CN104614707B - Indoor positioning method and device - Google Patents
Indoor positioning method and device Download PDFInfo
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- CN104614707B CN104614707B CN201410838108.8A CN201410838108A CN104614707B CN 104614707 B CN104614707 B CN 104614707B CN 201410838108 A CN201410838108 A CN 201410838108A CN 104614707 B CN104614707 B CN 104614707B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0242—Determining the position of transmitters to be subsequently used in positioning
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- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides indoor positioning method and device. The method comprises the steps of acquiring signal strength of a plurality of signal emitters in an indoor space and threshold strength of an emitting signal of each signal emitter; respectively determining the space distance value of each signal emitter according to each signal strength and threshold strength; selecting a plurality of signal emitters with relatively small space distance value from the plurality of signal emitters as the target signal emitters, so as to obtain a signal linear distribution matrix of each target signal emitter; generating a position probability matrix of each target signal emitter according to each signal linear distribution matrix and each signal strength; performing weighted stacking for the plurality of position probability matrixes to obtain a target position probability matrix; determining a second-dimensional coordinate value according to the target position probability matrix, so as to achieve indoor positioning.
Description
Technical field
The present invention relates to field of locating technology, especially a kind of indoor orientation method and device.
Background technology
Indoor positioning, is an important topic of current Study of location, and it is primarily implemented in the interior space to moving
The positioning of animal body.One of current positioning mode is positioned using Quick Response Code.Specifically, diverse location indoors
Sticking record in multiple Quick Response Codes, Quick Response Code has locus, when mobile object is positioned, scans and parses after Quick Response Code and obtain
Know current location.However, this kind of mode only could be positioned in the position for posting Quick Response Code, in-convenience in use and orientation range compared with
It is little.
The content of the invention
In view of this, the invention provides a kind of indoor orientation method and device, to solve prior art used in two
Dimension code is carried out caused by indoor positioning in-convenience in use and the less technical problem of orientation range.To realize the purpose, this
The technical scheme of bright offer is as follows：
A kind of indoor orientation method, including：
The thresholding for obtaining the signal intensity of multiple signal projectors and each signal projector in an interior space is strong
Degree；
For signal projector each described, according to respective signal intensity and threshold intensity, determine respective space away from
From value；
In the plurality of signal projector, the less echo signal emitter of multiple space length values is chosen；
Obtain the linearly distribution matrix of each echo signal emitter；Wherein, the linearly moment of distribution
Battle array is generated using Kriging regression method；
For echo signal emitter each described, using respective linearly distribution matrix and signal intensity, generate
Respective location probability matrix；
Multiple location probability matrix weights are superimposed, target location probability matrix is obtained；
According to the target location probability matrix, two-dimensional coordinate value is determined.
Alternatively, it is described for signal projector each described, according to respective signal intensity and threshold intensity, it is determined that respectively
From space length value include：
For signal projector each described, respective signal intensity and threshold intensity are substituted into into radio signal space and is declined
Subtract formula, obtain respective space length value.
Alternatively, the linearly distribution matrix for obtaining each echo signal emitter includes：
In the linearly distribution matrix of the multiple signal projectors for previously generating, obtain each described echo signal and send out
The linearly distribution matrix of emitter.
Alternatively, the step of linearly distribution matrix for previously generating multiple signal projectors, includes：
Determine the multiple sampled points in the interior space, in each sample point, obtain each described signal and send out
The signal intensity of emitter；
Respectively Kriging regression calculating is carried out to the signal intensity of sampled point each described, generate each described signal transmitting
The linearly distribution matrix of device.
Alternatively, it is described respectively Kriging regression calculating to be carried out to the signal intensity of sampled point each described, generate each
The linearly distribution matrix of the signal projector includes：
The interior space is divided into into the mesh space of multiple lines and multiple rows, and generates the row such as capable with the mesh space etc.
Spatial distribution matrix；
For signal projector each described, the signal intensity of each sampled point the is got signal projector respectively
Linearization process is carried out, the respective multiple linearly values of each described signal projector are obtained；
For signal projector each described, according to each sampled point in the position of the mesh space, by respective letter
Number linear value is defined as the first element value in the spatial distribution matrix, using Kriging regression method and each described first yuan
Element value, calculates the second element value outside the first element in the spatial distribution matrix, in inversely calculating the spatial distribution matrix
The value of each element, obtains linearly distribution matrix.
