CN104540222B - Indoor terminal localization method based on virtual sampled point - Google Patents
Indoor terminal localization method based on virtual sampled point Download PDFInfo
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- CN104540222B CN104540222B CN201510031811.2A CN201510031811A CN104540222B CN 104540222 B CN104540222 B CN 104540222B CN 201510031811 A CN201510031811 A CN 201510031811A CN 104540222 B CN104540222 B CN 104540222B
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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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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of indoor terminal localization method based on virtual sampled point, collects and filters the signal intensity of terminal；The judgement that AP quickly wins is carried out, terminal is quickly located AP when very close to AP, the signal intensity that terminal is received if some AP is more than the threshold value set, then it is assumed that it is quickly won, and exports the position of the AP as positioning result；Virtual sampled point similarity mode process is performed, if some virtual sampled point is won, selects the sampled point as positioning result；Virtual sampled point weights matching is performed, if some virtual sampled point is won, selects the sampled point as positioning result；Otherwise keep terminal current location constant.The position in actual environment is carried out with the AP logical relations of WIFI environment by virtual sampled point it is corresponding, using virtual sampled point as positioning datum point carry out indoor positioning, exempt sampling positioning sampling work, improve the responding ability to environmental change.
Description
Technical field
The invention belongs to indoor positioning technologies field, and in particular to a kind of indoor terminal positioning side based on virtual sampled point
Method.
Background technology
Indoor positioning refers to realize that position positions in environment indoors, mainly fixed using wireless telecommunications, architecture, inertial navigation
The multiple technologies such as position are integrated to form a set of indoor location locating system, so as to realize the position indoors in space such as personnel, object
Put monitoring.Indoor positioning technologies mainly divide architecture and inertial navigation to position Liang Zhong service providers.Architecture service provider mainly has：Paddy
Song, Nokia, TI, apple, Gao De, Baidu etc. are positioned using WIFI；Inertial navigation positioning service business mainly has：The U.S.
NAVISEER, the auspicious spectrum science and technology of draco, Shanghai Fire Research Station.
Using WIFI signal intensity carry out terminal positioning be current indoor positioning mainstream technology, but WIFI signal due to
Its unstability result in locating effect and uncertain bounce often occur, cause the positioning of mistake.In existing terminal
Sample in location algorithm, that four need to improve be present：First, the location algorithm based on sampling, when environmental field is very big
When, it is desirable to there is very big workload, and require to sample on the spot, the difficulty of sampling can be increased.Secondly, if some environment is sent out
Changing to whole environment, it is necessary to carry out resampling.If some change of the environment, for example some AP would be because failure or shifting
Remove and disappear, either increase some AP or a newly-built in the environment wall newly, then the RSSI of whole environment just no longer with elder generation
The signal distributions difference of preceding sampling is, it is necessary to resampling.Again, numerical value change ratio of the location algorithm of sampling for live signal
It is more sensitive, easily produce bounce on a large scale.The bounce of some AP data of live signal or missing, can cause positioning result
A wide range of bounce, lack the auxiliary of geography information, very bad visual experience can be caused.4th, may in display environment
Some places be present, it is not very convenient to carry out sampling on the spot.Therefore, the indoor positioning technologies based on virtual sampled point, it is exactly
In order to reduce the workload of sampling, adaptability to changes when environment changes is improved, reduces positioning result to real-time signal strength
Susceptibility, improve positioning precision and confidence level.
The essence of virtual sampled point is that position in actual environment and signal mode under WIFI environment are abstracted on map,
By virtual sampled point, can will current real-time WIFI signal, corresponding comparison is carried out with the physical location in environment, as fixed
Position datum mark simultaneously carries out indoor positioning.Virtual sampled point not only reflects the positional information in actual environment, also reflects sampling
Point position passes through algorithm with the logical message between neighbour AP, and according to the corresponding relation between positional information and logical message
Comparison, calculate current real time position.
The content of the invention
The present invention seeks to：A kind of indoor terminal localization method based on virtual sampled point is provided, passes through virtual sampled point
Position in actual environment is carried out with the AP logical relations of WIFI environment corresponding, clicked through using virtual sampled point as positioning datum
Row indoor positioning, exempt the sampling work of sampling positioning, improve the responding ability to environmental change.
