CN104462281B - A kind of distributed parallel survey system for fingerprint location - Google Patents

A kind of distributed parallel survey system for fingerprint location Download PDF

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CN104462281B
CN104462281B CN201410697202.6A CN201410697202A CN104462281B CN 104462281 B CN104462281 B CN 104462281B CN 201410697202 A CN201410697202 A CN 201410697202A CN 104462281 B CN104462281 B CN 104462281B
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fingerprint
exploration
survey
path
data
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CN104462281A (en
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柳凌峰
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HANGZHOU YOUTI TECHNOLOGY Co Ltd
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HANGZHOU YOUTI TECHNOLOGY Co Ltd
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Abstract

The present invention relates to a kind of distributed parallel survey system for fingerprint location, including for the distribution of fingerprint exploration task, survey data storage, analysis, the fingerprint exploration management server of processing, fingerprint database, map data base, management terminal, exploration mobile terminal, access interface；Advantages of the present invention：Management server is surveyed by fingerprint task distribution is surveyed to fingerprint, survey data stores, analysis, processing and offer finger print data access service, management terminal surveys mission planning to fingerprint, the management of fingerprint database and map data base, modification and renewal, survey mobile terminal and be used for fingerprint exploration task progress, survey data is gathered and uploaded, access interface is used for fingerprint exploration management server and exchanged with other systems progress fingerprint with map datum, adapt to the engineering survey part of any fingerprint location system supported by intelligent mobile terminal, greatly reduce the technical threshold of exploration work, reduce the cost of labor of exploration, survey data conflict can be avoided.

Description

A kind of distributed parallel survey system for fingerprint location
Technical field
The present invention relates to a kind of distributed parallel survey system for fingerprint location.
Background technology
Fingerprinting localization algorithm based on wireless signal and Geomagnetic signal, hereinafter referred to as fingerprint location technology, it is that a kind of height can Row, high accuracy, low cost, and the indoor and outdoor precise positioning technology of high reliability, it is widely used at present and business, work Industry, medical treatment are as follows with public services, the general principle of fingerprint location technology：According to being positioned region in different positions On the wireless signal strength from different signal source, or Geomagnetic signal respective difference in the vertical and horizontal directions collects simultaneously Establish the fingerprint vector database of position and signal, hereinafter referred to as fingerprint database, by positioning stage detection received signals fingerprint to Amount is compared with fingerprint database, according to the type of fingerprint database, the calculating based on following methods, including but do not limit to In：Nearest vector distance, maximum probability etc., find out in database with the immediate fingerprint vector of detection signal fingerprint vector, obtain Obtain position candidate estimation；Householder method is positioned according to others, including but not limited to：Triangle polyester fibre, inertial navigation, position mistake Filter etc., screens optimal positioning estimation position, and fingerprint location is implemented to be generally divided into two parts, trains part, that is, pass through concentration Line under field exploring collect and be positioned the finger print data in region, the fingerprint database that generation uses for positioning, position portion, base In the fingerprint database generated, fingerprint location is carried out, at present, the exploration of finger print data is usually required by professional equipment and people Member team implements to survey under the line of concentration and data acquisition, and its hardware is higher with technical threshold, improves hardware and the people of exploration Power cost, and survey that efficiency is low, as alignment system disposes the increase of area, lower deployment cost can increase rapidly, this from this The deployment scale of alignment system is have impact in matter.
The content of the invention
The technical problem to be solved in the present invention is just to provide a kind of distributed parallel survey system for fingerprint location, can To solve to survey the defects of efficiency is low, cost is high existing for the localization method that the exploration of existing finger print data uses.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions：One kind is used for fingerprint location Distributed parallel survey system, including for fingerprint exploration task distribution, survey data storage, analysis, processing and provide refer to Line data access service fingerprint exploration management server, respectively with fingerprint exploration management server be connected fingerprint database, Map data base, management terminal, exploration mobile terminal, access interface, the fingerprint database internal memory contain received signals fingerprint vector Original survey data and through handling with being used for the synthesis fingerprint data positioned after synthesis, the map data base internal memory contains ground Diagram data, the management terminal be used for fingerprint exploration mission planning, the management of fingerprint database and map data base, modification with more Newly, the exploration mobile terminal is used for the progress of fingerprint exploration task, survey data collection and uploaded, and the access interface is used to refer to Line surveys management server and exchanged with other systems progress fingerprint with map datum.
