CN104981011B - The acquisition of Wi-Fi hotspot data and update method based on Sequential processing - Google Patents
The acquisition of Wi-Fi hotspot data and update method based on Sequential processing Download PDFInfo
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Abstract
The present invention relates to a kind of acquisition of Wi-Fi hotspot data and update method based on Sequential processing, comprising the following steps: 1) WiFi signal data acquire；2) WiFi signal data calculate, according to WiFi signal propagation formula, utilize the principle of least square, adjustment seeks unknown parameter, the unknown parameter includes the coefficient in the position and signal propagation formula of Wi-Fi hotspot, then accuracy assessment is carried out to adjustment result, obtains the variance-covariance battle array between these parameters；3) by the position of Wi-Fi hotspot, signal propagation formula coefficient and variance-covariance battle array be put into database；4) new WiFi signal data are acquired again；5) new collected WiFi signal data are utilized, the data saved in combined data library obtain the optimal estimation of parameter using Sequential processing mode, and re-start accuracy assessment；6) WiFi data library updates；7) Wi-Fi hotspot position is updated.Compared with prior art, the present invention has many advantages, such as to reduce data space, improves positioning accuracy.
Description
Technical field
The present invention relates to a kind of localization method, more particularly, to a kind of Wi-Fi hotspot data acquisition based on Sequential processing with
Update method.
Background technique
In recent years, the quantity of Wi-Fi hotspot is continuously increased, and provides opportunity for indoor positioning.WiFi is for indoor positioning
A kind of very convenient and inexpensive means.It, can be according to reception if having known the position of a certain number of Wi-Fi hotspots
The WiFi signal intensity (RSSI) arrived calculates distance of each Wi-Fi hotspot to user, Jin Ertong using signal propagation model
The method for crossing Distance Intersection calculates the position of user.
It to be positioned indoors using WiFi in environment, first have to the acquisition for carrying out signal.Usually according between a certain distance
Every in different station acquisition signals, then according to collected a series of signal strength information, inverse goes out the position of Wi-Fi hotspot
It sets, and fits each term coefficient in WiFi signal propagation formula, these information are stored in database together, be used for subsequent use
Family location Calculation.Due to the influence of various environmental factors, such as the blocking of barrier and human body, signal reflex, cause to receive
WiFi signal it is very unstable, to influence the precision of the position WiFi inverse, and then the position for influencing user calculates.In order to improve
Positioning accuracy, need it is regular different times acquire WiFi data, database is updated.
For how by different times acquisition WiFi data use, existing solution is generally divided into two classes:
(1) the WiFi signal data that different times acquire all are stored in server-side, recalculate Wi-Fi hotspot at regular intervals
Coefficient in position and signal propagation formula.All observation data of different times are utilized in this method, can constantly mention
In high precision, but very big memory space is needed to save these observation data, while also increasing calculation amount.(2) it does not save
Pervious observation data, only save necessary information, such as the position of WiFi and the coefficient of signal propagation formula.When new observation number
When according to arriving, a simple fusion treatment is done, for example made with the coefficient of the previously saved position WiFi and signal propagation formula
For initial value, least square adjustment is carried out, or new calculated result is averaged with pervious result.This processing mode reason
By upper not rigorous, without reasonable utilization conception of history measured data, to cannot guarantee precision.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of reduction data to store
Space, the acquisition of Wi-Fi hotspot data and update method based on Sequential processing for improving positioning accuracy.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of acquisition of Wi-Fi hotspot data and update method based on Sequential processing, which comprises the following steps:
1) WiFi signal data acquire, and are sampled indoors in environment with the distance interval of setting, record each sampling
The Wi-Fi hotspot information that reception arrives, MAC Address and RSSI including each Wi-Fi hotspot；
2) WiFi signal data calculate, and according to WiFi signal propagation formula, using the principle of least square, adjustment is sought unknown
Parameter, the unknown parameter include the coefficient in the position and signal propagation formula of Wi-Fi hotspot, are then carried out to adjustment result
Accuracy assessment obtains the variance-covariance battle array between these parameters；
3) by the position of Wi-Fi hotspot, signal propagation formula coefficient and variance-covariance battle array be put into database；
4) new WiFi signal data are acquired again；
5) using new collected WiFi signal data, the data saved in combined data library, using Sequential processing mode,
The optimal estimation of parameter is obtained, and re-starts accuracy assessment；
6) WiFi data library updates；
7) Wi-Fi hotspot position, return step 4 are updated).
