CN104333906A - Positioning system and method based on indoor wireless signal - Google Patents
Positioning system and method based on indoor wireless signal Download PDFInfo
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- CN104333906A CN104333906A CN201410632657.XA CN201410632657A CN104333906A CN 104333906 A CN104333906 A CN 104333906A CN 201410632657 A CN201410632657 A CN 201410632657A CN 104333906 A CN104333906 A CN 104333906A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention discloses positioning system and method based on an indoor wireless signal. According to the positioning system and method, two sets or more different preset fingerprint position banks are adopted to built matched fingerprint position banks or position coefficients for devices of different receiving capacities and to be positioned, and therefore, the adaptability for different devices to be positioned is improved, and the positioning accuracy can be effectively improved.
Description
Technical field
The present invention relates to indoor positioning technologies, particularly relate to a kind of navigation system based on indoor radio signal and method.
Background technology
Along with continuous progress and the developing of informationization technology, the development pole the earth of location technology changes the live and work mode of modern society, as the electronic navigation generally adopted in trip or travelling, is namely depend on popularizing of GPS location technology.Thus in daily life the demand based on location is constantly increased, how to determine that customer location is then the basis and the key that realize position-based service exactly.Although the application of GPS location technology is comparatively universal, and its Position location accuracy is also higher, but along with the development and construction in city, the activity of people can concentrate on some room areas mostly, such as subway, Business Building, market, dining room etc., and these places or huge or relative closure, often gps signal cannot be received, only rely on GPS cannot realize completely for indoor positioning needs, and high-precision indoor positioning can be increased work efficiency and quality of life effectively, this demand that indoor positioning is served is growing.In the last few years, WLAN is universal all the more, increasing indoor environment arranges WAP (wireless access point), the overlay area of wireless network constantly expands, particularly Wi-Fi network, these access points, while provide sufficient infrastructure for indoor positioning technologies, also reduce the cost realized required for location.In numerous indoor positioning technologies, the indoor positioning technologies of position-based fingerprint can obtain ideal positioning precision under the prerequisite of low cost.The current indoor positioning technologies having occurred many position-based fingerprints, and technological improvement wherein and innovation when often concentrating on sample phase for the selection of sampled data, or at positioning stage about the improvement of algorithm determining position, and seldom there is the technical scheme that the problem run into when actual location is inquired about for user side makes further improvements.
Based on the indoor positioning technologies of Wi-Fi location fingerprint, sample phase build location fingerprint storehouse time mostly only adopt a kind of wireless network card to received signal intensity data gather, if different from sample phase at the wireless network card of the equipment to be positioned of positioning stage, positioning precision will be made to occur obviously declining, the Stability and veracity of whole indoor locating system work is deteriorated.And this problem is comparatively general, such as in megastore, client is used for the mobile phone (as equipment to be positioned) of locating query, footpath is not identical for the receiving ability of its wireless signal, and this just causes the location fingerprint storehouse set up also can be thereupon different for the Position location accuracy of different mobile phone.
Summary of the invention
Because the above-mentioned defect of prior art, technical problem to be solved by this invention is the difference for the wireless receiving ability existing for equipment to be positioned, corresponding dynamic conditioning is carried out to the location fingerprint storehouse set up and carries out position judgment again, to improve the Position location accuracy for difference equipment to be positioned.
For achieving the above object, the invention provides a kind of localization method based on indoor radio signal and comprise sample phase and positioning stage.