Preferably, fingerprint exploration management server realizes the fingerprint investigation method of localization region, comprises the following steps successively：
1) plan：Management terminal obtains the map datum of localization region from fingerprint exploration management server first, to required Localization region is covered by a plurality of survey path, and the planning of survey path is uploaded into fingerprint exploration management server and entered Row exploration distribution；
2) distribution and exploration：One or more fingerprint exploration mobile terminals are by asking fingerprint to survey management server, respectively From independently according to obtaining step 1) in the planning of survey path and the distribution of system, fetching portion survey path；Each fingerprint Exploration mobile terminal is independently completed the fingerprint signal collection in its allocated survey path；
3) upload and merge with data：Fingerprint signal of each fingerprint exploration mobile terminal on current survey path is completed is adopted After collection, data are uploaded to fingerprint exploration management server using mobile network or Wi-Fi network, and with fingerprint survey data Synchronized upload data below, data include but is not limited to acquisition time, fingerprint exploration mobile terminal ardware model number, survey crew's body Part information, fingerprint exploration management server are first deposited the original survey data of fingerprint vector for surveying mobile terminal upload Storage, the synchrodata further according to more than, the merging of data, additions and deletions, renewal are carried out with existing fingerprint database.
Exploration speed can be increased exponentially by above-mentioned steps.
Preferably, the fingerprint investigation method of fingerprint exploration management server realizing route, including survey path division methods With received signals fingerprint acquisition method, the survey path division methods, comprise the following steps successively：
1) map for needing survey area is uniformly divided into equal shape and size, the grid of non-overlapping copies, and ensures grid Radius should be not more than fingerprint location precision；
2) according to the landform of map, building, POI, by can be in traffic areas grid continuously surveyed with one Path concatenates, and realizes the survey path covering to localization region；
3) in addition to two end points of survey path, some critical path points, critical path can be included in a survey path Point is used for the end points for indicating subpath, for preventing discontinuity and letter due to environment and signal acquisition caused by operation reason The cumulative error of number collection, the generation of whole survey path are completed by sequentially generating its each subpath.
It can be realized by above-mentioned steps and efficient finger print data exploration is carried out to large area localization region.
Preferably, the received signals fingerprint acquisition method comprises the following steps successively：
1) exploration mobile terminal selects a survey path first, and system obtains the exploration by survey path division methods Grid and the critical path point covered on path；
2) starting point of the critical path point as exploration in mobile terminal selection survey path is surveyed, starts to gather signal Fingerprint；
3) the hand-held exploration mobile terminal of user, is moved, it is ensured that system is in a signal acquisition along current survey path Displacement is no more than grid number as defined in system in cycle；
4) when user reaches next critical path point, notice exploration mobile terminal, exploration mobile terminal is according to its row Speed and the received signals fingerprint collected are walked, signal is prorated to each grid of the subpath；
5) repeat step 3), step 4), the end points until reaching whole path, or exit current exploration manually；
6) exploration mobile terminal will survey finger print data and be uploaded to fingerprint exploration management server.
It can be realized by above-mentioned steps and efficient finger print data exploration is carried out to large area localization region.
Preferably, the signal distribution in step 4) uses following two distribution methods：
At the uniform velocity distribute：According to system suggestion, survey crew are walked during exploration with even speed, and system records two With terminating time, and time of wireless signal that period is detected every time between at the beginning of critical path point, according to information above Signal constant duration is assigned on the grid of current exploration subpath covering；
It is non-at the uniform velocity to distribute：Survey crew are walked with rubato, and exploration mobile terminal passes through gait detection algorithm assessor The translational speed change of member, after survey crew complete the exploration of a paths, system is according to the beginnings of two critical path points Time and the speed change for terminating time, the time of the wireless signal during which detected every time, and survey crew's speed of travel, will Signal of the detection time between t1 and t2 distribute toGrid in, wherein：D is whole The physical length of bar survey path, d are that grid is surveyed in survey path apart from the distance of starting point, T for whole piece survey path Survey time span.