WiFi signal data acquisition equipment in the step 1) is that the signals such as mobile phone, computer with WiFi function connect
Receiving unit.
Detailed process is as follows for WiFi signal data calculating in the step 2):
Signal decay formula:
In above formula, n and A are the constant set, and d is sampled point to the distance of Wi-Fi hotspot, and RSSI is abbreviated as R；
Sampled point to Wi-Fi hotspot distance d calculation formula:
X, y, z is the position of sampled point, x in above formulas、ys、zsFor the position of Wi-Fi hotspot；
The adjustment Models formula that WiFi signal propagation formula is established:
In above formula, v be observation residual error, l, B,Expression formula it is as follows
The principle of least square acquires parameterValuation, it is as follows
P in above formula is that observation weighs battle array,；
Followed by accuracy assessment, first calculating observation value residual error v
v=B·(BTPB)-1BTPl-l
Then error in unit of account power, formula are as follows
In above formula,For error in unit power；
The variance-covariance battle array between parameter is acquired,
In above formula,For parameterVariance-covariance battle array.
Data processing in the step 5) is by the way of data Sequential processing, and detailed process is as follows:
If total observational equation is
Observation data are divided into two groups, then observational equation can be write as following form
Wherein v1、B1、l1The observation residual error of respectively first equation, observing matrix, observation from
By item, v2、B2、l2Observation residual error, observing matrix, the observation free term of respectively second equation；
Assuming that the observation number in first equation of above formula is enough, first equation is solved by the principle of least square, is obtained:
P in above formula1Indicate the power battle array of observation in first equation,Indicate association's factor battle array；
ConvolutionIt is found that association's factor battle arrayWith covariance matrixMeet following relationship
Two equations in solution formula simultaneously, obtain:
P in above formula2The power battle array for indicating observation in second equation can export sequential flat according to Inversion formula of matrix
The calculation formula of difference, as follows
In above formula,It indicates using the association after the first group observations adjustment between obtained parameter estimation and parameter
Factor battle array.
Compared with prior art, the present invention has following two advantage:
(1) it by the way of Sequential processing, does not need to save the WiFi information acquired in the past, it is only necessary to save before
Coefficient in the position and signal propagation formula of the calculated each hot spot of WiFi information, and corresponding precision information (variance-
Covariance), therefore reduce data space.
(2) all conception of history measured data are effectively utilized, guarantee the precision and stability of system, and with observation data
Increase, the positioning accuracy of system can also be continuously improved.
Detailed description of the invention
Fig. 1 is step flow chart of the invention；
Fig. 2 is data adjustment processing result of the invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment:
Such as Fig. 1, a kind of acquisition of Wi-Fi hotspot data and update method based on Sequential processing, comprising the following steps:
1) WiFi signal data acquire:
Using smart phone as data acquisition equipment, in the indoor environment of positioning function to be performed, WiFi is opened, with one
Fixed distance interval is sampled, can be with multiple repairing weld in certain important points of interest, and the software run on smart phone will
The coordinate of the corresponding sampled point of each sampling instant is recorded, and the Wi-Fi hotspot information received, including each Wi-Fi hotspot
MAC Address and RSSI.The result that software acquires data saves hereof, is used for subsequent processing.Following table is as one
Example lists the information that one of sampling instant is recorded.