Described sample phase comprises the following steps:
Step 11, set up indoor map picture, determine coordinate system, grid division, determine reference point location;
Preferably, it is identical that each sizing grid is set, in a preferred embodiment of the present invention, adopt corresponding real space size to be the grid of 3m × 3m;
The collecting device of step 12, use at least two different receiving abilities carries out wireless signal acquiring to the indoor location corresponding to each described grid, and arranges the mark of described datum mark;
Step 13, according to collection result, corresponding predeterminated position fingerprint base (below the location fingerprint storehouse formed in sample phase being all called predeterminated position fingerprint base) set up by the collecting device for different receiving ability;
Described positioning stage comprises the following steps:
Step 21, equipment to be positioned carry out origin reference location at the mark place of described datum mark;
Step 22, by the result of described origin reference location and described predeterminated position fingerprint base, determine the location fingerprint storehouse that matches with described equipment to be positioned or position parameter;
Step 23, the wireless signal received in position to be determined by described equipment to be positioned, the location fingerprint storehouse matched in conjunction with described and described equipment to be positioned or position parameter are to locate described position to be determined.
Further, in described step 11, described datum mark has multiple.
Further, in described step 13, described collection result comprises the mean value of the title of all AP or MAC Address, received signal strength.
Further, in described step 22, the location fingerprint storehouse match described and described equipment to be positioned or position parameter are stored in described equipment to be positioned.
Further, according to the model of described equipment to be positioned, determine the location fingerprint storehouse that described and described equipment to be positioned matches or position parameter.
Present invention also offers a kind of navigation system based on indoor radio signal, comprising:
Memory module, for cartographic information in apotheca, and by least two different receiving abilities collecting device gather the location fingerprint storehouse of acquisition; Described indoor map information comprises indoor map picture, and described indoor map picture has arranged coordinate system and stress and strain model;
Communication module, for communicating with equipment to be positioned;
Computing module, is connected with described memory module and described communication module, for determining the position of described equipment to be positioned;
Datum mark identifies, and fixed position disposed in the interior, for the origin reference location of described equipment to be positioned, the result of described origin reference location is sent to described communication module by described equipment to be positioned.
Further, described datum mark mark has multiple.
Further, described computing module, by the result of described origin reference location and described predeterminated position fingerprint base, determines the location fingerprint storehouse that matches with described equipment to be positioned or position parameter.
Further, the wireless signal that described computing module is received in position to be determined by described equipment to be positioned, the location fingerprint storehouse matched in conjunction with described and described equipment to be positioned or position parameter are to locate described position to be determined.
Further, described memory module also comprises the location fingerprint storehouse or position parameter that match with the equipment to be positioned of known models.
Navigation system based on indoor radio signal of the present invention and method have the following advantages:
1, structure is simple, easy to implement.
2, compensate for the deficiency that different devices to be determined can produce position disparity.
3, strong adaptability, all can generate the location fingerprint storehouse or position parameter that correspond for dissimilar equipment to be positioned.
4, according to the product type of the equipment to be positioned of user, location fingerprint storehouse corresponding thereto or position parameter can directly be selected.
Be described further below with reference to the technique effect of accompanying drawing to design of the present invention, concrete structure and generation, to understand object of the present invention, characteristic sum effect fully.
Accompanying drawing explanation
Fig. 1 is the system architecture schematic diagram of a preferred embodiment of the present invention;
Fig. 2 is the positioning flow figure of system shown in Figure 1;
Fig. 3 be positioning flow is determined according to Fig. 2 equipment to be positioned for certain AP, at the intensity curves figure of each grid position.
Embodiment
As shown in Figure 1, be the system architecture schematic diagram of a preferred embodiment of the present invention.Navigation system comprise memory module, communication module, with both computing modules of being connected above-mentioned, and to arrange and the datum mark of indoor fixed position identifies.Wherein memory module has prestored indoor map information, comprises indoor map picture, and has arranged coordinate system and stress and strain model for this map picture, arrange each sizing grid identical, adopt corresponding real space size to be the grid of 3m × 3m in the present embodiment.