Signal can be allocated according to different scenes, improve the accuracy of survey path division, practical performance is strong.
Preferably, survey mobile terminal and realize that received signals fingerprint gathers by following steps：
1) by surveying radio-frequency communication module, electrical compass module, accelerometer and gyroscope mould inside mobile terminal Block, the wireless signal or Geomagnetic signal fingerprint vector on collecting device periphery, wherein：Communication module is responsible for gathering connecing for wireless signal By signal strength information (RSSI), electrical compass module is responsible for gathering Geomagnetic signal in the horizontal direction and the vertical direction strong Degree, accelerometer and gyro module estimate positive north direction and mobile phone by Kalman filter auxiliary electron compass module Angle of inclination, fastened for the Geomagnetic signal of collection to be projected into the world coordinates based on direct north；
2) different mobile terminals collects RSSI difference due to hardware differences in same position, passes through preset increasing Beneficial correction database is corrected, updating formula RSSI_P=G*RSSI_L, wherein：RSSI_L is that original from mobile phone is surveyed Data are surveyed, G is compared with reference terminal equipment, according to the mobile phone gain correction coefficient of following parameter establishment, including but is not limited to In mobile phone model, Wi-Fi working channels, Wi-Fi signal source position and direction of travel；
3) projection of Geomagnetic signal intensity in all directions caused by surveying the hardware differences of mobile terminal, passes through [t_n t_z t_e]T=M [s_n s_z s_e]TIt is corrected, wherein [s_n s_z s_e] is to be gathered by exploration mobile terminal Projection vector of the not calibrated Geomagnetic signal on due north, the earth's core, three, due east direction, M is the spin moment for correction Battle array, [t_n t_z t_e] be it is calibrated after projection vector of the Geomagnetic signal on due north, the earth's core, three, due east direction, T is Transposition operator, the hardware differences of energy abatement apparatus, effectively improve the data reliability that low cost surveys mobile terminal.
Preferably, fingerprint exploration management server realizes that fingerprint database synthesizes by following steps：
1) method gathered to original fingerprint survey data according to received signals fingerprint is corrected；
2) survey path according to corresponding to uploading data, extraction path covers the fingerprint on grid from fingerprint database Data；
If 3) do not have finger print data on corresponding grid, the survey data after correction is added to corresponding grid；
If 4) existing finger print data on corresponding grid, according to system convention by the survey data corrected and existing Finger print data merges.
When the survey data quality corrected is unreliable (as excessive in disturbed, data variation degree is excessive), then abandon merging.
Preferably, fingerprint database is realized by following steps and synthesized：
1) method gathered to original fingerprint survey data according to received signals fingerprint is corrected；
2) according to the exploration time of survey data, fingerprint survey data after being corrected in same grid is passed through Carry out priority aggregation, wherein, s be synthesis finger print data, st-nFor the exploration finger print data obtained in time t_n, wnFor weight Coefficient, wnCalculated according to the empirical function with surveying time correlation；
3) to the survey data in different grids, pass throughCarry out priority aggregation, wherein spos_nIt is position The finger print data being set on pos_n grid, vnFor weight coefficient, vnAccording to current grid and position between pos_n grid The empirical function of distance calculates.
Preferably, fingerprint exploration management server includes exclusive reconnaissance mode, non-exclusive reconnaissance mode：
Exclusive reconnaissance mode, when a mobile terminal obtains a survey path, fingerprint exploration management server will The path is locked, and before current mobile terminal does not complete path exploration, other mobile terminals can not obtain this again Bar survey path is surveyed；
Non- exclusive reconnaissance mode, each paths can be distributed to multiple exploration mobile terminals simultaneously, when exploration is mobile eventually End upload survey path when, fingerprint survey management server according to path survey the time survey data is stored, be used for into The survey data synthesis of one step.
Help to reduce the conflict of Data Synthesis by monopolizing reconnaissance mode, be favorably improved by non-exclusive reconnaissance mode The speed of exploration.