Alternatively, it is described for echo signal emitter each described, using respective linearly distribution matrix and letter
Number intensity, generating respective location probability matrix includes：
For echo signal emitter each described, following step is performed respectively：
Obtain each element value in respective linearly distribution matrix successively, respectively with each element value as mean, 1
For standard deviation, normal distyribution function is generated；
Respectively each described normal distyribution function is substituted into using respective signal intensity as independent variable, obtain location probability
Value；
According to the element position in respective linearly distribution matrix, each described location probability value is defined as into correspondence
The element value of position, generates respective location probability matrix.
Alternatively, it is described according to the target location probability matrix, determine that two-dimensional coordinate value includes：
Determine the greatest member value in the target location probability matrix；
The abscissa of the greatest member value is defined as into the abscissa of two-dimensional coordinate, and indulging the greatest member value
Coordinate is defined as the vertical coordinate of the two-dimensional coordinate.
Present invention also provides a kind of indoor positioning device, including：
Signal intensity acquisition module, for obtaining the signal intensity of multiple signal projectors and each institute in an interior space
State the threshold intensity of signal projector；
Space length determining module, for for each described signal projector, according to respective signal intensity and thresholding
Intensity, determines respective space length value；
Target reflector determining module, in the plurality of signal projector, choosing multiple space length values
Less echo signal emitter；
Linear matrix acquisition module, for obtaining the linearly distribution matrix of each echo signal emitter；Its
In, the linearly distribution matrix is generated using Kriging regression method；
Location matrix generation module, for for each described echo signal emitter, using respective linearly point
Cloth matrix and signal intensity, generate respective location probability matrix；
Location matrix laminating module, for multiple location probability matrix weights to be superimposed, obtains target location probability
Matrix；
Two-dimensional coordinate locating module, for according to the target location probability matrix, determining two-dimensional coordinate value.
Alternatively, the space length determining module includes：
Space length determination sub-module, for for each described signal projector, by respective signal intensity and thresholding
Intensity substitutes into radio signal space attenuation formula, obtains respective space length value.
Alternatively, the linear matrix acquisition module includes：
Linear matrix acquisition submodule, in the linearly distribution matrix of the multiple signal projectors for previously generating
In, obtain the linearly distribution matrix of each echo signal emitter.
The indoor orientation method provided from above technical scheme, the present invention and device, by obtaining an interior space
The signal intensity of interior multiple signal projectors and the threshold intensity of each signal projector transmission signal, respectively according to respective letter
Number intensity and threshold intensity, determine the space length value of each signal projector, and then in multiple signal projectors, choose empty
Between the less multiple signal projectors of distance value be echo signal emitter, and then obtain the signal of each echo signal emitter
Linear distribution matrix, using respective linearly distribution matrix and respective signal intensity, generates each echo signal transmitting
The respective location probability matrix of device, by the superposition of multiple location probability matrix weights, obtains target location probability matrix, and then foundation
Target location probability matrix, determines two-dimensional coordinate value, so as to realize indoor positioning.Compared with prior art, the present invention utilizes nothing
Line signal realizes positioning, and need not scan Quick Response Code, easy to use and orientation range is more extensive.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the flow chart of indoor orientation method provided in an embodiment of the present invention；
Fig. 2 is the schematic layout pattern of the interior space provided in an embodiment of the present invention；
Fig. 3 is the partial process view of another indoor orientation method provided in an embodiment of the present invention；
Fig. 4 is the structured flowchart of indoor positioning device provided in an embodiment of the present invention；
Fig. 5 is the part-structure block diagram of another indoor positioning device provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, the flow process of indoor orientation method provided in an embodiment of the present invention is it illustrates, specifically include following step
Suddenly：
Step S100：Obtain the signal intensity of multiple signal projectors and each described signal projector in an interior space
Threshold intensity.
Wherein, in an interior space, multiple signal projectors are set in diverse location, as shown in Fig. 2 in the interior space 1,
Six signal projectors 21 are provided with altogether, respectively four turnings in space and the midpoint on long side.Certainly, Fig. 2 is only a kind of
Example, the number of signal projector and position are not limited thereto, can be specific size and shape according to the interior space and
It is fixed.Wherein, signal projector can be bluetooth transmitters.
In positioning, the wireless signal of each signal projector transmitting is received, and measure the intensity of each signal.Meanwhile,
Need the threshold intensity for obtaining the wireless signal that signal projector is launched.The threshold intensity can be measured in advance and store
, the threshold intensity for prestoring is obtained in positioning.Wherein, by the default the space of near-range of each signal projector
In the range of the signal intensity that measures, be defined as the respective threshold intensity of each described signal projector.That is, in each letter
Collection signal in certain the space of near-range of number emitter, and the intensity of signal that measurement is collected, using the signal intensity as
Threshold intensity.Wherein, the default the space of near-range scope is preset value, can be set according to the signal projector of different performance
Different value is put, the present invention is not limited.