In table 1, the 1st row records the serial number of sampled point；The data of 2nd row indicate that the coordinate of sampled point, respectively longitude are (single
Position: degree), latitude (unit: degree), height (unit: rice)；3rd row record is sampling start time (unit: millisecond) and end
Moment (unit: millisecond)；What the 4th row recorded is the quantity of the received WiFi signal of this sampling；5-12 row record
It is the corresponding MAC Address of each WiFi signal and RSSI (unit: dBm).
The information that 1. 1 sampling instants of table are recorded
| 1 |
| 114.17973537 22.30638789 3.78 |
| 2016 3543 |
| 8 |
| 6c:f3:7f:50:10:63-52 |
| 6c:f3:7f:50:10:62-53 |
| 24:de:c6:df:6b:63-69 |
| 6c:f3:7f:50:0c:03-67 |
| 6c:f3:7f:50:0c:04-67 |
| 24:de:c6:df:6b:60-69 |
| 00:21:29:9d:ea:c2-75 |
| 6c:f3:7f:50:0f:60-67 |
2) WIFI signal data calculate:
(1) the WiFi signal data acquired in previous step are pre-processed first, obtains respectively corresponding each WiFi heat
Whole sample informations of point.Following table as an example, lists whole sample informations corresponding to one of Wi-Fi hotspot.
Whole sample informations corresponding to 2. 1 Wi-Fi hotspots of table
| 1 |
| 6c:f3:7f:50:10:63 |
| 68 |
| 114.17973537 22.30638789 3.78 -52 |
| 114.17974293 22.30637673 3.78 -48 |
| 114.17975039 22.30635727 3.78 -57 |
| 114.17975871 22.30636628 3.78 -63 |
| ···············.. ···············.. ···.. ···. |
In table 2, the 1st row indicates the ID number of Wi-Fi hotspot；The MAC Address of 2nd row expression Wi-Fi hotspot；The expression of 3rd row is adopted
The quantity of sampling point；Since the 4th row, every a line indicates that a sampling point information, respectively longitude (unit: degree), latitude are (single
Position: degree), height (unit: rice), RSSI (unit: dBm).
(2) according to WiFi signal propagation formula, adjustment Models are established.WiFi signal propagation formula, i.e. signal decay formula,
Its expression formula is as follows:
In above formula, n and A are constant undetermined, and d is distance of the sampled point to Wi-Fi hotspot.The calculation formula of d is as follows:
First-order perturbation is added to (1) formula both sides, and RSSI is abbreviated as R, is obtained
(3)
First-order perturbation is added to (2) formula both sides, and is arranged
(4) formula is substituted into (3) formula, and is arranged
Above formula is denoted as
In above formula, viFor observation residual error, Bi,liExpression formula it is as follows
Formula (6) is the observational equation established for a sampled point, now takes into account whole sampled points, is established following
The observational equation of form
N in formula is whole numbers of samples corresponding to the Wi-Fi hotspot.Above formula is abbreviated as
Above formula is the adjustment Models established according to WiFi signal propagation formula.
(3) compensating computation seeks unknown parameter, and carries out accuracy assessment to result.It is carried out using the principle of least square flat
Difference, it is necessary first to which the initial value of given parameters, wherein the initial value of n and A is empirically worth given, as follows:
The initial value of coordinate x, y, z then take the corresponding coordinate of the maximum point of RSSI value in all sampled points.Then according to minimum
Two multiply principle can be in the hope of parameterValuation, it is as follows
P in above formula is that observation weighs battle array.In this example, P directly takes unit matrix.
Followed by accuracy assessment, first calculating observation value residual error v
v=B·(BTPB)-1BTPl-l (14)
Then error in unit of account power, formula are as follows
In above formula,For error in unit power.It then can be in the hope of the variance-covariance battle array between parameter.
In above formula,For parameterVariance-covariance battle array.
3) adjustment result is put in storage:
Database is written into adjustment result, the information of each Wi-Fi hotspot is recorded as one, and content includes WiFi heat
The ID number of point, MAC Address, coefficient n, A, the coordinate X of hot spot in signal propagation formula, the side between Y, Z and this tittle
Difference-covariance matrixElement.