The technical scheme is that：
A kind of indoor terminal localization method based on virtual sampled point, virtual sampled point are the cartographic information of configuration early stage,
Signal strength information including the position under actual environment position, WIFI environment and the neighbor relationships letter between AP around
Breath, the datum mark using virtual sampled point as positioning；The localization method comprises the following steps：
S01：Obtain real time positioning data and filter the signal intensity of terminal；
S02：The judgement that AP quickly wins is carried out, makes terminal can be with fast positioning to AP when very close to AP；If
The signal intensity that some AP receives terminal is more than the Second Threshold set, then it is assumed that it is quickly won, and exports the position of the AP
As positioning result；Otherwise continue executing with；
S03：The neighbour AP of the virtual sampled point of neighbour is matched with the neighbour AP of real time data, if some neighbour is empty
Intend sampled point to win, then select the virtual sampled point of the neighbour as positioning result；Otherwise continue executing with；
S04：The sampling Point matching that the virtual sampled point of the several neighbours of matching degree highest is carried out having weights, by current near
Adjacent AP real time datas, if some virtual sampled point is won, select this virtually to adopt compared with the weights of neighbour's sampled point
Sampling point is as positioning result；Otherwise keep terminal current location constant.
Preferably, the step of configuring virtual sampled point includes：
S11：AP is configured in actual environment, Environmental Map Information is imported in alignment system, while based on certain rule
Then select virtual sampled point；
S12：The distance of virtual sampled point and AP in actual environment, and the path relation between them, configuration
Virtual sampled point, the neighbour AP with weight is set；
S13：Virtual sampled point is corrected, the larger virtual sampled point of adjustment position error.
Preferably, the rule includes：
Distance of the virtual sampled point and AP of configuration geographically and on map location can not be excessively near, virtual sampling
Point can not be too far with neighbour's AP distances；
An if only AP in some closing space, then a virtual sampled point, the virtual sampled point are at most set
Neighbour AP it is unique, be arranged to the AP；If the AP is placed on the center in the space, and the closing space area is smaller, no
Virtual sampled point is set；
Virtual sampled point be arranged on that the density of population is big or flow of the people more than place；
The neighbour AP that virtual sampled point is set is no more than 4；
Two virtual sampled points with identical neighbour AP are not set, if having the virtual sampled point of identical, then
Each virtual sampled point neighbour AP weights must be otherwise varied.
Preferably, the neighbour AP that the virtual sampled point is set is 2-3.
Preferably, after localizing environment changes, the set-up procedure of virtual sampled point is included：
S21：If some positioning AP hinders or removes and disappear for some reason, then cancels the AP and all virtual sampled points
Neighbour's state, it need not be adjusted with virtual sampled point that the AP is not neighbour；
S22：If add positioning AP, then rule is set by the virtual sampled point of neighbour for the condition that meets according to neighbour AP
Neighbour is set to, and distributes weights accordingly；
S23：If some positioning AP moves position, increasing the AP again after being disappeared with reference to the AP is operated.
Preferably, the step S01 includes removing the signal intensity for being less than first threshold and removed not under the present circumstances
AP data, and according to history samples data carry out data smoothing；Determine whether that sampled data is more than locating threshold.
Preferably, the step S02 includes, if more than one AP data are more than Second Threshold, judging maximum AP data
Whether it is more than the 3rd threshold value with the difference of secondary big AP data, if more than quickly being won if the 3rd threshold value, navigates to AP, restoring to normal position
As a result；Otherwise continue executing with.
It is an advantage of the invention that：
1. carry out indoor positioning using virtual sampled point, the configuration for environment need not can sample on the spot,
The time to each sampled point is sampled in environment and workload are eliminated, is also had for the environment for being inconvenient to sample relatively good
Application.
When localizing environment changes, eaily environment can be modified and reconfigured, without
Sample again.
The method that indoor positioning is carried out using virtual sampled point, the coupling of positioning result and live signal is more open, real
When signal intensity change will not cause the significantly jump of anchor point, and the shake of small range also unobvious, positioning result
It is relatively stable.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Fig. 1 be a kind of virtual sampled point of the indoor terminal localization method based on virtual sampled point of the present invention position and
Neighbour AP selects schematic diagram；
Fig. 2 is a kind of flow chart of the indoor terminal localization method based on virtual sampled point of the present invention.