Predeterminated position fingerprint base 1 and predeterminated position fingerprint base 2 is also comprised in memory module, they are by the collecting device of two different receiving abilities respectively, wireless signal acquiring is carried out for the indoor location corresponding to each grid, according to the location fingerprint storehouse that collection result is set up.The position in identical orientation is all chosen (as the central point of grid in each grid, or certain end angle etc. of grid) carry out wireless signal acquiring, collection result comprises title or the MAC Address of all AP that this position can receive, and the mean value of the received signal strength of each AP and standard variance (as only gathered an intensity data, just without the need to standard variance a position).The coordinate of each collection position of predeterminated position fingerprint base record and above-mentioned collection result, in the prior art, the general wireless signal that equipment to be positioned is arrived at indoor reception, compare with predeterminated position fingerprint base, find immediate collection result, thus judge the coordinate position of equipment to be positioned.The deficiency of this method is, when signal reception and the signal reception of the collecting device building predeterminated position fingerprint base of equipment to be positioned are variant, can have an impact, and difference is larger, affects larger to the accuracy of location.
For this reason, the collecting device of two different receiving abilities is adopted to carry out wireless signal acquiring in the present embodiment, and set up two cover predeterminated position fingerprint bases respectively with regard to collection result, the receiving ability wherein setting up the collecting device that predeterminated position fingerprint base 1 adopts is better than setting up the collecting device that predeterminated position fingerprint base 2 adopts.And for the determination of both receiving abilities, user can select according to product known on existing market, most of known existing product can be covered to make the difference between both receiving ability.
Communication module is used for communicating with equipment to be positioned, and provides corresponding information to computing module.
The information that computing module is sent by communication module, and the both deposit datas in memory are treated positioning equipment and are positioned.
Equipment to be positioned, before location is implemented, can obtain the indoor map information identical with memory module in advance.
The flow process of positioning stage as shown in Figure 2, the collection result of this place's wireless signal is sent to communication module by the position that equipment (as mobile phone) first to be positioned is being provided with datum mark mark, adopt in the present embodiment, at reference point location, the mode of datum mark mark is set to confirm equipment to be positioned is in which datum mark (datum mark can arrange multiple), such as datum mark mark can be set to a Quick Response Code, when user is referring to position mobile telephone scanning Quick Response Code, the wireless signal acquiring result of current location can be sent to the communication module of navigation system, information is sent to computing module by communication module, the coordinate position of computing module just residing for known current user, and the mobile phone of the current use of user is in the wireless signal acquiring result of this position, thus complete origin reference location.Locate mode is also not limited to Quick Response Code, as by some interface (web interface or use corresponding APP), allows user operate, to complete origin reference location.
Next, computing module, at the reference point location obtained residing for equipment to be positioned and after the wireless signal acquiring result received by this position, compares in itself and predeterminated position fingerprint base 1 and predeterminated position fingerprint base 2 in the collection result of this reference point location.And determine the position parameter for this reference point location by following formula.
Ki＝(R1i-Ai)/(R2i-Ai) (1)
Wherein, Ki is the position parameter for i-th AP, R1i is the signal strength data of i-th AP collected at this reference point location in predeterminated position fingerprint base 1, R2i is the signal strength data of i-th AP collected at this reference point location in predeterminated position fingerprint base 2, the signal strength data of Ai i-th AP that to be equipment to be positioned collect at this reference point location.
Thus be for the position parameter of this reference point location:
K＝(K1，K2，K3，K4，……，Kn) (2)
Wherein K is position parameter, and n is AP total quantity.
When after the position parameter K determining certain datum mark, just can in conjunction with predeterminated position fingerprint base 1 and predeterminated position fingerprint base 2, calculate according to K and determine the reference value of the signal strength signal intensity of each AP that equipment to be positioned can receive at each grid position, thus establishing the location fingerprint storehouse matched with it.