4) WiFi signal data acquire again:
After WiFi data library is established, it can be used to position, at this moment can constantly there is new WiFi signal data transmission
To server-side, the corresponding sampled point of these data may be random.It, can ring indoors in order to further provide for positioning accuracy
Interval re-starts the acquisition of WiFi signal data in certain distance in border, and the software run on smart phone will record every
The coordinate of the corresponding sampled point of a sampling instant, and the Wi-Fi hotspot information received, the MAC including each Wi-Fi hotspot
Location and RSSI.The result that software acquires data saves hereof, is used for subsequent processing.
5) data processing:
For this step by the way of Sequential processing, Sequential processing is a kind of error compensation method based on the principle of least square, is fitted
The case where for obtaining observation data by stages.Assuming that being observed in different times system, and utilize previous observation
Value carried out adjustment processing to system, obtained the precision information (variance-covariance battle array) of parameter estimation and parameter, when having
When newly-increased observation data arrive, fusion treatment can be carried out together, is obtained according to the parameter estimation and precision information being previously saved
To more optimal parameter estimation.
If total observational equation is
Observation data are divided into two groups, then observational equation can be write as following form
Assuming that the observation number in first equation of above formula is enough, first equation is solved by the principle of least square, is obtained
P in above formula1Indicate the power battle array of observation in first equation,Indicate association's factor battle array.
Convolution (16) is it is found that association's factor battle arrayWith covariance matrixMeet following relationship
Two equations in formula (18) are solved simultaneously, are obtained:
P in above formula2Indicate the power battle array of observation in second equation.It can be exported according to Inversion formula of matrix sequential flat
The calculation formula of difference, as follows
In above formula,It indicates using the association after the first group observations adjustment between obtained parameter estimation and parameter
Factor battle array.Corresponding to this example,Then indicate that the whole WiFi signal data acquired according to before carry out required by compensating computation
The association's factor battle array between the relevant parameter estimation of Wi-Fi hotspot and parameter obtained.According to the step of front it is known that these information
It all has been saved in database, is read now from database.Other amounts in above formula, such as B2, P2, l2, then basis is needed
Second group observations, that is, the WiFi signal data newly increased construct, and calculation is detailed in (7), (8), (9) formula.
It determines the above amount, then calculates association's factor battle array between new parameter estimation and parameter according to formula (22), then
Covariance matrix is calculated according to formula (20).
6) WiFi data library updates:
The result that sequential adjustment is handled is updated to database, including new parameter estimation, such as signal propagation formula
In coefficient n, A, the variance-covariance battle array between the coordinate X, Y, Z of Wi-Fi hotspot and this tittleElement.
7) Wi-Fi hotspot position, return step 4 are updated): in order to keep the stability of system and improve positioning accuracy, need
It is continuous to repeat step 4) -6) process.
Experimental result:
Based on method proposed by the present invention, the software at Android phone end is developed, Wi-Fi hotspot data are then stored in clothes
Business device end.Currently, the software carried out experiment test in multiple indoor environments.An indoor environment wherein introduced below
Experimentation and processing result.Sample plot point is located at Shanghai Pudong New Area office building, and experimental tool is to be mounted with that data are adopted
Collect the Android phone of software.Experimentation is as follows: morning October 16 in 2013 carries out first time WiFi signal data and adopts
Collection, is then handled, and is put in storage.(on October 30th, 2013) has carried out second of data acquisition after two weeks, then handles and to data
Library is updated.For the ease of analyzing result, indoor map has been made in advance, and accurately determine Wi-Fi hotspot
Position is labeled on map, as reference.