Preferably, the fingerprint exploration management server can be set up by home server and distributed server, this When ground server is set up, the fingerprint database, map data base, management terminal, exploration mobile terminal, access interface and fingerprint Exploration management server is connected by routine interface, when distributed server is set up, the fingerprint database, map datum Storehouse, management terminal, exploration mobile terminal, access interface are connected with fingerprint exploration management server by network communication interface, institute State and selftest module and positioning application performance evaluation module be additionally provided with fingerprint exploration management server, follow-up maintenance can be realized, Reduce maintenance cost, ensure that the sustainable validity of database.
In summary, advantages of the present invention：Management server is surveyed by fingerprint task distribution, exploration number are surveyed to fingerprint According to storage, analysis, processing and finger print data access service is provided, management terminal surveys mission planning, fingerprint database to fingerprint With the management, modification and renewal of map data base, exploration mobile terminal be used for fingerprint exploration task carry out, survey data collection with Upload, access interface is used for fingerprint exploration management server and exchanged with other systems progress fingerprint with map datum, adapts to appoint The engineering survey part for the fingerprint location system what is supported by intelligent mobile terminal, greatly reduce the technology door of exploration work Sill, the cost of labor of exploration is reduced, survey data conflict can be avoided.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation of distributed parallel survey system for fingerprint location of the invention.
Embodiment
As shown in Figure 1：A kind of distributed parallel survey system for fingerprint location, including for fingerprint exploration task point Hair, survey data storage, analysis, processing and provide finger print data access service fingerprint exploration management server 1, respectively with finger The connected fingerprint database 2 of line exploration management server 1, map data base 3, management terminal 4, exploration mobile terminal 5, access connect Mouth 6, the internal memory of fingerprint database 2 contain the original survey data of received signals fingerprint vector and through handling with being used to position after synthesis Synthesis fingerprint data, the internal memory of map data base 3 contains map datum, and the management terminal 4 is used for fingerprint exploration task Management, modification and the renewal of planning, fingerprint database and map data base, the exploration mobile terminal 5 are used for fingerprint exploration and appointed Business is carried out, survey data collection and upload, the access interface 6 are used for fingerprint exploration management server and referred to other systems Line is exchanged with map datum, and the fingerprint exploration management server can be set up by home server and distributed server, When home server is set up, the fingerprint database, map data base, management terminal, exploration mobile terminal, access interface and finger Line exploration management server is connected by routine interface, when distributed server is set up, the fingerprint database, map number It is connected according to storehouse, management terminal, exploration mobile terminal, access interface with fingerprint exploration management server by network communication interface, Selftest module and positioning application performance evaluation module are additionally provided with the fingerprint exploration management server, follow-up dimension can be realized Shield, reduces maintenance cost, ensure that the sustainable validity of database.
Fingerprint exploration management server realizes the fingerprint investigation method of localization region, comprises the following steps successively：
1) plan：Management terminal obtains the map datum of localization region from fingerprint exploration management server first, to required Localization region is covered by a plurality of survey path, and the planning of survey path is uploaded into fingerprint exploration management server and entered Row exploration distribution；
2) distribution and exploration：One or more fingerprint exploration mobile terminals are by asking fingerprint to survey management server, respectively From independently according to obtaining step 1) in the planning of survey path and the distribution of system, fetching portion survey path；Each fingerprint Exploration mobile terminal is independently completed the fingerprint signal collection in its allocated survey path；
3) upload and merge with data：Fingerprint signal of each fingerprint exploration mobile terminal on current survey path is completed is adopted After collection, data are uploaded to fingerprint exploration management server using mobile network or Wi-Fi network, and with fingerprint survey data Synchronized upload data below, data include but is not limited to acquisition time, fingerprint exploration mobile terminal ardware model number, survey crew's body Part information, fingerprint exploration management server are first deposited the original survey data of fingerprint vector for surveying mobile terminal upload Storage, the synchrodata further according to more than, the merging of data, additions and deletions, renewal are carried out with existing fingerprint database.
Exploration speed can be increased exponentially by above-mentioned steps.
