CN104540222A - Indoor terminal positioning method based on virtual sampling points - Google Patents
Indoor terminal positioning method based on virtual sampling points Download PDFInfo
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- CN104540222A CN104540222A CN201510031811.2A CN201510031811A CN104540222A CN 104540222 A CN104540222 A CN 104540222A CN 201510031811 A CN201510031811 A CN 201510031811A CN 104540222 A CN104540222 A CN 104540222A
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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
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
- H04W84/12—WLAN [Wireless Local Area Networks]
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses an indoor terminal positioning method based on virtual sampling points. The indoor terminal positioning method comprises the following steps: collecting and filtering signal strength of a terminal; judging which AP (access point) wins fast to realize fast positioning of the AP when the terminal is very close to the AP, wherein if a certain AP receives the signal strength of the terminal, which is larger than a set threshold value, the AP is considered to win fast, and then outputting the position of the AP as a positioning result; executing the similarity matching process of the virtual sampling points, and selecting the sampling point as the positioning result if a certain virtual sampling point wins; executing weight matching of the virtual sampling points, and selecting the sampling point as the positioning result if a certain virtual sampling point wins; and otherwise, keeping the position of terminal unchanged. The logic relation between the position in an actual environment and the AP in a WIFI (wireless fidelity) environment is in correspondence through the virtual sampling points, and the virtual sampling points are used as positioning datum points for indoor positioning, thereby avoiding the sampling work for sampling positioning and improving the capability of responding to the changes in the environment.
Description
Technical field
the invention belongs to indoor positioning technologies field, be specifically related to a kind of indoor terminal localization method based on virtual sampled point.
Background technology
indoor positioning refers to that in indoor environment, realize position locates, and mainly adopts a set of indoor location locating systems of the integrated formation of multiple technologies such as wireless telecommunications, architecture, inertial navigation location, thus realizes the monitoring position in the interior space such as personnel, object.Indoor positioning technologies mainly divides architecture and inertial navigation location Liang Zhong service provider.Architecture service provider mainly contains: Google, Nokia, TI, apple, Gao De, Baidu etc. adopt WIFI location; Inertial navigation positioning service business mainly contains: the NAVISEER of the U.S., the auspicious spectrum science and technology of draco, Shanghai Fire Research Station.
use WIFI signal intensity to carry out the mainstream technology that terminal positioning is current indoor positioning, but often there is uncertain beating, the location made the mistake because its unsteadiness result in locating effect in WIFI signal.In existing terminal sampling location algorithm, there is four problems needs to improve: first, based on the location algorithm of sampling, when environmental field is very large time, require very large workload, and requires to sample on the spot, can increase the difficulty of sampling.Secondly, if certain environment changes, need to carry out resampling to whole environment.If some change of this environment, such as certain AP is because fault or remove and disappear, or certain AP newly-increased or a newly-built in the environment wall, and the RSSI of so whole environment is just no longer different from the signal distributions of prior sample, needs resampling.Again, the location algorithm of sampling is more responsive for the numerical value change of live signal, and easy generation is beated on a large scale.Beating or lacking of certain AP data of live signal, can cause beating of positioning result on a large scale, lacks the auxiliary of geography information, can cause very bad visual experience.4th, may there is some place in display environment, it is not very convenient for sampling on the spot.Therefore, based on the indoor positioning technologies of virtual sampled point, exactly in order to reduce the workload of sampling, improving adaptability to changes when environment changes, reducing positioning result to the susceptibility of real-time signal strength, improving positioning precision and confidence level.
the essence of virtual sampled point is abstract to signal mode under position in actual environment and WIFI environment on map, by virtual sampled point, by current real-time WIFI signal, corresponding comparison can be carried out with the physical location in environment, carry out indoor positioning as positioning datum point.Virtual sampled point not only reflects the positional information in actual environment, also reflects sampling point position with the logical message between neighbour AP, and according to the corresponding relation between positional information and logical message, by the comparison of algorithm, calculates current real time position.