Step S200：For signal projector each described, according to respective signal intensity and threshold intensity, it is determined that each
Space length value.
That is, calculating current distance of the performs device of each signal projector and localization method i.e. between positioner
Value.In previous step, the closely threshold intensity of each signal projector transmission signal is got, and get each signal
The current position signal intensity of emitter transmission signal, from closely, to remote, intensity can decay signal, and then compare respectively
Above-mentioned two signal intensity, obtains the distance of each signal projector current distance positioner, namely positioner currently away from
From the distance value of each signal projector.Wherein, the space length value can qualitatively characterize moving body to be positioned and each
The position of base station is far and near.
Step S300：In the plurality of signal projector, the less echo signal of multiple space length values is chosen
Emitter.
Wherein, the less signal projector of space length value is chosen as echo signal emitter.It is to be appreciated that choose
Less space length value refers to selected value will be little than remaining each value.The number of selection can be four, may be used also certainly
Being that, according to the other values depending on the practical situations such as the number of positioning precision and signal projector, the present invention is not limited.
Step S400：Obtain the linearly distribution matrix of each echo signal emitter.
In the present embodiment, the linearly distribution matrix of echo signal emitter refers to transmission signal space indoors
The matrix of the signal intensity composition of multiple predeterminated position points, to the intensity distributions feelings for illustrating the signal that signal projector is launched
Condition.It is to be appreciated that multiple predeterminated position points are chosen according to interior space layout, can carry out grid to the interior space to draw
Point, the locus that ranks are intersected are used as predeterminated position point, the linearly generated using the predeterminated position point of this kind of form
Distribution matrix is identical with the ranks number for dividing.It can be seen that, linearly distribution matrix is related to default multiple location points, i.e.,
Each element value of matrix is corresponded with each predeterminated position point.
Wherein, the linearly distribution matrix can be obtained using Kriging regression method, and detailed process is referring under
Text description.
Step S500：For echo signal emitter each described, using respective linearly distribution matrix and signal
Intensity, generates respective location probability matrix.
Wherein, the signal for being received using the linearly distribution matrix and current location point of each echo signal emitter
Intensity, calculates respective location probability matrix.Specifically, by signal intensity respectively with linearly distribution matrix in each yuan
Element carries out computing, obtains each self-corresponding probit of each element, and then by the ranks number of each probit foundation corresponding element,
It is combined into location probability matrix.It can be seen that, the row such as row such as the location probability matrix and linearly distribution matrix, comprising each
Element value is probit, i.e., probability of the moving body to be positioned at echo signal emitter each signal intensity.
In addition, it is necessary to explanation, each in each element value of location probability matrix and linearly distribution matrix
Element value is corresponded, and the element value in linearly distribution matrix is corresponded with each predeterminated position point, therefore, position
Each element in probability matrix is corresponded respectively with each predeterminated position point.That is, the location probability matrix can be with table
Show that moving body to be positioned occurs in the probability near each predeterminated position point.
Step S600：Multiple location probability matrix weights are superimposed, target location probability matrix is obtained.
Wherein, matrix superposition refers to be added each matrix opposite position element value, in addition, weighted superposition is referred to
Each element value is multiplied by after default weight and is added.Certainly, each location probability Matrix Multiplication with default weight can also may be used with identical
With difference, the present invention is not limited.
Step S700：According to the target location probability matrix, two-dimensional coordinate value is determined.
In the present embodiment, target location probability matrix includes multiple elements, and each element is default with the interior space respectively
Each location point correspond.Determine two-dimensional coordinate value, that is, certain element in the probability matrix of target location is determined, by this yuan
The line number and row number of element and then can determine respectively as the abscissa and vertical coordinate of two-dimensional coordinate value according to the two-dimensional coordinate value
Predeterminated position point, so as to realize positioning.For example, the schematic diagram of the interior space can be shown, and mark should on the schematic diagram
Predeterminated position point.
Technical scheme from more than, the indoor orientation method that the present embodiment is provided, by obtaining in an interior space
The threshold intensity of the signal intensity of multiple signal projectors and each signal projector transmission signal, respectively according to respective signal
Intensity and threshold intensity, determine the space length value of each signal projector, and then in multiple signal projectors, choose space
The less multiple signal projectors of distance value are echo signal emitter, and then obtain the holding wire of each echo signal emitter
Property distribution matrix, using respective linearly distribution matrix and respective signal intensity, generates each echo signal emitter
Respective location probability matrix, by the superposition of multiple location probability matrix weights, obtains target location probability matrix, and then according to mesh
Cursor position probability matrix, determines two-dimensional coordinate value, so as to realize indoor positioning.