Fingerprint surveys the fingerprint investigation method of management server realizing route, including survey path division methods and signal Fingerprint collecting method, the survey path division methods, comprises the following steps successively：
1) map for needing survey area is uniformly divided into equal shape and size, the grid of non-overlapping copies, and ensures grid Radius should be not more than fingerprint location precision；
2) according to the landform of map, building, POI, by can be in traffic areas grid continuously surveyed with one Path concatenates, and realizes the survey path covering to localization region；
3) in addition to two end points in path, some critical path points can be included on a paths, critical path point is used to mark The end points in pine torch path, for preventing discontinuity and signal acquisition due to environment and signal acquisition caused by operation reason Cumulative error, whole survey path generation are completed by sequentially generating its each subpath.
Grid can be arranged to square or regular hexagon, survey path can be arranged to single position, straight Line, broken line, curve, broken line and curve blending, it can be realized by above-mentioned steps efficient to the progress of large area localization region Finger print data surveys.
The received signals fingerprint acquisition method comprises the following steps successively：
1) exploration mobile terminal selects a survey path first, and system obtains the exploration by survey path division methods Grid and the critical path point covered on path；
2) starting point of the critical path point as exploration in mobile terminal selection survey path is surveyed, starts to gather signal Fingerprint；
3) the hand-held exploration mobile terminal of user, along current path to move, it is ensured that system is a signal acquisition week Displacement is no more than grid number as defined in system in phase；
4) when user reaches next critical path point, notice exploration mobile terminal, exploration mobile terminal is according to its row Speed and the received signals fingerprint collected are walked, signal is prorated to each grid of the subpath；
5) repeat step 3), step 4), the end points until reaching whole path, or exit current exploration manually；
6) exploration mobile terminal will survey finger print data and be uploaded to fingerprint exploration management server.
It can be realized by above-mentioned steps and efficient finger print data exploration is carried out to large area localization region.
Signal distribution in step 4) uses following two distribution methods：
At the uniform velocity distribute：According to system suggestion, survey crew are walked during exploration with even speed, and system records two With terminating time, and time of wireless signal that period is detected every time between at the beginning of critical path point, according to information above Signal constant duration is assigned on the grid of current exploration subpath covering；
It is non-at the uniform velocity to distribute：Survey crew are walked with rubato, and exploration mobile terminal passes through gait detection algorithm assessor The translational speed change of member, after survey crew complete the exploration of a paths, system is according to the beginnings of two critical path points Time and the speed change for terminating time, the time of the wireless signal during which detected every time, and survey crew's speed of travel, will Signal of the detection time between t1 and t2 distribute toGrid in, wherein：D is whole The physical length of bar survey path, d are that grid is surveyed in survey path apart from the distance of starting point, T for whole piece survey path Time span is surveyed, the sensors such as accelerometer, gyroscope and electronic compass are provided with exploration mobile terminal, are easy to gait to detect The translational speed change of algorithm estimator.
Exploration mobile terminal realizes that received signals fingerprint gathers by following steps：
1) by surveying mobile terminal internal radio frequency communication module, electrical compass module, accelerometer and gyroscope mould Block, the wireless signal or Geomagnetic signal fingerprint vector on collecting device periphery, wherein：Communication module is responsible for gathering connecing for wireless signal By signal strength information (RSSI), electrical compass module is responsible for gathering Geomagnetic signal in the horizontal direction and the vertical direction strong Degree, accelerometer and gyro module estimate positive north direction and mobile phone by Kalman filter auxiliary electron compass module Angle of inclination, fastened for the Geomagnetic signal of collection to be projected into the world coordinates based on direct north；
2) different mobile terminals collects RSSI difference due to hardware differences in same position, passes through preset increasing Beneficial correction database is corrected, updating formula RSSI_P=G*RSSI_L, wherein：RSSI_L is that original from mobile phone is surveyed Data are surveyed, G is compared with reference terminal equipment, according to the mobile phone gain correction coefficient of following parameter establishment, including but is not limited to In mobile phone model, Wi-Fi working channels, Wi-Fi signal source position and direction of travel, can also be surveyed in the past by survey crew The quality of data；
3) projection of Geomagnetic signal intensity in all directions caused by surveying the hardware differences of mobile terminal, passes through [t_n t_z t_e]T=M [s_n s_z s_e]TIt is corrected, wherein [s_n s_z s_e] is to be gathered by exploration mobile terminal Projection vector of the not calibrated Geomagnetic signal on due north, the earth's core, three, due east direction, M is the spin moment for correction Battle array, [t_n t_z t_e] be it is calibrated after projection vector of the Geomagnetic signal on due north, the earth's core, three, due east direction, T is Transposition operator.
