CN104981012A - Indoor positioning system based on multiple existing communication networks - Google Patents
Indoor positioning system based on multiple existing communication networks Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
- H04W16/20—Network planning tools for indoor coverage or short range network deployment
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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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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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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Abstract
The invention relates to an indoor positioning system based on multiple existing communication networks. The indoor positioning system comprises a plurality of APs and an intelligent device to be positioned. The indoor positioning system further comprises a control chip and a central processor; the plurality of APs are wirelessly connected with the intelligent device through respective communication networks; the central processor is connected with the APs; the control chip is connected with the central processor; the plurality of APs communicate with the intelligent device through respective communication networks and receive signals; the central processor acquires the position information of the intelligent device according to the signals received by the plurality of APs; and the control chip selects communication networks of the APs and the intelligent device and APs which communicate with the central processor. Compared with the prior art, and according to the indoor positioning system of the invention, based on the difference of diffraction abilities and the difference of positioning precisions of signals of different frequencies, indoor combined positioning is performed. The indoor positioning system has the advantages of high measurement precision, simple structure, low cost and the like.
Description
Technical field
The present invention relates to wireless communication field, especially relate to a kind of indoor locating system based on multiple existing communication network.
Background technology
Along with the progress of society, the development of information technology, the driving of business, people are more and more urgent to accurate indoor positioning service request.Such as when people is in shopping mall, work as breaking out of fire, now traditional GPS framing signal cannot penetrate high buildings and large mansions, and therefore navigation system is malfunctioning, and fireman cannot locate the people that may lie in a comatose condition, thus incurs loss through delay best therapeutic time.Therefore in the urgent need to a kind of location technology of accurate indoor, by the intelligent handheld device of consumer positioning, thus the personnel among danger and disaster can be found.Be the focus that indoor positioning technologies becomes research gradually in the last few years, constantly attract the attention of experts and scholars.
Higher the comprising of indoor positioning technologies degree of receiving publicity: utilize RFID (Radio FrequencyIdentification, radio-frequency (RF) identification) carry out the automatic identification of target and obtain positional information; WLAN is utilized to carry out indoor positioning; Based on Android phone and the location based on Zigbee, even some scholars are utilizing LED visible light to carry out the research of indoor positioning.Current indoor positioning has had many achievements in research.
Rfid system is generally position based on signal arrival time difference, and positioning precision is at 2-3 rice, and its advantage is non line of sight, and volume is little, and cost is low, but comprises clock, amplifier, and radio circuit is at interior various devices, and system complexity is higher.Ultrasonic wave positioning precision is higher, but needs special hardware, by non line of sight and multi-path propagation effects larger.Super-broadband tech positioning precision is very high, and penetration power is very strong, and anti-multipath effect is fine, but cost is higher, and theoretical research is not enough.Employing infrared ray location is the highest can obtain millimetre-sized positioning precision, easy for installation, but is very easy to the interference being subject to room light.Adopt ZigBee technology average localization error at 3-5 rice, cost is lower, but distance is shorter, needs a large amount of transducer network consistings, is difficult to large-scale promotion application.WLAN location can position based on signal strength signal intensity, and position based on the angle of arrival, mean error is at 1-3 rice, and shortcoming is signal strength signal intensity limited resolution, is vulnerable to multi-path influence.
Summary of the invention
Object of the present invention be exactly in order to overcome above-mentioned prior art exist defect and a kind of indoor locating system based on multiple existing communication network is provided, utilize the diffracting power of the signal of different frequency different, and the difference of positioning precision is combined and carried out indoor positioning, have that certainty of measurement is high, structure simple, low cost and other advantages.
Object of the present invention can be achieved through the following technical solutions:
A kind of indoor locating system based on multiple existing communication network comprises multiple AP, smart machine to be positioned, control chip and central processing unit, described multiple AP is by respective communication network wireless connections smart machine, described central processing unit connects AP, and described control chip connects central processing unit;
Multiple AP is by respective communication network and smart device communication and Received signal strength, the positional information of the signal acquisition smart machine that central processing unit receives according to multiple AP, the AP that control chip is selected AP and the communication network of smart machine and communicated with central processing unit.
Communication network in described control chip sensing chamber and the positional information of AP, AP and two or more communication networks communicated between smart machine are selected according to communication frequency, and select arbitrarily to be positioned at according to the positional information of AP the AP that diverse location communicates with central processing unit, under selected communication network, received by the AP selected the signal that smart machine sends.