Compared with prior art, in the present embodiment, the signal of signal projector transmitting need to be only obtained, is using signal intensity
Positioning is capable of achieving, and is not required to scan Quick Response Code, thus it is easy to use.In addition, in prior art, only on the ground for posting Quick Response Code
Can be positioned just now, and in the present embodiment, the wireless signal of signal projector transmitting in the range of certain space anywhere
Can receive, therefore, orientation range is more extensive.
It is to be appreciated that the technical scheme of above-mentioned indoor positioning, can apply in various different scenes.For example, can be with
It is that indoors diverse location installs multiple base stations, wireless signal, the object for moving indoors are launched in base station as signal projector
Positioner is carried, the positioner can receive wireless signal, and realize self-positioning.And for example, moving body carries signal transmitting
Device, multiple base stations of indoor setting can receive wireless signal, the wireless signal received using each base station, realize to movement
The positioning of body, that is, monitor the position of moving body.
It should be noted that when self-positioning, each base station is fixed, and used as signal projector, what moving body was carried determines
Position device receives signal.However, when realizing monitoring using localization method, moving body carries signal projector, signal projector
Shift in position, and the base station that each is fixed is used to receive signal, positioner realizes prison using the signal that each base station receives
Survey.That is, during monitoring, the role exchange of signal projector and positioner, but in both modes, both relative positions
Identical is may be considered, therefore, it can realize monitoring using the principle of above-mentioned positioning mode.
Alternatively, above-mentioned steps S200 are directed to each signal projector, according to respective signal intensity and threshold intensity, really
Determining the specific implementation of respective space length value is：
For signal projector each described, respective signal intensity and threshold intensity are substituted into into radio signal space and is declined
Subtract formula, obtain respective space length value.
Specifically, radio spatial decay formula is：
△ P=-32.5- (10lgD+10lgF) * n； (1)
Wherein, △ P are the signal intensity P of signal intensity attenuation value, i.e. threshold intensity P and the current position for receiving0
Difference；D in lgD is space length value to be solved；F in lgF is signal frequency；N is spatial character coefficient, and the value is
Preset value.
Above-mentioned formula (1) is deformed, following formula (2) is obtained：
LgD=- [3.25/n+lgF+ (P-P0)/10n]； (2)
Further, the value of D is obtained using formula (2), that is, obtains space length value.
Step S400 shown in above-mentioned Fig. 1 obtains the tool of the linearly distribution matrix of each echo signal emitter
Body implementation can be：
In the linearly distribution matrix of the multiple signal projectors for previously generating, obtain each described echo signal and send out
The linearly distribution matrix of emitter.
Specifically, the linearly distribution matrix of each signal projector in the interior space is previously generated, and is deposited
Storage, and then in position fixing process, obtain each linearly distribution matrix.It is to be appreciated that step S400 in above-mentioned Fig. 1 is held
Row order is not necessarily limited to be performed after step S300, and it can be in step S100, step S200 and step S300
Before, afterwards or while perform.
In addition, previously generating the detailed process of the linearly distribution matrix of each signal projector in the interior space
It is：
Determine the multiple sampled points in the interior space, in each sample point, obtain each described signal and send out
The signal intensity of emitter；Respectively Kriging regression calculating is carried out to the signal intensity of sampled point each described, generated described in each
The linearly distribution matrix of signal projector.
Specifically, indoors in space, some space mutated sites are chosen as sampled point, for example, turning, barrier
Deng.As shown in Fig. 2 the deeper region representation wall of color or barrier etc. in the interior space, in the neighbouring setting in these regions
Multiple sampled points, the square 22 comprising reticule represents sampled point.Measure each signal projector in each sample point respectively
Signal intensity.
Referring to Fig. 3, obtaining signal intensity to each sample point carries out Kriging regression calculating, generates each signal transmitting
The detailed process of the linearly distribution matrix of device is comprised the following steps：
Step S401：The interior space is divided into into the mesh space of multiple lines and multiple rows, and is generated and the mesh space
Deng the spatial distribution matrix of the row such as row.