Fingerprint surveys management server and realizes that fingerprint database synthesizes by following steps：
1) method gathered to original fingerprint survey data according to received signals fingerprint is corrected；
2) survey path according to corresponding to uploading data, extraction path covers the fingerprint on grid from fingerprint database Data；
If 3) do not have finger print data on corresponding grid, the survey data after correction is added to corresponding grid；
If 4) existing finger print data on corresponding grid, according to system convention by the survey data corrected and existing Finger print data merges.
When the survey data quality corrected is unreliable (as excessive in disturbed, data variation degree is excessive), then abandon merging.
Fingerprint database is realized by following steps and synthesized：
1) method gathered to original fingerprint survey data according to received signals fingerprint is corrected；
2) according to the exploration time of survey data, fingerprint survey data after being corrected in same grid is passed through
Carry out priority aggregation, wherein, s be synthesis finger print data, st-nSurveyed for what is obtained in time t_n Survey finger print data, wnFor weight coefficient, wnCalculated according to the empirical function with surveying time correlation；
3) to the survey data in different grids, pass throughCarry out priority aggregation, wherein spos_nIt is position For the finger print data on pos_n grid, vnFor weight coefficient, vnBetween the grid for being pos_n according to current grid and position away from From empirical function calculate.
Signal can be allocated according to different scenes, improve the accuracy of survey path division, practical performance is strong.
Fingerprint exploration management server includes exclusive reconnaissance mode, non-exclusive reconnaissance mode：
Exclusive reconnaissance mode, when a mobile terminal obtains a survey path, fingerprint exploration management server will The path is locked, and before current mobile terminal does not complete path exploration, other mobile terminals can not obtain this again Bar survey path is surveyed；
Non- exclusive reconnaissance mode, each paths can be distributed to multiple exploration mobile terminals simultaneously, when exploration is mobile eventually End upload survey path when, fingerprint survey management server according to path survey the time survey data is stored, be used for into The survey data synthesis of one step.
Help to reduce the conflict of Data Synthesis by monopolizing reconnaissance mode, be favorably improved by non-exclusive reconnaissance mode The speed of exploration.
Management server is surveyed to the distribution of fingerprint exploration task, survey data storage, analysis, processing and offer by fingerprint Finger print data accesses service, and management terminal surveys the management of mission planning, fingerprint database and map data base, modification to fingerprint With renewal, exploration mobile terminal, which is used for fingerprint exploration task, to be carried out, and survey data is gathered and uploaded, and access interface is surveyed for fingerprint Survey management server and other systems progress fingerprint to exchange with map datum, adapt to any by intelligent mobile terminal support be referred to The engineering survey part of line alignment system, the technical threshold of exploration work is greatly reduced, the cost of labor of exploration is reduced, can keep away Exempt from survey data conflict.