Summary of the invention
the present invention seeks to: a kind of indoor terminal localization method based on virtual sampled point is provided, carry out corresponding to the position in actual environment with the AP logical relation of WIFI environment by virtual sampled point, virtual sampled point is carried out indoor positioning as positioning datum point, exempt the sampling work of sampling location, improve the responding ability to environmental change.
technical scheme of the present invention is:
a kind of indoor terminal localization method based on virtual sampled point, virtual sampled point is the cartographic information of configuration in early stage, comprise this position under actual environment position, WIFI environment signal strength information and and neighbor relationships information around between AP, using the datum mark of virtual sampled point as location; This localization method comprises the following steps:
s01: obtain real time positioning data and filter the signal strength signal intensity of terminal;
s02: carry out the judgement that AP wins fast, make terminal when very near AP can quick position to AP; If the signal strength signal intensity having certain AP to receive terminal is greater than the Second Threshold of setting, then think that it is won fast, export the position of this AP as positioning result; Otherwise continue to perform;
s03: mate with the neighbour AP of real time data the neighbour AP of the virtual sampled point of neighbour, if the virtual sampled point of certain neighbour is won, then selects the virtual sampled point of this neighbour as positioning result; Otherwise continue to perform;
s04: carry out having the sampled point of weights to mate the virtual sampled point of several neighbours the highest for matching degree, compared by the weights of current neighbour AP real time data and neighbour's sampled point, if certain virtual sampled point is won, then select this virtual sampled point as positioning result; Otherwise keep terminal current location constant.
preferably, the step of configuration virtual sampled point comprises:
s11: configure AP in actual environment, imports Environmental Map Information in navigation system, simultaneously based on the virtual sampled point of certain rules selection;
s12: according to the distance of the virtual sampled point in actual environment and AP, and the path relation between them, configuration virtual sampled point, arranges the neighbour AP with weight;
s13: virtual sampled point is corrected, the virtual sampled point that adjustment position error is larger.
preferably, described rule comprises:
virtual sampled point and the distance of AP geographically and on map location of configuration can not be excessively near, and virtual sampled point and neighbour AP distance can not be excessively far away;
if only have an AP in certain enclosure space, arrange so at most a virtual sampled point, the neighbour AP of this virtual sampled point is unique, is set to this AP; If this AP is placed on the center in this space, and this enclosure space area is less, does not arrange virtual sampled point;
virtual sampled point is arranged on the place that the density of population is large or flow of the people is many;
the neighbour AP that virtual sampled point is arranged is no more than 4;
do not arrange the virtual sampled point that two have identical neighbour AP, if having identical virtual sampled point, the weights of so each virtual sampled point neighbour AP must be distinguished to some extent.
preferably, the neighbour AP that described virtual sampled point is arranged is 2-3.
preferably, after localizing environment changes, the set-up procedure of virtual sampled point is comprised:
s21: if certain location AP is because of fault or remove and disappear, so cancel neighbour's state of this AP and all virtual sampled points, the virtual sampled point not being neighbour with this AP does not need to adjust;
s22: if add location AP, so rule is set according to neighbour AP and virtual for the neighbour satisfied condition sampled point is set to neighbour, and distribute weights accordingly;
s23: if certain location AP moves position, increase again this AP after disappearing with reference to this AP and operate.
preferably, described step S01 comprises the signal strength signal intensity removing and be less than first threshold and removes not AP data under the present circumstances, and carries out data smoothing according to history samples data; Judge whether that sampled data is greater than locating threshold.
preferably, be greater than AP data be greater than Second Threshold if described step S02 comprises having, judge whether maximum AP data are greater than the 3rd threshold value with time difference of large AP data, if be greater than the 3rd threshold value, win fast, navigate to AP, restoring to normal position result; Otherwise continue to perform.
advantage of the present invention is:
1. when utilizing virtual sampled point to carry out indoor positioning, the configuration for environment can not need to sample on the spot, eliminates the time and workload of sampling to each sampled point in environment, also has reasonable application for the environment of being inconvenient to sample.
