compensating signal gathered according to data and the compensation arrangement of the framing signal of mobile terminal collection again calculates the signal after the compensation of mobile terminal, and in compensation location fingerprint storehouse, utilizes location algorithm to search the coordinate of this mobile terminal according to the signal after this compensation.Because native system has carried out compensation calculation at the wireless signal of wireless signal to harvester or mobile terminal collection gathering wireless fingerprint and all receive with the compensation arrangement at fixed position place when positioning mobile terminal, and because when compensation arrangement position is fixing, compensating signal between each collection point and compensation arrangement is fixing, so position by calculating generation compensating signal, the fingerprint that the change that can solve wireless signal transmission power causes changes problem greatly, improves the accuracy and precision of wireless location.
On the basis of said system, the embodiment of the present invention additionally provides a kind of method utilizing wireless signal to realize location, and refer to Fig. 4, method flow comprises:
S410, server continue the data of data as reference signal of the wireless signal that acquisition compensation arrangement gathers in fixed position.
In the present embodiment, server receives the data that this compensation arrangement continues the wireless signal sent, and the data of this wireless signal are kept in reference signal queue, the data of this reference signal comprise one group of wireless signal and timestamp, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address.
S420, when gather wireless signal fingerprint time, obtain harvester be the data of reference signal in the data of the wireless signal of different acquisition point collection.
In the present embodiment, server receives the data of the wireless signal that this harvester gathers at different acquisition point, the data of the reference signal of each collection point comprise the coordinate of the collection point of a group of wireless signal, timestamp and correspondence, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address.
S430, according to the data of described reference signal and the data of described reference signal, calculate each collection point compensate after signal.
In the present embodiment, this step comprises:
Find out from described reference signal queue and the timestamp of the reference signal of calculated collection point and all identical reference signal of MAC Address;
Calculate the relative value of the difference in signal strength between described reference signal and the timestamp found out and all identical reference signal of MAC Address;
Described relative value is utilized to compensate described reference signal.。
S440, by the corresponding relation of the signal after the compensation of described each collection point and coordinate thereof stored in compensation location fingerprint storehouse.
S450, when needs position mobile terminal, obtain the data of data as framing signal of the wireless signal of this mobile terminal.
In the present embodiment, server receives the data of the wireless signal that this mobile terminal gathers, and the data of this wireless signal comprise one group of wireless signal and timestamp, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address.
S460, basis compensate calculating with the data of this reference signal and the data of framing signal, to obtain this mobile terminal based on the signal after the compensation of this compensation arrangement.
In the present embodiment, this step comprises:
The timestamp of the data of the framing signal gathered with this mobile terminal and all identical reference signal of MAC Address is found out from this reference signal queue;
Calculate the signal strength signal intensity relative value of the data of all identical reference signal of the signal strength signal intensity of the data of this framing signal and this timestamp and MAC Address, utilize described relative value to compensate described framing signal.
S470, in this compensation location database, location algorithm is used to search the coordinate of this mobile terminal according to the signal after this compensation.
In practical application, location algorithm can adopt the one in manhatton distance algorithm, bayesian algorithm or Euclidean distance algorithm according to actual conditions.
The wireless signal that utilizes of the present embodiment realizes the method for location, compensation calculation has been carried out at the wireless signal of wireless signal to harvester or mobile terminal collection gathering wireless fingerprint and all receive with the compensation arrangement at fixed position place when positioning mobile terminal, and because when compensation arrangement position is fixing, compensating signal between each collection point and compensation arrangement is fixing, so position by calculating generation compensating signal, the fingerprint that the change that can solve wireless signal transmission power causes changes problem greatly, improve the accuracy and precision of wireless location.
On the basis of said method embodiment, the embodiment of the present invention additionally provides another kind and utilizes wireless signal to realize the method for location.In the present embodiment, to utilize WIFI signal to realize indoor positioning, the present invention will be described in detail, for convenience of description, the present embodiment by the wireless fingerprint acquisition phase in the method and positioning stage described separately.
Refer to Fig. 5, for gathering the method flow diagram of the wireless fingerprint of some coordinate positions in wireless fingerprint acquisition phase in the present embodiment method, this stage comprises the steps:
The collection WIFI signal that S501, compensation arrangement continue at fixed position place, and the data of each WIFI signal gathered composition signal group is sent to server.