Claims (9)

  1. A kind of 1. distributed parallel survey system for fingerprint location, it is characterised in that：Including for fingerprint exploration task point Hair, survey data storage, analysis, processing and provide finger print data access service fingerprint exploration management server (1), respectively with The connected fingerprint database (2) of fingerprint exploration management server (1), map data base (3), management terminal (4), exploration are mobile eventually (5), access interface (6) are held, fingerprint database (2) internal memory contains the original survey data of received signals fingerprint vector and through processing With being used for the synthesis fingerprint data positioned after synthesis, map data base (3) internal memory contains map datum, the management terminal (4) it is used for management, modification and the renewal of fingerprint exploration mission planning, fingerprint database and map data base, the exploration movement Terminal (5) is used for the progress of fingerprint exploration task, survey data collection and uploaded, and the access interface (6) is used for fingerprint and surveys pipe Reason server carries out fingerprint with other systems and exchanged with map datum；
    Exploration mobile terminal realizes that received signals fingerprint gathers by following steps：
    1) by surveying radio-frequency communication module, electrical compass module, accelerometer and gyro module inside mobile terminal, adopt Collect the wireless signal or Geomagnetic signal fingerprint vector on equipment periphery, wherein：Communication module is responsible for gathering the receiving letter of wireless signal Number strength information (RSSI), electrical compass module are responsible for gathering the intensity of Geomagnetic signal in the horizontal direction and the vertical direction, added Speedometer estimates the inclination of positive north direction and mobile phone with gyro module by Kalman filter auxiliary electron compass module Angle, fastened for the Geomagnetic signal of collection to be projected into the world coordinates based on direct north；
    2) different exploration mobile terminals collects RSSI difference due to hardware differences in same position, passes through preset increasing Beneficial correction database is corrected, updating formula RSSI_P=G*RSSI_L, wherein：RSSI_L is that original from mobile phone is surveyed Data are surveyed, G is compared with reference terminal equipment, according to the mobile phone gain correction coefficient of following parameter establishment, including but is not limited to In mobile phone model, Wi-Fi working channels, Wi-Fi signal source position and direction of travel；
    3) projection of Geomagnetic signal intensity in all directions caused by surveying the hardware differences of mobile terminal, passes through [t_n t_z t_e]T=M [s_n s_z s_e]TBe corrected, wherein [s_n s_z s_e] be by exploration mobile terminal gather without Projection vector of the Geomagnetic signal of correction on due north, the earth's core, three, due east direction, M are spin matrix for correction, [t_n T_z t_e] projection vector for the Geomagnetic signal after calibrated on due north, the earth's core, three, due east direction, T is transposition operation Symbol.
  2. A kind of 2. distributed parallel survey system for fingerprint location according to claim 1, it is characterised in that：Fingerprint Exploration management server realizes the fingerprint investigation method of localization region, comprises the following steps successively：
    1) plan：Management terminal obtains the map datum of localization region from fingerprint exploration management server first, to required positioning Region is covered by a plurality of survey path, and the planning of survey path is uploaded into fingerprint exploration management server and surveyed Survey distribution；
    2) distribution and exploration：One or more fingerprint exploration mobile terminals are by asking fingerprint to survey management server, each solely On the spot according to obtaining step 1) in the planning of survey path and the distribution of system, fetching portion survey path；Each fingerprint exploration Mobile terminal is independently completed the fingerprint signal collection in its allocated survey path；
    3) upload and merge with data：Fingerprint signal of each fingerprint exploration mobile terminal on current survey path is completed gathers it Afterwards, data are uploaded to fingerprint exploration management server using mobile network or Wi-Fi network, and it is synchronous with fingerprint survey data Data below is uploaded, data include but is not limited to acquisition time, fingerprint exploration mobile terminal ardware model number, survey crew's identity letter Breath, fingerprint exploration management server are first stored the original survey data of fingerprint vector for surveying mobile terminal upload, then Synchrodata more than, merging for data, additions and deletions, with renewal are carried out with existing fingerprint database.
  3. A kind of 3. distributed parallel survey system for fingerprint location according to claim 1, it is characterised in that：Fingerprint The fingerprint investigation method of management server realizing route, including survey path division methods and received signals fingerprint acquisition method are surveyed, The survey path division methods, comprise the following steps successively：
    1) map for needing survey area is uniformly divided into equal shape and size, the grid of non-overlapping copies, and ensures grid radius Fingerprint location precision should be not more than；
    2) according to the landform of map, building, POI, by can be in traffic areas grid with a continuous survey path Concatenation, realize the survey path covering to localization region；
    3) in addition to two end points of survey path, some critical path points can be included in a survey path, critical path point is used In the end points for indicating subpath, for preventing because environment and the discontinuity of signal acquisition and signal caused by operation reason are adopted The cumulative error of collection, whole survey path generation are completed by sequentially generating its each subpath.