As shown in Figure 3, be according to the determined equipment to be positioned of above locate mode for i-th AP, at the intensity curves figure of each grid position.The wherein signal strength signal intensity of i-th AP that receives at each grid position of the signal strength signal intensity of two curves of highest and lowest, i-th AP that to be predeterminated position fingerprint base 1 respectively receive at each grid position and predeterminated position fingerprint base 2, the reference value of the signal strength signal intensity of middle curve i-th AP that to be the equipment to be positioned that calculates acquisition according to Ki institute receive at each grid position, m is that grid is total.For position 1, the computing formula of the reference value of the signal strength signal intensity of i-th AP that equipment to be positioned receives in position 1 is as follows:
Ai1＝(R1i1-R2i1*Ki)/(1-Ki)(3)
Wherein, Ai1 is the reference value of the signal strength signal intensity of i-th AP that equipment to be positioned receives in position 1, R1i1 is the signal strength data of i-th AP collected in position 1 in predeterminated position fingerprint base 1, R2i1 is the signal strength data at i-th AP collected in position 1 in predeterminated position fingerprint base 2, and Ki is the position parameter for i-th AP.
For equipment to be positioned, chart as shown in Figure 3 has n, and n is AP total quantity, and it together constitutes the location fingerprint storehouse matched with equipment to be positioned.When user carries out origin reference location at multiple datum mark simultaneously, the determined reference value of each datum mark can be got and obtain mean value to build the location fingerprint storehouse matched with it.
In addition, navigation system can also collect kind and the type information of equipment to be positioned, based on the hypothesis that same model product receiving ability difference is less, thus can set up by product type (mobile phone as certain brand model) position parameter or location fingerprint storehouse that match with it, be stored in the known models information bank shown in Fig. 1.
And can corresponding application program (as mobile phone A PP) be set on equipment to be positioned, carry out multi-purpose expansion, as downloaded predeterminated position fingerprint base, or the location fingerprint storehouse to match with equipment to be positioned is to the machine, is realized etc. by the function transplanting of computing module in navigation system to client.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that those of ordinary skill in the art just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technical staff in the art, all should by the determined protection range of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (10)
1. based on a localization method for indoor radio signal, it is characterized in that, comprise sample phase and positioning stage;
Described sample phase comprises the following steps:
Step 11, set up indoor map picture, determine coordinate system, grid division, determine reference point location;
The collecting device of step 12, use at least two different receiving abilities carries out wireless signal acquiring to the indoor location corresponding to each described grid, and arranges the mark of described datum mark;
Step 13, according to collection result, corresponding predeterminated position fingerprint base set up by the collecting device for different receiving ability;
Described positioning stage comprises the following steps:
Step 21, equipment to be positioned carry out origin reference location at the mark place of described datum mark;
Step 22, by the result of described origin reference location and described predeterminated position fingerprint base, determine the location fingerprint storehouse that matches with described equipment to be positioned or position parameter;
Step 23, the wireless signal received in position to be determined by described equipment to be positioned, the location fingerprint storehouse matched in conjunction with described and described equipment to be positioned or position parameter are to locate described position to be determined.
2. localization method as claimed in claim 1, it is characterized in that, in described step 11, described datum mark has multiple.
3. localization method as claimed in claim 1, is characterized in that, in described step 13, described collection result comprises the mean value of the title of all AP or MAC Address, received signal strength.
4. localization method as claimed in claim 1, it is characterized in that, in described step 22, the location fingerprint storehouse match described and described equipment to be positioned or position parameter are stored in described equipment to be positioned.
5. localization method as claimed in claim 1, is characterized in that, according to the model of described equipment to be positioned, determines the location fingerprint storehouse that described and described equipment to be positioned matches or position parameter.
6. based on a navigation system for indoor radio signal, it is characterized in that, comprise
Memory module, for cartographic information in apotheca, and by least two different receiving abilities collecting device gather the predeterminated position fingerprint base of acquisition;
Communication module, for communicating with equipment to be positioned;
Computing module, is connected with described memory module and described communication module, for determining the position of described equipment to be positioned;
Datum mark identifies, and fixed position disposed in the interior, for the origin reference location of described equipment to be positioned, the result of described origin reference location is sent to described communication module by described equipment to be positioned.
7. navigation system as claimed in claim 1, is characterized in that, described datum mark mark has multiple.