. when localizing environment changes, can modify to environment eaily and reconfigure, and not need again to sample.
. utilize virtual sampled point to carry out the method for indoor positioning, loosely, the change of real-time signal strength can not cause the significantly jump of anchor point to the coupling ratio of positioning result and live signal, and shake is among a small circle also not obvious, and positioning result is more stable.
Accompanying drawing explanation
below in conjunction with drawings and Examples, the invention will be further described:
fig. 1 is position and the neighbour AP selection schematic diagram of the virtual sampled point of a kind of indoor terminal localization method based on virtual sampled point of the present invention;
fig. 2 is the flow chart of a kind of indoor terminal localization method based on virtual sampled point of the present invention.
wherein: 1, virtual sampled point, 2, neighbor relationships between virtual sampled point and AP, 3, radio access point (AP).
Embodiment
below in conjunction with specific embodiment, such scheme is described further.Should be understood that these embodiments are not limited to for illustration of the present invention limit the scope of the invention.The implementation condition adopted in embodiment can do further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in normal experiment.
embodiment:
a kind of indoor terminal localization method based on virtual sampled point, wherein virtual sampled point is the cartographic information of configuration in early stage, virtual sampled point represents actual environment position, also the corresponding signal strength information carrying this position under WIFI environment, and and around AP(radio access point) between neighbor relationships information.Virtual sampled point defines out when configuration surroundings map, replaces based on the sampled point in the indoor orientation method of sampling, as the datum mark of location.By fairly simple configuration, instead of heavy sampling, indoor environment WIFI signal intensity distributions more intuitively can be obtained, and be applied to indoor terminal location.
the step of configuration virtual sampled point comprises:
step one: configure AP in actual environment, while covering, can be applied to indoor terminal location for indoor WIFI.
step 2: import Environmental Map Information in navigation system, simultaneously based on the virtual sampled point of certain rules selection.
step 3: according to the distance of the virtual sampled point in actual environment and AP, and the path relation between them, configuration virtual sampled point, arranges the neighbour AP with weight.
step 4: virtual sampled point is corrected, the virtual sampled point that adjustment position error is larger.
utilize virtual sampled point to position, require to carry out configuration correct in detail before locating in real time, main deploy content and equipping rules have:
principle one: geographically and can not be excessively near on map location, otherwise in algorithm computational process, virtual sampled point is covered by AP cannot navigate to this point for the virtual sampled point of configuration and AP.
principle two: virtual sampled point and neighbour AP distance can not be excessively far away, otherwise the physical location near AP can be navigated to this virtual sampled point when calculating, position error is strengthened.
principle three: if only have an AP in certain enclosure space, arrange so at most a virtual sampled point, the neighbour AP of this virtual sampled point is unique, is set to this AP.If this AP is placed on the center in this space, and this enclosure space area is less, so had better not arrange virtual sampled point.
principle four: virtual sampled point is generally arranged on the larger place of the density of population, or the place that flow of the people is many, as the Office Area of relatively concentrating, or more indoor than be easier to through crossing.
principle five: virtual sampled point does not generally need to arrange a lot of neighbour AP, preferably not more than 4, best neighbour AP is 2-3, because greatly can increase the complexity of algorithm like this, and will reduce the precision of location.
principle six: do not arrange the virtual sampled point that two have identical neighbour AP, if they have identical virtual sampled point, the weights of so each virtual sampled point neighbour AP must be distinguished to some extent.
principle seven: the impact that will take into full account various barrier when arranging virtual sampled point, as a stifled very thick wall can make physically close AP and virtual sampled point not be neighbours.
after localizing environment changes, need to adjust virtual sampled point, set-up procedure comprises:
step one: if certain location AP is because of fault or remove and disappear, so cancel neighbour's state of this AP and all virtual sampled points, the virtual sampled point not being neighbour with this AP does not need to adjust.