Communication network is divided into Low Frequency Network and high frequency network according to communication frequency by described control chip, and the difference of the communication frequency between described Low Frequency Network and high frequency network is at least 1GHz.
Described Low Frequency Network is the communication network of below 1GHz, and described high frequency network is the communication network of more than 2GHz.
Multiple communication network is there is between AP and smart machine, the signal that central processing unit receives according to single AP under different communication network also adopts AOA algorithm for estimating to obtain many groups AOA data that single AP is corresponding under different communication network, optimum AOA data corresponding to single AP are obtained after contrasting many groups AOA data that single AP is corresponding under different communication network, the positional information of optimum AOA data corresponding to multiple AP and AP combined by central processing unit, obtained the optimal location information of smart machine by method of geometry.
Contrast method of many groups AOA data that single AP is corresponding under different communication network comprises: the AOA data obtained under Low Frequency Network acknowledge(ment) signal are designated as set φ by central processing unit
a, the set of the AOA data obtained under high frequency network acknowledge(ment) signal is designated as set φ
b, at set φ
ain find a maximum angular θ
1, i.e. θ
1=max (φ
a), then from set φ
bin find one and θ
1closest to the θ of angle
bas optimum AOA data, namely
for θ
bwith θ
1difference minimum value, described set φ
aand φ
bbe the set of the peak value obtained according to AOA algorithm for estimating.
A kind of communication network is only there is between AP and smart machine, the signal that central processing unit receives according to AP under same communication network also adopts AOA algorithm for estimating to obtain AOA data corresponding to AP under this communication network, and then adopting method of geometry to obtain the set of the positional information of smart machine under this communication network in conjunction with the positional information of AP, under contrast different communication network, the set of the positional information of smart machine obtains the optimal location information of smart machine.
Under contrast different communication network, the method for set of the positional information of smart machine comprises: central processing unit select in the set of the positional information of smart machine under high frequency network with the immediate positional information of the positional information of smart machine under Low Frequency Network, as the optimal location information of smart machine.
Described central processing unit according to the network communication protocol of different systems to AP receive smart machine signal analyze.
Described communication network comprises GSM, WCDMA, LTE, CDMA and WIFI network.
Compared with prior art, the present invention relates to and arrive the estimation at angle, the building of automatic control system, the building of indoor geometry location method and signal processing system, can indoor positioning be widely used in, have the following advantages:
1) the present invention adopts different communication networks to carry out indoor positioning, different communication networks adopts different communication frequencys, utilize this system and use high-precision AOA algorithm for estimating to carry out repeatedly the measurement of the angle of arrival, utilize the method for geometric construction just can obtain the orientation of measurement point, significantly can overcome the impact that multipath effect is located for AOA, reduce error, ensure the accurate of locator data.
2) high frequency positioning precision is higher, but diffracting power is poor, must bring penetration loss; The diffracting power of low frequency is comparatively strong, but precision is poor.Indoor locating system of the present invention well combines the advantage of two kinds of frequencies, if having object to stop for indoor, low frequency signal can walk around this object well, carries out the estimation of the angle of arrival, but precision is not enough; HFS cannot this object of diffraction, and various refraction occurs, and scattering finally just arrives receiver.The estimation of the angle of arrival now low frequency part obtained and the angle of arrival of HFS are analyzed, and can obtain comparatively accurate angle-of-arrival estimation, improve indoor position accuracy.
3) the present invention utilizes indoor existing multiple communication network well, such as can use but be not limited only to GSM network and WIFI network is comprehensively located, the result obtained than simple use network is more accurate, and does not need to dispose the extra network equipment.
4) system is simple, is convenient to large scale deployment.AP is the original indoor access point just had, and need not lay network on a large scale to locate specially again; User's hand-held intelligent equipment is also an important ring of native system, and the equipment such as smart mobile phone are present in it user, and present system can positioning equipment, so that final location people itself.Existing mobile device, as mobile phone, can communicate with AP, in order to exchange the information such as signal strength signal intensity, catches this information and carries out analyzing the positional information that just can obtain mobile phone, also just obtain the positional information of the wounded.
5) the present invention is because the communication network employing multiple commercialization can reduce fading loss.