Wherein：1st, virtual sampled point, the neighbor relationships between 2, virtual sampled point and AP, 3, wireless access point（AP）.
Embodiment
Such scheme is described further below in conjunction with specific embodiment.It should be understood that these embodiments are to be used to illustrate
The present invention and be not limited to limit the scope of the present invention.The implementation condition used in embodiment can be done according to the condition of specific producer
Further adjustment, unreceipted implementation condition is usually the condition in normal experiment.
Embodiment：
A kind of indoor terminal localization method based on virtual sampled point, wherein virtual sampled point is the map letter of configuration early stage
Breath, virtual sampled point represent actual environment position, also accordingly carry the signal strength information of the position under WIFI environment, with
And with AP around（Wireless access point）Between neighbor relationships information.Virtual sampled point defines when configuration surroundings map
Come, instead of the sampled point in the indoor orientation method based on sampling, the datum mark as positioning.By fairly simple configuration,
Rather than heavy sampling, it can obtain and compare intuitively indoor environment WIFI signal intensity distribution, and applied to indoor whole
End positioning.
The step of configuring virtual sampled point includes：
Step 1：AP is configured in actual environment, while covering for indoor WIFI, indoor terminal is can apply to and determines
Position.
Step 2：Environmental Map Information is imported in alignment system, while virtual sampled point is selected based on certain rule.
Step 3：The distance of virtual sampled point and AP in actual environment, and the path relation between them, match somebody with somebody
Virtual sampled point is put, the neighbour AP with weight is set.
Step 4：Virtual sampled point is corrected, the larger virtual sampled point of adjustment position error.
Positioned using virtual sampled point, it is desirable to correctly configuration in detail is carried out before real-time positioning, main matches somebody with somebody
Putting content and equipping rules has：
Principle one：The virtual sampled point and AP of configuration geographically and on map location can not be excessively near, otherwise exist
In algorithm calculating process, virtual sampled point can not navigate to the point by AP coverings.
Principle two：Virtual sampled point can not too far with neighbour AP distances, otherwise can be by the actual bit near AP when calculating
Put and navigate to the virtual sampled point so that position error increases.
Principle three：An if only AP in some closing space, then a virtual sampled point is at most set, and this is virtual
The neighbour AP of sampled point is unique, is arranged to the AP.If the AP is placed on the center in the space, and the closing space area compared with
It is small, then virtual sampled point had better not be set.
Principle four：Virtual sampled point is generally located on the bigger place of the density of population, or the ground that flow of the people is more
Side, such as compares the Office Area of concentration, or it is indoor some be easier by crossing.
Principle five：Virtual sampled point need not typically set many neighbour AP, preferably not more than 4, optimal neighbour
AP is 2-3, because the complexity of algorithm can be so greatly increased, and the precision that positioning will be reduced.
Principle six：Two virtual sampled points with identical neighbour AP are not set, if they have identical virtual
Sampled point, then each virtual sampled point neighbour AP weights must be otherwise varied.
Principle seven：The influence of various barriers will be taken into full account by setting when virtual sampled point, such as one blocks up very thick wall meeting
So that physically similar AP and virtual sampled point are not neighbours.
, it is necessary to be adjusted to virtual sampled point, set-up procedure includes after localizing environment changes：
Step 1：If some positioning AP hinders or removes and disappear for some reason, then cancels the AP and all virtual samplings
Neighbour's state of point, it need not be adjusted with virtual sampled point that the AP is not neighbour.
Step 2：If add positioning AP, then set rule virtually to adopt the neighbour for the condition that meets according to neighbour AP
Sampling point is set to neighbour, and distributes weights accordingly.
Step 3：If some positioning AP moves position, increasing the AP again after being disappeared with reference to the AP is operated.
As shown in figure 1, the virtual sampling point position selection scheme of indoor terminal based on virtual sampled point.