step 2: if add location AP, so rule is set according to neighbour AP and virtual for the neighbour satisfied condition sampled point is set to neighbour, and distribute weights accordingly.
step 3: if certain location AP moves position, increase again this AP after disappearing with reference to this AP and operate.
as shown in Figure 1, based on the virtual sampling point position selection scheme of indoor terminal of virtual sampled point.
as shown in Figure 1, in Fig. 1, each virtual sampled point 1 defines its neighbour AP3, as locating information with dotted line 2 for the virtual sampling point position that this example uses and AP deployment information.Each virtual sampled point 1 has 2-3 neighbour AP3, and each neighbour AP3 is substantially identical with the distance of this virtual sampled point 1, and this makes each neighbour AP3 have identical weights.When selecting virtual sampled point 1, the position of each virtual sampled point 1 is selected at crossing, or the region that flow of the people is larger (as corridor etc.).And do not have two virtual sampled points to have identical neighbour AP.Each virtual sampled point participates in location as the datum mark of location, when certain AP wins in AP wins fast, navigates to this AP, when certain virtual sampled point is won in sampled point coupling, navigates to this sampled point.If do not have AP and virtual sampled point to win, then this locates not restoring to normal position result, and terminal location is constant.
as shown in Figure 2, the step utilizing virtual sampled point to carry out terminal positioning comprises:
step one: obtain real time positioning data, and the RSSI data of target terminal that current all AP collect;
step 2: filter real time data, removes and is less than the data of threshold value, be less than threshold value data we think that signal strength signal intensity is too little, do not have value in localization, generally, the scope of threshold value is [-75 ,-65], adjusts according to relevant context information; Remove not AP data under the present circumstances; And carry out data smoothing according to history samples data.Historical data information is the RSSI data that within current time 5 seconds, system receives.
step 3: judge whether that meeting location condition (has at least a sampled data to be greater than threshold value, threshold value can be-60 herein), if each framing signal is very little, so or the result of current image data is inaccurate, not in the present context, this will not locate this terminal reality.
step 4: AP wins fast: if only have data, so fairly simple to the restriction that AP wins fast, if meet threshold value (threshold value can be-53) herein, then wins fast.If do not met, then return NULL.If do not have AP to win fast, then have two data at least, forward step 5 to.
step 5: AP wins fast again: if certain AP data reaches threshold value (threshold value can be-50) herein, and maximum AP data are greater than threshold value (difference threshold is 10) with time difference of large AP data, then win fast, navigate to AP, restoring to normal position result.
step 6: do not win fast, then read the virtual sampled point of its neighbour to each neighbour AP, and reading database information, obtain the neighbour AP of the virtual sampled point of these neighbours.
step 7: the neighbour AP of the virtual sampled point of neighbour is mated with the neighbour AP of real time data.
step 8: if there is the virtual sampled point of certain neighbour to win in coupling, so navigate to the virtual sampled point of this neighbour, restoring to normal position result.
step 9: if do not have the virtual sampled point coupling of neighbour to win, carry out having the sampled point of weights to mate the virtual sampled point of several neighbours the highest for matching degree.
step 10: by current neighbour AP real time data, compare with the weights of neighbour's sampled point, can by the mode of similar Euler's distance, obtain the similarity of virtual sampled point and real time data, the virtual sampled point that similarity-rough set is large is won, navigate to this virtual sampled point, return as positioning result.If no, this location does not return results, and outgoing position is constant.
above-mentioned example, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalent transformations of doing according to Spirit Essence of the present invention or modification, all should be encompassed within protection scope of the present invention.