8. navigation system as claimed in claim 1, is characterized in that, described computing module, by the result of described origin reference location and described predeterminated position fingerprint base, determines the location fingerprint storehouse that matches with described equipment to be positioned or position parameter.
9. navigation system as claimed in claim 8, it is characterized in that, the wireless signal that described computing module is received in position to be determined by described equipment to be positioned, the location fingerprint storehouse matched in conjunction with described and described equipment to be positioned or position parameter are to locate described position to be determined.
10. navigation system as claimed in claim 6, it is characterized in that, described memory module also comprises the location fingerprint storehouse or position parameter that match with the equipment to be positioned of known models.
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| CN201410632657.XA CN104333906A (en) | 2014-11-11 | 2014-11-11 | Positioning system and method based on indoor wireless signal |
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| CN201410632657.XA CN104333906A (en) | 2014-11-11 | 2014-11-11 | Positioning system and method based on indoor wireless signal |
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| CN105025439A (en) * | 2015-06-26 | 2015-11-04 | 上海汇纳信息科技股份有限公司 | Indoor positioning system, applied database, indoor positioning method and indoor positioning device |
| CN105444755A (en) * | 2015-11-13 | 2016-03-30 | 深圳市译元成科技有限公司 | Indoor positioning method based on space clutter signal |
| CN106375953A (en) * | 2016-08-25 | 2017-02-01 | 中山大学 | Indoor server locating method based on routers |
| CN106686042A (en) * | 2015-11-11 | 2017-05-17 | 中国电信股份有限公司 | Reverse position fingerprint identifying and locating method, apparatus and system |
| CN106793081A (en) * | 2017-01-23 | 2017-05-31 | 北京思特奇信息技术股份有限公司 | A kind of localization method and device based on base station |
| CN106961671A (en) * | 2016-01-08 | 2017-07-18 | 高德软件有限公司 | The method and apparatus for gathering indoor positioning data |
| CN108718254A (en) * | 2018-05-14 | 2018-10-30 | 中国联合网络通信有限公司湖北省分公司 | Subway indoor distributed system Fault Locating Method and system |
| CN112312301A (en) * | 2019-08-01 | 2021-02-02 | 中国移动通信集团浙江有限公司 | User terminal positioning method, device, equipment and computer storage medium |
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| CN105025439A (en) * | 2015-06-26 | 2015-11-04 | 上海汇纳信息科技股份有限公司 | Indoor positioning system, applied database, indoor positioning method and indoor positioning device |
| CN105025439B (en) * | 2015-06-26 | 2019-02-05 | 上海汇纳信息科技股份有限公司 | Indoor locating system and applied database, method and apparatus |
| CN106686042A (en) * | 2015-11-11 | 2017-05-17 | 中国电信股份有限公司 | Reverse position fingerprint identifying and locating method, apparatus and system |
| CN105444755A (en) * | 2015-11-13 | 2016-03-30 | 深圳市译元成科技有限公司 | Indoor positioning method based on space clutter signal |
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| CN106961671B (en) * | 2016-01-08 | 2020-03-03 | 高德软件有限公司 | Method and device for collecting indoor positioning data |
| CN106375953A (en) * | 2016-08-25 | 2017-02-01 | 中山大学 | Indoor server locating method based on routers |
| CN106793081A (en) * | 2017-01-23 | 2017-05-31 | 北京思特奇信息技术股份有限公司 | A kind of localization method and device based on base station |
| CN108718254A (en) * | 2018-05-14 | 2018-10-30 | 中国联合网络通信有限公司湖北省分公司 | Subway indoor distributed system Fault Locating Method and system |
| CN108718254B (en) * | 2018-05-14 | 2021-05-28 | 中国联合网络通信有限公司湖北省分公司 | Fault positioning method and system for indoor distribution system of subway |
| CN112312301A (en) * | 2019-08-01 | 2021-02-02 | 中国移动通信集团浙江有限公司 | User terminal positioning method, device, equipment and computer storage medium |
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