Virtual sampling point position and the AP deployment information that this example uses each virtually samples as shown in figure 1, in Fig. 1
Point 1 defines its neighbour AP3 with dotted line 2, as location information.Each virtual sampled point 1 has 2-3 neighbour AP3, and
Each neighbour AP3 and the virtual sampled point 1 distance are essentially identical, and this causes each neighbour AP3 to have identical weights.Selection
During 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（Such as corridor
Deng）.And there is identical neighbour AP without two virtual sampled points.Datum mark of each virtual sampled point as positioning
Positioning is participated in, when being won during some AP quickly wins in AP, navigates to the AP, when some virtual sampled point is in sampling Point matching
In when winning, navigate to the sampled point.If no AP and virtual sampled point are won, this positions not restoring to normal position result,
Terminal location is constant.
As shown in Fig. 2 the step of carrying out terminal positioning using virtual sampled point includes：
Step 1：Obtain real time positioning data, and the currently RSSI data for the target terminal that all AP are collected；
Step 2：Real time data is filtered, remove less than threshold value data, less than threshold value data it is considered that letter
Number intensity is too small, and without value in localization, typically, the scope of threshold value is [- 75, -65], is adjusted according to relevant context information
It is whole；Remove AP data not under the present circumstances；And carry out data smoothing according to history samples data.Historical data information is to work as
The RSSI data that system receives within the preceding 5 seconds time.
Step 3：Judge whether to meet location condition（At least one sampled data is more than threshold value, and threshold value can be with herein
For -60）If each positioning signal is very small, then otherwise the result of current gathered data is inaccurate, otherwise this terminal
Not in the present context, this is not positioned reality.
Step 4：AP quickly wins：An if only data, then the limitation quickly won to AP is fairly simple, such as
Fruit meets threshold value（Threshold value can be -53 herein）, then quickly win.If be unsatisfactory for, NULL is returned.It is if quick without AP
Win, then at least two data, go to step 5.
Step 5：AP quickly wins again：If some AP data reaches threshold value（Threshold value can be -50 herein）, and
Maximum AP data are more than threshold value with time difference of big AP data（Difference threshold is 10）, then quickly win, navigate to AP, it is fixed to return
Position result.
Step 6：Do not win quickly, then the virtual sampled point of its neighbour is read to each neighbour AP, and reading database is believed
Breath, 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 matched with the neighbour AP of real time data.
Step 8：If the virtual sampled point of some neighbour is won in matching, then navigate to the neighbour and virtually sample
Point, restoring to normal position result.
Step 9：If no neighbour virtually samples Point matching and won, the several neighbours of matching degree highest are virtually sampled
Point have the right the sampling Point matching of value.
Step 10：, can be by similar compared with the weights of neighbour's sampled point by current neighbour AP real time datas
The mode of Euler's distance, the similarity of virtual sampled point and real time data being obtained, the big virtual sampled point of similarity-rough set is won,
The virtual sampled point is navigated to, return is used as positioning result.If not provided, returning result, outgoing position be not constant for this positioning.
The foregoing examples are merely illustrative of the technical concept and features of the invention, its object is to allow the person skilled in the art to be
Present disclosure can be understood and implemented according to this, it is not intended to limit the scope of the present invention.It is all smart according to the present invention
The equivalent transformation or modification that refreshing essence is done, should all be included within the scope of the present invention.
Claims (6)
1. a kind of indoor terminal localization method based on virtual sampled point, it is characterised in that virtual sampled point is configuration early stage
The signal strength information of the position and near between AP around under cartographic information, including actual environment position, WIFI environment
Adjacent relation information, configuring the rule of virtual sampled point includes：
The distance geographically and on map location of virtual sampled point and AP of configuration can not be excessively near, virtual sampled point and
Neighbour's AP distances can not be too far；
An if only AP in some closing space, then a virtual sampled point is at most set, the virtual sampled point it is near
Adjacent AP is unique, is arranged to the AP；If the AP is placed on the center in the space, and the closing space area is smaller, is not provided with
Virtual sampled point；
Virtual sampled point be arranged on that the density of population is big or flow of the people more than place；
The neighbour AP that virtual sampled point is set is no more than 4；
Two virtual sampled points with identical neighbour AP are not set, if having the virtual sampled point of identical, then each
Virtual sampled point neighbour AP weights must be otherwise varied；
Datum mark using virtual sampled point as positioning, the localization method comprise the following steps：
S01：Obtain real time positioning data and filter the signal intensity of terminal；
S02：The judgement that AP quickly wins is carried out, makes terminal can be with fast positioning to AP when very close to AP；If some
The signal intensity that AP receives terminal is more than the Second Threshold set, then it is assumed that it is quickly won, and exports the position conduct of the AP
Positioning result；Otherwise continue executing with；
S03：The neighbour AP of the virtual sampled point of neighbour is matched with the neighbour AP of real time data, if some neighbour virtually adopts
Sampling point is won, then selects the virtual sampled point of the neighbour as positioning result；Otherwise continue executing with；
S04：The sampling Point matching that the virtual sampled point of the several neighbours of matching degree highest is carried out having weights, passes through current neighbour AP
Real time data is compared with the weights of neighbour's sampled point, if some virtual sampled point is won, selects the sampled point conduct
Positioning result；Otherwise keep terminal current location constant.