As shown in Fig. 2 the interior space is carried out into stress and strain model, can be with equidistant division, so as to obtain the sky of multiple lines and multiple rows
Between layout.A matrix, line number and columns and the line number and columns for dividing of the matrix are generated using the line number and columns that divide
Difference is equal.For example, 8 rows 4 are divided into arrange, then generate the matrix of the row of 8 row 4, the matrix is referred to as into spatial distribution matrix.Need
Bright, the line number and columns of stress and strain model is related to positioning precision, when positioning accuracy request is higher, can divide more row with
Row.For example, the interior space of 20m*12m, positioning precision is 1m, then for each signal projector generate a matrix M (20,
12)。
Step S402：For signal projector each described, the signal projector for getting to each sampled point respectively
Signal intensity carry out linearization process, obtain the respective multiple linearly values of each described signal projector.
Wherein, each sampled point collects the intensity of each signal projector.For example, sampled point be respectively P1 (1,2),
P2 (3) and P3 (Isosorbide-5-Nitrae) 1, signal projector is respectively D1 and D2, then for D1, the D1 that will be got at P1, P2 and P3 respectively
Signal intensity carry out linearization process, so as to obtain multiple linearly values of D1, in the same manner, obtain D2 multiple linearly
Value.
Specifically, the formula of linearization process can be：
Lg (v)=P-B； (3)
Wherein, P is signal intensity, and B is preset value, and v is linearly value to be solved.
It should be noted that each linearly value is corresponded with each sampled point, i.e., linearly value is which is utilized
The signal intensity of individual sampled point processes what is obtained, then corresponding with which sampled point.By linearly value and the position pair of sampled point
Should, it is because that sampled point is corresponding with the element position in spatial distribution matrix, so as to each linearly value is put into into space point
The relevant position of cloth matrix.A step specific as follows.
Step S403：For signal projector each described, according to each sampled point in the position of the mesh space, will
Respective linearly value is defined as the first element value in the spatial distribution matrix, using Kriging regression method and each institute
The first element value is stated, the second element value outside the first element in the spatial distribution matrix is calculated, the space point is inversely calculated
The value of each element in cloth matrix, obtains linearly distribution matrix.
Wherein, each sampled point has unique position in mesh space, it is possible to use line number and row number are represented, such as schemed
Shown in 2, and sampled point P1 (1,2) represent sampled point in the first row secondary series.Further, the element position in sampled point and distribution matrix
Correspondence, for example, the element of the first row secondary series in P1 homographies.
Each signal projector has multiple linearly values, from the foregoing, the position pair of linearly value and sampled point
Should, so as to the linearly value of each signal projector is put into into the corresponding element position of sampling point position in spatial distribution matrix
Place, as the first element value.For example, for signal projector D1, by the signal projector sampled point P1 (1, the 2) signal at place
Linear value is put at the column position of the first row second of matrix M, in the same manner, by signal projector D1 in other each sample points
Linearly value is put into the corresponding position of matrix M, so that it is determined that going out in the corresponding spatial distribution matrix of the signal projector
Each first element value.
After above-mentioned steps, in each spatial distribution matrix, there is element value at the corresponding position of sampled point, using
The element value known, using Kriging regression method, calculates the element value of other positions point, that is, calculate each second element value.
Then, the reverse value for calculating each element in spatial distribution matrix.It is to be appreciated that the reverse formula that calculates be with it is upper
The contrary formula of the formula (3) of linearization process is stated, i.e.,：
P=lg (v)+B； (4)
Wherein, P is the numerical value after reverse calculating, and v is the element value in spatial distribution matrix, and B is pre- in above-mentioned formula (3)
If value.
Each element value in traversal spatial distribution matrix, using above-mentioned formula (4), solves and obtains the reverse of each element value
Value, and each is inversely worth the relevant position being stored in matrix, obtain linearly distribution matrix.
In embodiment shown in above-mentioned Fig. 1, step S500 is directed to each described echo signal emitter, using respective letter
Number linear distribution matrix and signal intensity, generating the specific implementation of respective location probability matrix can be：
For echo signal emitter each described, following step is performed respectively：
Obtain each element value in respective linearly distribution matrix successively, and with each element value be respectively equal
Number, 1 are standard deviation, generate normal distyribution function；Substitute into each described normal state using respective signal intensity as independent variable respectively
Distribution function, obtains location probability value；According to the element position in respective linearly distribution matrix, by each position
Probit is defined as the element value of correspondence position, generates respective location probability matrix.
Wherein, the element value in linearly distribution matrix is obtained, using element value as average, using 1 as standard deviation, structure
(Rd, normal distyribution function 1), the R in function is independent variable to build f (R)=N.The signal intensity that will be got in current location
The end value of acquisition in substituting into normal distyribution function, is referred to as position by the signal intensity that i.e. step S100 gets as independent variable R
Put probit.