Concrete, each signal group of compensation arrangement collection includes one group of WIFI signal and timestamp, and the data of each WIFI signal wherein in this group WIFI signal include signal strength signal intensity and MAC Address.This timestamp represents the acquisition time of this group WIFI signal.
S502, server receive the data of signal group as reference signal of compensation arrangement transmission, and the data of the reference signal received nearest a period of time are preserved with the form of queue.
Concrete, for convenience of description, the set of the signal group of the data as reference signal is called set J.
S503, harvester gather WIFI signal on certain collection point of indoor, and the data of the WIFI signal of collection point composition signal group is sent to server.
Concrete, harvester gathers WIFI signal in this collection point, and records the coordinate of the indoor map of this collection point.The WIFI signal that harvester once gathers has multiple, and the data of each WIFI signal have included signal strength signal intensity and the MAC Address of WIFI.The multiple WIFI signal gathered, the coordinate of this collection point and timestamp are sent to server as the data of the WIFI signal gathered by harvester.This timestamp represents that harvester gathers the time point of the plurality of WIFI signal.
S504, server receive the signal group of harvester transmission as the data with reference to signal.
Concrete, for convenience of description, the signal group of the data of the reference signal of this collection point is called signal group Li.
For formula of reduction, we suppose that the set of one group of WIFI signal of this some collection is:
S＝{S1，S2，S3，...Si...}
Wherein Si represents that the unique identifier of signal source is the signal strength signal intensity of i
The reference fingerprint of this collection point can be expressed as:
Li＝{LOC：[(xi，yi，zi)]SIG：[F1，F2，F3，...Fi...]}
Wherein, SIG:[F1, F2, F3 ... Fi...] signal that collects in this collection point for harvester: Fi represents that the unique identifier of signal source is the signal strength signal intensity of i, is the signal Si gathered at acquisition phase Fi.LOC:[(xi, yi, zi)] represent the coordinate of this collection point.
S505, server find out from set J has identical time stamp with signal S, and includes all signal group composition set C of identical MAC Address.
Concrete, C={ (d1, C1), (d2, C2), (d3, C3) ... (di, Ci) ...
Wherein, Ci represents that the unique identifier of the signal source of compensation arrangement collection is the signal strength signal intensity of i, and di represents the honest and just mark obtaining the compensation arrangement of signal Ci.
WIFI signal strength S i in signal S has the intensity Ci of the WIFI signal of identical MAC Address to ask poor with all in set C with signal S by S506, server, the relative value SC of the WIFI signal that the receiving equipment obtaining to gather C is benchmark.
Concrete, SC={SCi=Si-Ci|Si ∈ S, Ci ∈ C}
This collection point utilizes this absolute value to compensate the signal that collection point gathers by S507, server, using the corresponding relation of coordinate of the signal after compensating and this collection point stored in compensating the wireless fingerprint of location fingerprint storehouse as this collection point.
LCi＝{LOC：[(xi，yi，zi)]SIG：[F1，F2，F3，...Fi...，FC1，FC2，FC3，...FCi...]}
Wherein FCi is for compensating fingerprint, FCi={ (di, SCi) }
The process of as above step is carried out for the WIFI signal gathered in different collection points in acquisition phase, just the signal after indoor each collection point compensation can be obtained, by the corresponding relation of the signal after the compensation of each collection point and coordinate thereof stored in compensation location fingerprint storehouse, the wireless fingerprint of each collection point just can be obtained.
Refer to Fig. 6, in positioning stage in the present embodiment method to the method flow diagram that mobile terminal positions, this stage comprises the steps:
The collection WIFI signal that S601, compensation arrangement continue at fixed position place, and the data of each WIFI signal gathered composition signal group is sent to server.
Concrete, each signal group of compensation arrangement collection includes one group of WIFI signal and timestamp, and the data of each WIFI signal wherein in this group WIFI signal include signal strength signal intensity and MAC Address.This timestamp represents the acquisition time of this group WIFI signal.
S602, server receive the data of signal group as reference signal of compensation arrangement transmission, and the data of the reference signal received nearest a period of time are preserved with the form of queue.
Concrete, for convenience of description, set J will be called as the set of the signal group of the data of reference signal.
S603, mobile terminal to be positioned gather WIFI signal, and the data of the WIFI signal of collection point composition signal group is sent to server.