2. the indoor terminal localization method according to claim 1 based on virtual sampled point, it is characterised in that configuration is virtual
The step of sampled point, includes：
S11：AP is configured in actual environment, Environmental Map Information is imported in alignment system, based on the virtual sampled point of configuration
Rule selects virtual sampled point；
S12：The distance of virtual sampled point and AP in actual environment, and the path relation between them, configuration are virtual
Sampled point, the neighbour AP with weight is set；
S13：Virtual sampled point is corrected, the larger virtual sampled point of adjustment position error.
3. the indoor terminal localization method according to claim 1 based on virtual sampled point, it is characterised in that described virtual
The neighbour AP that sampled point is set is 2-3.
4. the indoor terminal localization method according to claim 1 based on virtual sampled point, it is characterised in that work as locating ring
After border changes, the set-up procedure of virtual sampled point is included：
S21：If some positioning AP hinders or removes and disappear for some reason, then cancels the AP and all virtual sampled points neighbour
State, it need not be adjusted with virtual sampled point that the AP is not neighbour；
S22：If add positioning AP, then set rule to be set to the virtual sampled point of neighbour for the condition that meets according to neighbour AP
Neighbour, and weights are distributed accordingly；
S23：If some positioning AP moves position, increasing the AP again after being disappeared with reference to the AP is operated.
5. the indoor terminal localization method according to claim 1 based on virtual sampled point, it is characterised in that the step
S01 includes removing the AP data of the signal intensity and removal for being less than first threshold not under the present circumstances, and according to history samples
Data carry out data smoothing；Determine whether that sampled data is more than locating threshold.
6. the indoor terminal localization method according to claim 1 based on virtual sampled point, it is characterised in that the step
S02 includes being more than Second Threshold if more than one AP data, judge maximum AP data and time greatly AP data difference whether
More than the 3rd threshold value, if more than quickly being won if the 3rd threshold value, AP, restoring to normal position result are navigated to；Otherwise continue executing with.
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| CN104902500B (en) * | 2015-05-21 | 2019-11-22 | 南京创维信息技术研究院有限公司 | The automatic connection method and system of Wireless Communication Equipment and radio reception device |
| CN105898710B (en) * | 2016-03-25 | 2020-04-03 | 北京智慧图科技有限责任公司 | Positioning method and device based on virtual positioning node |
| 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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| CN102170697A (en) * | 2011-04-06 | 2011-08-31 | 北京邮电大学 | Indoor positioning method and device |
| CN102573049A (en) * | 2010-12-14 | 2012-07-11 | 北京智慧图科技发展有限责任公司 | Method and system for indoor positioning |
| CN103796163A (en) * | 2013-11-03 | 2014-05-14 | 北京工业大学 | Indoor positioning method for receiving signal strength ordering fingerprint |
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|---|---|---|---|---|
| CN101820579A (en) * | 2009-02-27 | 2010-09-01 | 杭州辰林信息技术有限公司 | Node positioning method and system |
| CN102573049A (en) * | 2010-12-14 | 2012-07-11 | 北京智慧图科技发展有限责任公司 | Method and system for indoor positioning |
| CN102170697A (en) * | 2011-04-06 | 2011-08-31 | 北京邮电大学 | Indoor positioning method and device |
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