It should be noted that linearly distribution matrix includes multiple element values, each element value corresponds to respectively one
Normal distyribution function, the signal intensity of each signal projector for getting is substituted into respectively in each normal distyribution function, from
And obtain each self-corresponding multiple location probability values of each signal projector.
The relevant position multiple location probability values of same signal projector being put in location probability matrix, is put into position
The element position being based in linearly distribution matrix.I.e. position probit is by which position in linearly distribution matrix
The Element generation put, then location probability value is put at which position of location probability matrix.
After above-mentioned steps, the location probability matrix of the quantity such as acquisition and echo signal emitter.To multiple positions
When probability matrix is weighted superposition, the weight coefficient of foundation can be tried to achieve using kR+b formula.Wherein, k and b are default
Numerical value, R is the signal intensity of the echo signal emitter got in step S100.
It should be noted that in above-described embodiment step S700 according to the target location probability matrix, it is determined that two dimension sit
The specific implementation of scale value can be：
Determine the greatest member value in the target location probability matrix；The abscissa of the greatest member value is defined as
The abscissa of two-dimensional coordinate, and the vertical coordinate of the greatest member value is defined as into the vertical coordinate of the two-dimensional coordinate.
Specifically, it is determined that the computing formula of two-dimensional coordinate value can be：Pos.x=Max (V (x, y)) .x；Pos.y=Max
(V(x,y)).y.Wherein, V (x, y) is the destination probability matrix after weighted superposition, and x is the line number of the matrix, and y is the matrix
Row number.The abscissa and vertical coordinate of two-dimensional coordinate can be solved using the formula., wherein it is desired to explanation, abscissa
And vertical coordinate is represented respectively using the line number and row number after stress and strain model, can be according to the line number and row number in the interior space
Illustrate enterprising rower to show, so as to realize positioning.
The indoor positioning device that each embodiment of the invention is provided is introduced below, it should be noted that relevant each
The explanation of individual indoor positioning device can be found in indoor orientation method provided above, not repeat.
Referring to Fig. 4, the structure of indoor positioning device provided in an embodiment of the present invention is it illustrates, specifically included：Signal is strong
Degree acquisition module 100, space length determining module 200, target reflector determining module 300, linear matrix acquisition module 400,
Location matrix generation module 500, location matrix laminating module 600 and two-dimensional coordinate locating module 700.Wherein：
Signal intensity acquisition module 100, for obtaining in an interior space signal intensity of multiple signal projectors and every
The threshold intensity of the individual signal projector；
Space length determining module 200, for for each described signal projector, according to respective signal intensity and door
Limit intensity, determines respective space length value；
Target reflector determining module 300, in the plurality of signal projector, choosing multiple space lengths
It is worth less echo signal emitter；
Linear matrix acquisition module 400, for obtaining the linearly distribution matrix of each echo signal emitter；
Wherein, the linearly distribution matrix is generated using Kriging regression method；
Location matrix generation module 500, for for each described echo signal emitter, using respective linearly
Distribution matrix and signal intensity, generate respective location probability matrix；
Location matrix laminating module 600, for multiple location probability matrix weights to be superimposed, obtains target location general
Rate matrix；
Two-dimensional coordinate locating module 700, for according to the target location probability matrix, determining two-dimensional coordinate value.
It should be noted that during self-positioning, above-mentioned indoor positioning device needs to be carried by moving body, for receiving
The wireless signal of each Base Transmitter, and realized positioning according to signal intensity.When object is monitored, the indoor positioning device can be with
The server being connected with each base station, moving body carries signal projector, and the fixed base stations of setting receive signal projector transmitting
Signal, and be sent to server using the signal intensity that receives, the tracking to moving body is realized by server.
Alternatively, space length determining module includes：
Space length determination sub-module, for for each described signal projector, by respective signal intensity and thresholding
Intensity substitutes into radio signal space attenuation formula, obtains respective space length value.
Alternatively, linear matrix acquisition module includes：
Linear matrix acquisition submodule, in the linearly distribution matrix of the multiple signal projectors for previously generating
In, obtain the linearly distribution matrix of each echo signal emitter.
Indoor positioning device can also include：Signal distributions matrix generation module, for previously generating multiple signal transmittings
The linearly distribution matrix of device.The signal distributions matrix generation module is connected with linear matrix acquisition submodule, for obtaining
The linearly distribution matrix that signal distributions matrix generation module is previously generated.
Wherein, signal distributions matrix generation module can include：Sampled point signal acquisition submodule and signal distributions matrix
Generate submodule；
Sampled point signal acquisition submodule, for determining the multiple sampled points in the interior space, is adopting described in each
At sampling point, the signal intensity of each signal projector is obtained；
Signal distributions matrix generates submodule, inserts for carrying out Ke Lijin to the signal intensity of sampled point each described respectively
Value is calculated, and generates the linearly distribution matrix of each signal projector.