Fig. 2 shows the result that WiFi signal data are carried out with adjustment processing.Triangle point in figure represents Wi-Fi hotspot
Actual position, hexagon point represent first time WiFi signal data acquisition after carry out adjustment processing calculated WiFi heat
The position of point, circular dot represent the position that double sampling data are carried out with the Wi-Fi hotspot that Sequential processing obtains.It can be with from figure
Intuitively find out, by the position for the Wi-Fi hotspot that compensating computation is obtained, there is some difference with actual position.Pass through system
Meter, wherein carrying out the calculated position WiFi of adjustment processing institute to a sampled data, the difference with actual position is about 4.3m；
The calculated position WiFi of Sequential processing is carried out to double sampling data, the difference with actual position is about 2.8m.Result above
Illustrate that multiple repairing weld to high-precision importance is proposed, also demonstrates the feasibility of the method for the present invention.
Claims (3)
1. a kind of acquisition of Wi-Fi hotspot data and update method based on Sequential processing, which comprises the following steps:
1) WiFi signal data acquire, and are sampled indoors in environment with the distance interval of setting, record each sampling instant
The Wi-Fi hotspot information received, MAC Address and RSSI including each Wi-Fi hotspot；
2) WiFi signal data calculate, and according to WiFi signal propagation formula, using the principle of least square, adjustment seeks unknown ginseng
Number, which includes the coefficient in the position and signal propagation formula of Wi-Fi hotspot, then carries out essence to adjustment result
Degree evaluation, obtains the variance-covariance battle array between these parameters；
3) by the position of Wi-Fi hotspot, signal propagation formula coefficient and variance-covariance battle array be put into database；
4) new WiFi signal data are acquired again；
5) new collected WiFi signal data are utilized, the data saved in combined data library are obtained using Sequential processing mode
The optimal estimation of parameter, and re-start accuracy assessment；
6) WiFi data library updates；
7) Wi-Fi hotspot position, return step 4 are updated)；
Detailed process is as follows for WiFi signal data calculating in the step 2):
Signal decay formula:
In above formula, n and A are the constant set, and d is sampled point to the distance of Wi-Fi hotspot, and RSSI is abbreviated as R；
Sampled point to Wi-Fi hotspot distance d calculation formula:
X, y, z is the position of sampled point, x in above formulas、ys、zsFor the position of Wi-Fi hotspot；
The adjustment Models formula that WiFi signal propagation formula is established:
In above formula, v be observation residual error, l, B,Expression formula it is as follows
The principle of least square acquires parameterValuation, it is as follows
P in above formula is that observation weighs battle array；
Followed by accuracy assessment, first calculating observation value residual error v
V=B (BTPB)-1BTPl-l
Then error in unit of account power, formula are as follows
In above formula,For error in unit power；
The variance-covariance battle array between parameter is acquired,
In above formula,For parameterVariance-covariance battle array.
2. a kind of acquisition of Wi-Fi hotspot data and update method based on Sequential processing according to claim 1, feature
It is, the WiFi signal data acquisition equipment in the step 1) is that the signals such as mobile phone, computer with WiFi function receive
Equipment.
3. a kind of acquisition of Wi-Fi hotspot data and update method based on Sequential processing according to claim 1, feature
It is, the data processing in the step 5) is by the way of data Sequential processing, and detailed process is as follows:
If total observational equation is
Observation data are divided into two groups, then observational equation can be write as following form
Wherein v1、B1、l1Observation residual error, observing matrix, the observation of respectively first equation are free
, v2、B2、l2Observation residual error, observing matrix, the observation free term of respectively second equation；
Assuming that the observation number in first equation of above formula is enough, first equation is solved by the principle of least square, is obtained:
P in above formula1Indicate the power battle array of observation in first equation,Indicate association's factor battle array；
ConvolutionIt is found that association's factor battle arrayWith covariance matrixMeet following relationship
Two equations in solution formula simultaneously, obtain:
P in above formula2The power battle array for indicating observation in second equation can export sequential adjustment according to Inversion formula of matrix
Calculation formula, as follows
In above formula,It indicates using association's factor after the first group observations adjustment between obtained parameter estimation and parameter
Battle array.
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| CN109661030B (en) * | 2018-12-07 | 2020-11-13 | 南京工业大学 | Unknown target positioning algorithm based on dynamic grid in wireless sensor network |
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