6) because present system utilizes the communication network of existing commercialization to position, the signal of therefore locating will not disturb each other with the signal communicated normally, the network communication protocol of the compatible different systems of central controller simultaneously, thus to AP receive smart machine signal analyze, well can complete the task of measurement.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is indoor locating system operational flow diagram in the present embodiment;
Fig. 3 is the radio propagation path schematic diagram of high-frequency signal and low frequency signal;
Fig. 4 is signal tranmitting frequency AOA estimation curve figure when being 2.4GHz;
Fig. 5 is signal tranmitting frequency AOA estimation curve figure when being 850MHz;
Fig. 6 is an AP in embodiment one, angle schematic diagram between the 2nd AP and node to be measured;
Fig. 7 is the 3rd AP in embodiment two, the 4th AP, the 5th AP, angle schematic diagram between the 6th AP and node to be measured.
In figure: 1, smart machine, 2, AP, 3, central processing unit, 4, control chip.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.The present embodiment is implemented premised on technical solution of the present invention, give detailed execution mode and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment one
As shown in Figure 1, a kind of indoor locating system based on multiple existing communication network comprises multiple AP2, smart machine 1 to be positioned, control chip 4 and central processing unit 3, multiple AP2 is by respective communication network wireless connections smart machine 1, central processing unit 3 is by Fiber connection AP2, and control chip 4 connects central processing unit 3.Wherein, communication network comprises GSM, WCDMA, LTE, CDMA and WIFI network.AP2 this be the indoor Network Access Point inherently had, the access point of such as WIFI.Smart machine 1 is user's handheld mobile device: as mobile phone etc., and this is the equipment that native system will be located.Control core to switch in different commercial network, also can the indoor different AP2 of choice for use.Central processing unit 3 can make different business networks carry out mutually cooperating not interfereing with each other, and completes communication, and the data of all receptions are carried out computing, obtain last indoor positioning place.
As shown in Figure 2, the step realizing indoor positioning of this indoor locating system comprises:
1) communication network in control chip 4 sensing chamber and the positional information of AP2, automatically two or more communication network is selected according to communication frequency, after selecting, the AP2 switched under different communication network communicates with smart machine 1, while control chip 4 AP2 that automatically selects arbitrarily two or more to be positioned at diverse location to communicate with central processing unit 3 according to the positional information of AP2.
Wherein, communication network is divided into Low Frequency Network and high frequency network according to communication frequency by control chip 4, and the difference of the communication frequency between Low Frequency Network and high frequency network is at least 1GHz.Such as: Low Frequency Network is the communication network of below 1GHz, high frequency network is the communication network of more than 2GHz.
2) under selected communication network, received by select AP2 the signal that smart machine 1 sends.
3) central processing unit 3 is according to the signal of AP2 reception under different communication network, adopts high-precision existing AOA algorithm for estimating, in conjunction with the positional information of fixing AP2, is automatically obtained the positional information of smart machine 1 by method of geometry.
Multiple communication network is there is between AP2 and smart machine 1, the signal that central processing unit 3 receives according to single AP2 under different communication network also adopts AOA algorithm for estimating to obtain many groups AOA data that single AP2 is corresponding under different communication network, optimum AOA data corresponding to single AP2 are obtained after contrasting many groups AOA data that single AP2 is corresponding under different communication network, the positional information of optimum AOA data corresponding to multiple AP2 and AP2 combined by central processing unit 3, obtained the optimal location information of smart machine 1 by method of geometry.
Wherein, central processing unit 3 according to the network communication protocol of different systems to AP2 receive smart machine 1 signal analyze, the AOA data obtained under Low Frequency Network acknowledge(ment) signal are designated as set φ by central processing unit 3
a, the set of the AOA data obtained under high frequency network acknowledge(ment) signal is designated as set φ
b, set φ
aand φ
bbe the set of the peak value obtained according to AOA algorithm for estimating, because the peak value that AOA algorithm for estimating obtains may because the impact of multipath has a lot of peak value.At set φ
ain find a maximum angular θ
1, i.e. θ
1=max (φ
a), then from set φ
bin find one and θ
1closest to the θ of angle
bas optimum AOA data, namely
θ
b∈ φ
b,
for θ
bwith θ
1difference minimum value.