Alternatively, as shown in figure 5, signal distributions matrix generation submodule includes：Space division unit 401, linearly
Change unit 402 and matrix signal generating unit 403.Wherein：
Space division unit 401, for the interior space to be divided into the mesh space of multiple lines and multiple rows, and generates and institute
State the spatial distribution matrix of the row such as the row such as mesh space；
Linearly unit 402, for for each described signal projector, getting to each sampled point respectively
The signal intensity of the signal projector carries out linearization process, obtains the respective multiple linearly of each described signal projector
Value；
Matrix signal generating unit 403, it is empty in the grid according to each sampled point for for each described signal projector
Between position, respective linearly value is defined as into the first element value in the spatial distribution matrix, using Ke Lijin insert
Value method and each described first element value, calculate the second element value outside the first element in the spatial distribution matrix, reverse meter
The value of each element in the spatial distribution matrix is calculated, linearly distribution matrix is obtained.
Alternatively, location matrix generation module includes：Normal distyribution function generates submodule, location probability value and obtains submodule
Block and location matrix generate submodule；Wherein：
Normal distyribution function generate submodule, for obtaining respective linearly distribution matrix successively in each element
Value, respectively with each element value as mean, 1 as standard deviation, generate normal distyribution function；
Location probability value acquisition submodule, it is described just for respectively respective signal intensity being substituted into into each as independent variable
State distribution function, obtains location probability value；
Location matrix generates submodule, for according to the element position in respective linearly distribution matrix, by each
The location probability value is defined as the element value of correspondence position, generates respective location probability matrix.
It should be noted that location matrix generation module for each described echo signal emitter trigger what it was included
Three submodules perform successively processing procedure, so as to generate each self-corresponding location probability matrix of each echo signal emitter.
Alternatively, two-dimensional coordinate locating module includes：Maximum position determine the probability submodule and two-dimensional coordinate positioning submodule
Block；Wherein：
Maximum position determine the probability submodule, for determining the target location probability matrix in greatest member value；
Two-dimensional coordinate positions submodule, for the abscissa of the greatest member value to be defined as the horizontal seat of two-dimensional coordinate
Mark, and the vertical coordinate of the greatest member value is defined as into the vertical coordinate of the two-dimensional coordinate.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment weight
Point explanation is all difference with other embodiment, between each embodiment identical similar part mutually referring to.
Also, it should be noted that herein, such as first and second or the like relational terms are used merely to one
Entity or operation make a distinction with another entity or operation, and not necessarily require or imply between these entities or operation
There is any this actual relation or order.And, term " including ", "comprising" or its any other variant are intended to contain
Lid nonexcludability is included, so that a series of process, method, article or equipment including key elements not only will including those
Element, but also including other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element for being limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including above-mentioned key element.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (9)
1. a kind of indoor orientation method, it is characterised in that include：
Obtain the threshold intensity of the signal intensity of multiple signal projectors and each signal projector in an interior space；
For signal projector each described, according to respective signal intensity and threshold intensity, respective space length value is determined；
In the plurality of signal projector, the less echo signal emitter of multiple space length values is chosen；
Obtain the linearly distribution matrix of each echo signal emitter；Wherein, the linearly distribution matrix is
Generated using Kriging regression method；
For echo signal emitter each described, using respective linearly distribution matrix and signal intensity, generate respective
Location probability matrix；
Multiple location probability matrix weights are superimposed, target location probability matrix is obtained；
According to the target location probability matrix, two-dimensional coordinate value is determined；
It is described according to the target location probability matrix, determine that two-dimensional coordinate value includes：
Determine the greatest member value in the target location probability matrix；
The abscissa of the greatest member value is defined as into the abscissa of two-dimensional coordinate, and by the vertical coordinate of the greatest member value
It is defined as the vertical coordinate of the two-dimensional coordinate.
2. indoor orientation method according to claim 1, it is characterised in that described for signal projector each described,
According to respective signal intensity and threshold intensity, determine that respective space length value includes：
For signal projector each described, respective signal intensity and threshold intensity are substituted into into radio signal space attenuation public
Formula, obtains respective space length value.
3. indoor orientation method according to claim 1, it is characterised in that the acquisition each described echo signal transmitting
The linearly distribution matrix of device includes：
In the linearly distribution matrix of the multiple signal projectors for previously generating, each echo signal emitter is obtained
Linearly distribution matrix.