Concrete, the WIFI signal that mobile terminal once gathers has multiple, and the data of each WIFI signal have included signal strength signal intensity and the MAC Address of WIFI.The many groups WIFI signal gathered and timestamp are sent to server as the data of WIFI signal gathered by mobile terminal.This timestamp represents that harvester gathers the time point of the plurality of WIFI signal.
The signal group that S604, server mobile terminal receive send is as the data of framing signal.
For convenience of description, the set of the WIFI signal of mobile terminal collection is called S '.
S605, server are found out and S set from set J ' in there is identical time stamp, and include all signal groups composition set C ' of identical MAC Address.
WIFI signal strength S i ' in signal S ' has the intensity Ci ' of the WIFI signal of identical MAC Address to ask poor with all in set C ' with signal S ' by S606, server, and the receiving equipment obtaining to gather C ' is the relative value SC ' of the WIFI signal of benchmark.
This step is identical with the step S506 of acquisition phase, repeats no more herein.
S607, to compensate according to the signal of this relative value to mobile terminal collection, and use location algorithm to search the coordinate of this mobile terminal in this compensation location database.
Concrete, calculate the coordinate the most similar to current demand signal during location and return as the position coordinates of locating, wherein the calculating of similarity selects three kinds of methods to comprise manhatton distance, Euclidean distance and Bayes's calculating according to feelings.
If indoor landform is checkerboard type landform can use manhatton distance algorithm, after calculating the distance of each sampling point in mobile terminal and fingerprint base, the coordinate LOC (x, y, z) of the point that selected distance is minimum is as returning coordinate.
If environment is openr can directly use straight line sighting distance and Euclidean distance, after calculating the distance of each sampling point in mobile terminal and fingerprint base, the coordinate LOC (x, y, z) of the point that selected distance is minimum is as returning coordinate.
Due to independent mutually between signal source, so meet the hypothesis of Bayesian formula, the sampling point data in Bayesian formula probability of use models fitting fingerprint base therefore also can be utilized to obtain final coordinate.
After server obtains framing signal S ', need the posterior probability obtaining S ' position of each collection point in fingerprint base, namely when acquisition framing signal is S ', the position of mobile terminal location is the probability of Li:
Wherein P (S|Li) is for obtain at i place, position the probability that signal is S ', and P (Li) appears at the probability of i position for locating terminal, and P (S) is for obtaining the probability that signal is S '.
Normal conditions can think that the position that locating terminal occurs is random, so
Wherein L is the number (comprise anchor point number, and this mobile terminal false being all the time in orientable region) of collection point
Be that the probability of S ' can be expressed as the probability sum obtaining S ' at each sampling point owing to obtaining signal, namely
Simultaneously due to separate between signal source, therefore
According to Statistics, the signal strength signal intensity of certain point meets Gaussian Profile, therefore
Wherein sj is the current signal strength being expressed as the signal source of j of position i, and u is its average, and δ is its standard deviation (recording by during collection).
In like manner, the position that can obtain mobile terminal is the probability of LCi:
Using obtaining the weight of value as the coordinate of each collection point, calculate the elements of a fix of mobile terminal.
(x，y，z)＝∑(P(Li|S)+P(LCi|S))×(xi，yi，zi)
Wherein, (xi, yi, zi) coordinate that is collection point.
S608, server return the coordinate of this mobile terminal position to mobile terminal.
The wireless signal that utilizes of the present embodiment realizes the method for location, compensation calculation has been carried out at the wireless signal of wireless signal to harvester or mobile terminal collection gathering wireless fingerprint and all receive with the compensation arrangement at fixed position place when positioning mobile terminal, and because when compensation arrangement position is fixing, compensating signal between each collection point and compensation arrangement is fixing, so position by calculating generation compensating signal, the fingerprint that the change that can solve wireless signal transmission power causes changes problem greatly, improve the accuracy and precision of wireless location.
Above with reference to the accompanying drawings of the preferred embodiments of the present invention, not thereby limit to interest field of the present invention.Those skilled in the art do not depart from the scope and spirit of the present invention interior done any amendment, equivalent replacement and improve, all should within interest field of the present invention.