Claims (7)
1. the indoor terminal localization method based on virtual sampled point, it is characterized in that, virtual sampled point is the cartographic information of configuration in early stage, comprise this position under actual environment position, WIFI environment signal strength information and and neighbor relationships information around between AP, using the datum mark of virtual sampled point as location; This localization method comprises the following steps:
S01: obtain real time positioning data and filter the signal strength signal intensity of terminal;
S02: carry out the judgement that AP wins fast, make terminal when very near AP can quick position to AP; If the signal strength signal intensity having certain AP to receive terminal is greater than the Second Threshold of setting, then think that it is won fast, export the position of this AP as positioning result; Otherwise continue to perform;
S03: mate with the neighbour AP of real time data the neighbour AP of the virtual sampled point of neighbour, if the virtual sampled point of certain neighbour is won, then selects the virtual sampled point of this neighbour as positioning result; Otherwise continue to perform;
S04: carry out having the sampled point of weights to mate the virtual sampled point of several neighbours the highest for matching degree, compared by the weights of current neighbour AP real time data and neighbour's sampled point, if certain virtual sampled point is won, then select this sampled point as positioning result; Otherwise keep terminal current location constant.
2. the indoor terminal localization method based on virtual sampled point according to claim 1, it is characterized in that, the step of configuration virtual sampled point comprises:
S11: configure AP in actual environment, imports Environmental Map Information in navigation system, simultaneously based on the virtual sampled point of certain rules selection;
S12: according to the distance of the virtual sampled point in actual environment and AP, and the path relation between them, configuration virtual sampled point, arranges the neighbour AP with weight;
S13: virtual sampled point is corrected, the virtual sampled point that adjustment position error is larger.
3. the indoor terminal localization method based on virtual sampled point according to claim 2, it is characterized in that, described rule comprises:
Virtual sampled point and the distance of AP geographically and on map location of configuration can not be excessively near, and virtual sampled point and neighbour AP distance can not be excessively far away;
If only have an AP in certain enclosure space, arrange so at most a virtual sampled point, the neighbour AP of this virtual sampled point is unique, is set to this AP; If this AP is placed on the center in this space, and this enclosure space area is less, does not arrange virtual sampled point;
Virtual sampled point is arranged on the place that the density of population is large or flow of the people is many;
The neighbour AP that virtual sampled point is arranged is no more than 4;
Do not arrange the virtual sampled point that two have identical neighbour AP, if having identical virtual sampled point, the weights of so each virtual sampled point neighbour AP must be distinguished to some extent.
4. the indoor terminal localization method based on virtual sampled point according to claim 3, is characterized in that, the neighbour AP that described virtual sampled point is arranged is 2-3.
5. the indoor terminal localization method based on virtual sampled point according to claim 1, is characterized in that, after localizing environment changes, comprises the set-up procedure of virtual sampled point:
S21: if certain location AP is because of fault or remove and disappear, so cancel neighbour's state of this AP and all virtual sampled points, the virtual sampled point not being neighbour with this AP does not need to adjust;
S22: if add location AP, so rule is set according to neighbour AP and virtual for the neighbour satisfied condition sampled point is set to neighbour, and distribute weights accordingly;
S23: if certain location AP moves position, increase again this AP after disappearing with reference to this AP and operate.
6. the indoor terminal localization method based on virtual sampled point according to claim 1, it is characterized in that, described step S01 comprises the signal strength signal intensity removing and be less than first threshold and removes not AP data under the present circumstances, and carries out data smoothing according to history samples data; Judge whether that sampled data is greater than locating threshold.
7. the indoor terminal localization method based on virtual sampled point according to claim 1, it is characterized in that, if described step S02 comprises having and is greater than AP data and is greater than Second Threshold, judge whether maximum AP data are greater than the 3rd threshold value with time difference of large AP data, if be greater than the 3rd threshold value, win fast, navigate to AP, restoring to normal position result; Otherwise continue to perform.
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| CN105898710A (en) * | 2016-03-25 | 2016-08-24 | 北京智慧图科技有限责任公司 | Virtual-positioning-node-based positioning method and apparatus |
| CN105910605A (en) * | 2016-05-30 | 2016-08-31 | 中国科学技术大学苏州研究院 | Indoor navigation dynamic route generation method |
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