  4. A kind of 4. distributed parallel survey system for fingerprint location according to claim 3, it is characterised in that：It is described Received signals fingerprint acquisition method comprises the following steps successively：
    1) exploration mobile terminal selects a survey path first, and system obtains the survey path by survey path division methods Grid and the critical path point of upper covering；
    2) starting point of the critical path point as exploration in mobile terminal selection survey path is surveyed, starts collection signal and refers to Line；
    3) the hand-held exploration mobile terminal of user, is moved, it is ensured that system is in a signal acquisition periods along current survey path Interior displacement is no more than grid number as defined in system；
    4) when user reaches next critical path point, notice exploration mobile terminal, exploration mobile terminal is according to its walking speed The received signals fingerprint spent and collected, signal is prorated to each grid of the survey path；
    5) repeat step 3), step 4), the end points until reaching whole survey path, or exit current exploration manually；
    6) exploration mobile terminal will survey finger print data and be uploaded to fingerprint exploration management server.
  5. A kind of 5. distributed parallel survey system for fingerprint location according to claim 4, it is characterised in that：Step 4) the signal distribution in uses following two distribution methods：
    At the uniform velocity distribute：According to system suggestion, survey crew are walked during exploration with even speed, and system records two keys With terminating time, and time of wireless signal that period is detected every time between at the beginning of path point, will be believed according to information above It is assigned on the grid of current exploration subpath covering number constant duration；
    It is non-at the uniform velocity to distribute：Survey crew are walked with rubato, and exploration mobile terminal passes through gait detection algorithm estimator's Translational speed changes, after survey crew complete a survey path, system according between at the beginning of two critical path points with The speed change of time, the time of the wireless signal during which detected every time, and survey crew's speed of travel is terminated, during by detecting Between signal between t1 and t2 distribute toGrid in, wherein：D is that whole piece surveys road The physical length in footpath, d are that grid is grown in survey path apart from the distance of starting point, T for the exploration time of whole piece survey path Degree.
  6. A kind of 6. distributed parallel survey system for fingerprint location according to claim 1, it is characterised in that：Fingerprint Exploration management server realizes that fingerprint database synthesizes by following steps：
    1) method gathered to original fingerprint survey data according to received signals fingerprint is corrected；
    2) survey path according to corresponding to uploading data, extraction path covers the fingerprint number on grid from fingerprint database According to；
    If 3) do not have finger print data on corresponding grid, the survey data after correction is added to corresponding grid；
    If 4) existing finger print data on corresponding grid, according to system convention by the survey data corrected and existing fingerprint Data merge.
  7. A kind of 7. distributed parallel survey system for fingerprint location according to claim 1, it is characterised in that：Fingerprint Database is realized by following steps and synthesized：
    1) method gathered to original fingerprint survey data according to received signals fingerprint is corrected；
    2) according to the exploration time of survey data, fingerprint survey data after being corrected in same grid is passed throughCarry out Priority aggregation, wherein, s be synthesis finger print data, st_nFor the exploration finger print data obtained in time t_n, wnFor weight system Number；
    3) to the survey data in different grids, pass throughCarry out priority aggregation, wherein spos_nIt is that position is Finger print data on pos_n grid, vnFor weight coefficient.
  8. A kind of 8. distributed parallel survey system for fingerprint location according to claim 1, it is characterised in that：Fingerprint Surveying management server includes exclusive reconnaissance mode, non-exclusive reconnaissance mode：
    Exclusive reconnaissance mode, when a mobile terminal obtains a survey path, fingerprint exploration management server will the road Footpath is locked, and before current mobile terminal does not complete path exploration, other mobile terminals can not obtain this again and survey Path is surveyed to be surveyed；
    Non- exclusive reconnaissance mode, each paths can be distributed to multiple exploration mobile terminals simultaneously, when on exploration mobile terminal When passing survey path, fingerprint surveys management server and survey data is stored according to the path exploration time, for further Survey data synthesis.
  9. A kind of 9. distributed parallel survey system for fingerprint location according to claim 1, it is characterised in that：It is described Fingerprint exploration management server can be set up by home server and distributed server, described when home server is set up Fingerprint database, map data base, management terminal, exploration mobile terminal, access interface and fingerprint exploration management server are logical Routine interface is crossed to be connected, when distributed server is set up, the fingerprint database, map data base, management terminal, exploration movement Terminal, access interface are connected with fingerprint exploration management server by network communication interface, and the fingerprint surveys management server On be additionally provided with selftest module and positioning application performance evaluation module.
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