Claims (10)
1. utilize wireless signal to realize a method for location, it is characterized in that, comprise the steps:
Continue the data of data as reference signal of the wireless signal that acquisition compensation arrangement gathers in fixed position;
Obtaining harvester is the data of reference signal in the data of the wireless signal of different acquisition point collection;
According to the data of described reference signal and the data of described reference signal, calculate the signal after the compensation of each collection point;
By the corresponding relation of the signal after the compensation of described each collection point and coordinate thereof stored in compensation location fingerprint storehouse;
Obtain the data of data as framing signal of the wireless signal that described mobile terminal gathers;
Calculating is compensated, to obtain described mobile terminal based on the signal after the compensation of described compensation arrangement according to the data of described reference signal and the data of framing signal;
In described compensation location database, location algorithm is used to search the coordinate of described mobile terminal according to the signal after described compensation.
2. method according to claim 1, is characterized in that, the data of the wireless signal that described lasting acquisition compensation arrangement gathers in fixed position, as the data of reference signal, comprising:
Receive the data that described compensation arrangement continues the wireless signal sent, and the data of described wireless signal are kept in reference signal queue as the data of reference signal, the data of described reference signal comprise one group of wireless signal and timestamp, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address;
Described acquisition harvester is the data of reference signal in the data of the wireless signal of different acquisition point collection, comprising:
Receive described harvester it can be used as reference signal data in the data disease of the wireless signal of different acquisition point collection, the data of the reference signal of described each collection point comprise the coordinate of the collection point of a group of wireless signal, timestamp and correspondence, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address;
The data of the described data according to described reference signal and described reference signal, calculate each collection point compensate after signal, and by the corresponding relation of the signal after the compensation of described each collection point and coordinate thereof stored in compensation location fingerprint storehouse, to comprise:
Find out from described reference signal queue and the timestamp of the reference signal of calculated collection point and all identical reference signal of MAC Address;
Calculate the relative value of the difference in signal strength between described reference signal and the timestamp found out and all identical reference signal of MAC Address;
Described relative value is utilized to compensate described reference signal, by the corresponding relation of coordinate at the signal after compensating and place, described calculated collection point stored in described compensation location fingerprint storehouse.
3. method according to claim 1, is characterized in that, the data of the wireless signal of the described mobile terminal of described acquisition, as the data of framing signal, comprising:
Receive the data of the wireless signal that described mobile terminal gathers, the data of described wireless signal comprise one group of wireless signal and timestamp, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address;
Described basis compensates calculating with the data of described reference signal and the data of framing signal, to obtain described mobile terminal based on the signal after the compensation of described compensation arrangement, comprising:
Find out from described reference signal queue and the timestamp of the framing signal that described mobile terminal gathers and all identical reference signal of MAC Address;
Calculate the relative value of the difference in signal strength between all identical reference signal of described framing signal and described timestamp and MAC Address, utilize described relative value to compensate described framing signal.
4. method according to claim 3, is characterized in that, describedly in described compensation location database, uses location algorithm to search the coordinate of described mobile terminal according to the signal after described compensation, comprising:
Manhatton distance algorithm is utilized to calculate the coordinate of the minimum point of selected distance after the signal after compensation and the distance D of each collection point compensated in location database as described mobile terminal; Or
Signal after utilizing Euclidean distance algorithm to calculate compensation gathers the coordinate of the minimum point of selected distance after the distance of D as described mobile terminal with to compensate in location database each.
5. method according to claim 3, is characterized in that, describedly in described compensation location database, uses location algorithm to search the coordinate of described mobile terminal according to the signal after described compensation, comprising:
The sampling point data in Bayesian formula probability of use models fitting fingerprint base are utilized to obtain the coordinate (x of mobile terminal, y, z), (x, y, z)=∑ (P (Li|S)+P (LCi|S)) × (xi, yi, zi), wherein (P (Li|S) mobile terminal location position be the probability of Li, P (LCi|S) for the position that mobile terminal is located be the probability of LCi, (xi, yi, zi) be the coordinate of collection point.