4. indoor orientation method according to claim 3, it is characterised in that previously generate the signal of multiple signal projectors
The step of linear distribution matrix, includes：
Determine the multiple sampled points in the interior space, in each sample point, obtain each described signal projector
Signal intensity；
Respectively Kriging regression calculating is carried out to the signal intensity of sampled point each described, generate each signal projector
Linearly distribution matrix.
5. indoor orientation method according to claim 4, it is characterised in that described respectively to the letter of sampled point each described
Number intensity carries out Kriging regression calculating, and generating the linearly distribution matrix of each signal projector includes：
The interior space is divided into into the mesh space of multiple lines and multiple rows, and generates the space of the row such as capable with the mesh space etc.
Distribution matrix；
For signal projector each described, the signal intensity of the signal projector for getting to each sampled point respectively is carried out
Linearization process, obtains the respective multiple linearly values of each described signal projector；
For signal projector each described, according to each sampled point in the position of the mesh space, by respective holding wire
Property value is defined as the first element value in the spatial distribution matrix, using Kriging regression method and each described first element
Value, calculates the second element value outside the first element in the spatial distribution matrix, inversely calculates every in the spatial distribution matrix
The value of individual element, obtains linearly distribution matrix.
6. indoor orientation method according to claim 1, it is characterised in that described to launch for echo signal each described
Device, using respective linearly distribution matrix and signal intensity, generating respective location probability matrix includes：
For echo signal emitter each described, following step is performed respectively：
Obtain each element value in respective linearly distribution matrix successively, respectively with each element value as mean, 1 for mark
It is accurate poor, generate normal distyribution function；
Respectively each described normal distyribution function is substituted into using respective signal intensity as independent variable, obtain location probability value；
According to the element position in respective linearly distribution matrix, each described location probability value is defined as into correspondence position
Element value, generate respective location probability matrix.
7. a kind of indoor positioning device, it is characterised in that include：
Signal intensity acquisition module, for obtaining the signal intensity and each described letter of multiple signal projectors in an interior space
The threshold intensity of number emitter；
Space length determining module, for for each described signal projector, according to respective signal intensity and threshold intensity,
Determine respective space length value；
Target reflector determining module, in the plurality of signal projector, choosing multiple space length values less
Echo signal emitter；
Linear matrix acquisition module, for obtaining the linearly distribution matrix of each echo signal emitter；Wherein, institute
State linearly distribution matrix to generate using Kriging regression method；
Location matrix generation module, for for each described echo signal emitter, using respective linearly moment of distribution
Battle array and signal intensity, generate respective location probability matrix；
Location matrix laminating module, for multiple location probability matrix weights to be superimposed, obtains target location probability matrix；
Two-dimensional coordinate locating module, for according to the target location probability matrix, determining two-dimensional coordinate value；Described in the foundation
Target location probability matrix, determines that two-dimensional coordinate value includes：Determine the greatest member value in the target location probability matrix；Will
The abscissa of the greatest member value is defined as the abscissa of two-dimensional coordinate, and the vertical coordinate of the greatest member value is defined as
The vertical coordinate of the two-dimensional coordinate.
8. indoor positioning device according to claim 7, it is characterised in that the space length determining module includes：
Space length determination sub-module, for for each described signal projector, by respective signal intensity and threshold intensity
Radio signal space attenuation formula is substituted into, respective space length value is obtained.
9. indoor positioning device according to claim 7, it is characterised in that the linear matrix acquisition module includes：
Linear matrix acquisition submodule, in the linearly distribution matrix of the multiple signal projectors for previously generating, obtaining
Take the linearly distribution matrix of each echo signal emitter.
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| CN105842661B (en) * | 2016-03-24 | 2018-07-17 | 北京邮电大学 | A kind of indoor dense cellular visible light localization method based on accumulation Space Time Coding |
| CN107610173B (en) * | 2017-08-11 | 2021-04-02 | 北京圣威特科技有限公司 | Real-time positioning method and device |
| CN108490390B (en) * | 2018-02-28 | 2022-05-17 | 北京理工大学 | Mobile magnetic source positioning device |
| CN111239716B (en) * | 2020-01-21 | 2022-05-06 | 蔡小雨 | Multi-WIFI rapid positioning method and device |
| CN114585012B (en) * | 2020-12-01 | 2023-09-05 | 中移(成都)信息通信科技有限公司 | Method, device, equipment and storage medium for determining wireless signal strength |
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| CN103618997B (en) * | 2013-11-22 | 2017-02-08 | 北京邮电大学 | Indoor positioning method and device based on signal intensity probability |
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