6. the server utilizing wireless signal to position, is characterized in that, described server comprises:
First acquiring unit, the data of the wireless signal gathered in fixed position for lasting acquisition compensation arrangement are as the data of reference signal;
Second acquisition unit, for obtaining the data of the wireless signal that harvester gathers at different acquisition point as the data with reference to signal;
First computing unit, for according to the data of described reference signal and the data of described reference signal, calculates the signal after the compensation of each collection point;
First processing unit, for by the corresponding relation of the signal after the compensation of described each collection point and coordinate thereof stored in compensation location fingerprint storehouse;
3rd acquiring unit, for obtaining the data of data as framing signal of the wireless signal that described mobile terminal gathers;
Second computing unit, for compensating calculating according to the data of described reference signal and the data of framing signal, to obtain described mobile terminal based on the signal after the compensation of described compensation arrangement;
Coordinate calculating unit, for using location algorithm to search the coordinate of described mobile terminal according to the signal after described compensation in described compensation location database.
7. server according to claim 6, is characterized in that,
Described first acquiring unit also comprises the first reception subelement and storing sub-units, described reception subelement continues the data of data as reference signal of the wireless signal sent for receiving described compensation arrangement, the data of described reference signal comprise one group of wireless signal and timestamp, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address;
Described preservation subelement, the data for the reference signal obtained by described reception subelement are kept in the data queue of reference signal;
Described second acquisition unit also comprises the second reception subelement, for receiving the data of the wireless signal that described harvester gathers at different acquisition point as the data with reference to signal, the data of the reference signal of described each collection point comprise the coordinate of one group of wireless signal, collection point that timestamp is corresponding, and the data of each wireless signal in described one group of wireless signal include signal strength signal intensity and MAC Address;
Described first computing unit also comprises first and searches subelement and first and compensate subelement, and described first searches subelement for finding out from described reference signal queue and the timestamp of the reference signal of calculated collection point and all identical reference signal of MAC Address;
Described first compensates subelement, for calculating the relative value of the difference in signal strength between described reference signal and the timestamp found out and all identical reference signal of MAC Address, utilizes described relative value to compensate described reference signal;
Described first processing unit, also for by the corresponding relation of coordinate of the signal after compensating and place, described calculated collection point stored in described compensation location fingerprint storehouse.
8. server according to claim 5, is characterized in that,
Described 3rd acquiring unit also comprises the 3rd and receives subelement, for receiving the data of the wireless signal that described mobile terminal gathers as positioning signal data, the data of described wireless signal comprise one group of wireless signal and timestamp, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address;
Described second computing unit comprises second and searches subelement and the second compensating unit, and described second searches subelement for finding out from described reference signal queue and the timestamp of the framing signal that described mobile terminal gathers and all identical reference signal of MAC Address;
Described second compensating unit, for calculating the relative value of the difference in signal strength between all identical reference signal of described framing signal and described timestamp and MAC Address, utilizes described relative value to compensate described framing signal.
9. server according to claim 8, is characterized in that,
Described coordinate calculating unit, also for utilizing manhatton distance algorithm to calculate the coordinate of the minimum point of selected distance after described mobile terminal and the distance D of each collection point compensated in location database as described mobile terminal; Or calculate described mobile terminal for utilizing Euclidean distance algorithm and to gather the coordinate of the minimum point of selected distance after the distance of D as described mobile terminal with to compensate in location database each; Or
Described coordinate calculating unit, also for
The sampling point data in Bayesian formula probability of use models fitting fingerprint base are utilized to obtain the coordinate (x of mobile terminal, y, z), (x, y, z)=∑ (P (Li|S)+P (LCi|S)) × (xi, yi, zi), wherein (P (Li|S) mobile terminal location position be the probability of Li, P (LCi|S) for the position that mobile terminal is located be the probability of LCi, (xi, yi, zi) be the coordinate of collection point.
10. utilize wireless signal to realize a system for location, it is characterized in that, described system comprises compensation arrangement, harvester, mobile terminal and the server as described in any one of claim 5 to 9,
Described compensation arrangement, for the collection wireless signal continued in fixed position, and the data of the wireless signal of collection are sent to described server, the data of wherein said wireless signal comprise one group of wireless signal and timestamp, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address;
Described harvester, for gathering wireless signal in different collection points, and the data of described wireless signal are sent to described server, set up to make described server and compensate coordinate fingerprint base, the data of the reference signal of described each collection point comprise the coordinate of one group of wireless signal, collection point that timestamp is corresponding, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address;
Described mobile terminal, for gathering the wireless signal of position, and the data of described wireless signal sent to described server with the coordinate making described server determine described mobile terminal, the data of described wireless signal comprise one group of wireless signal and timestamp, and each wireless signal in described one group of wireless signal includes signal strength signal intensity and MAC Address.
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