The schematic diagram of the propagation of signal as shown in Figure 3, has shining from afar of two bunches of different frequencies.High-frequency signal wavelength shorter, the wavelength of the signal of such as more than 2GHz is generally less than 5cm, diffraction being less likely to occur in larger barrier, brings larger penetration loss.The signal that receiving terminal receives is the superposition in multiple path, direct projection footpath due to penetration loss fainter.And low frequency signal is as 450MHz, its wavelength is longer, for 66.7cm, its diffracting power is comparatively strong, in general barrier, directly diffraction can occur, after direct arrival barrier, be equivalent to a direct projection footpath, and signal power is comparatively strong, the strongest signal that receiving terminal receives is exactly direct projection footpath.
Present system has carried out experiment measuring, and using roof as measurement place, a transmit antennas and two reception antennas composition SIMO (Single Input Multiple Output), antenna used is dipole omnidirectional antenna.Measuring frequency is respectively 2.4GHz and 850MHz, and bandwidth is 5MHz, and barrier is bucket.When not having barrier obstruction, AOA estimates be near 0 °, and as can be seen from Figure 4 and 5, tranmitting frequency is that the AOA that the time standby MUSIC algorithm of 850MHz is estimated is accurate all the better.This is because there occurs diffraction during 850MHz, be equivalent to a direct projection footpath.This well demonstrates our conclusion: barrier is different for the blocking electromagnetic waves effect of different frequency, therefore this characteristic can be applied in multifrequency indoor positioning, positioning precision can be improved, if namely located by the WIFI signal of single 2.4GHz, when not having barrier obstruction, certain precision is all well and good, but the experiment as above in time having stop demonstrates on the contrary not as the precision of low frequency signal; But iff use low frequency signal location, the limited precision of itself.Therefore two kinds of frequency synthesiss are got up to position better effects if.
For two of indoor AP2, as shown in Figure 6.The mobile phone of user can use as transmiting signal source, and signal source transmits signals to two AP2.System brings into operation under the effect of control chip 4 (writing control routine in chip): such as system selects frequency to be the WIFI frequency range of 2.4GHz first automatically, and the signal return received by AP2 is to central processing unit 3; Then system have selected again the GSM signal that frequency is 450MHz, by same mode Received signal strength.Central processing unit 3 brings into operation subsequently, and this system uses high-precision AOA algorithm for estimating to start to carry out computing to data, and by the signal that two AP2 receive under WIFI signal, system obtains the result that two AOA estimate; The result that two AOA obtained under GSM signal that use the same method estimate.The AOA that under AOA and GSM that relatively under WIFI, an AP obtains, an AP obtains, just can obtain the AOA of an accurate AP, be designated as α
1, then fortune uses the same method and obtains the AOA of the 2nd AP, is designated as α
2, system and then the positional information intrinsic according to this AP and the 2nd AP, finally obtain the positional information of emission source i.e. the positional information of node to be measured by geometric operation method.
For three networks, suppose there are A, B, C tri-networks, A frequency is minimum, and C is the highest.So we can select A and B to carry out Combined estimator, A and C also can be selected to estimate, this method of estimation is consistent with the method for estimation of two networks.May little due to the area coverage of C (high frequency area coverage be little) for network A C, and region-wide location cannot be completed, now can carry out Combined estimator by network A B, realize all region covering.The operation principle of two or more communication network is the same.
For indoor environment, barrier is more, and often the indoor positioning of single-frequency is due to the complexity of indoor environment, there is furniture, wall, glass, pipeline, basin etc., can transmission be there is in signal, reflection, refraction, absorbs, scattering, therefore signal strength weakening, signal time delay becomes large, the decline of signal will certainly be caused, thus affect positioning precision.Therefore, present system adopts different communication networks to carry out indoor positioning, and different communication networks adopts different communication frequencys.Meanwhile, electromagnetic diffraction characteristics makes signal can cut-through thing, is equivalent to a direct projection footpath.Present system mainly utilizes the diffracting power of the signal of different frequency different, and the difference of positioning precision is combined and is carried out indoor positioning, overcome the impact of the multipath effect of traditional single-frequency and the shortcoming of precision deficiency, compare single-frequency and resist multipath effect better, overcome traditional indoor locating system to need again to lay a large amount of network equipments, the defect of high cost simultaneously, present system can directly utilize existing network, need not re-lay network.
Embodiment two
The difference of the present embodiment and embodiment one is, a kind of communication network is only there is between AP2 and smart machine 1, although at this time single AP2 only has a kind of communication network, but in fact there is much such AP2 under this communication network indoor, the signal that central processing unit 3 receives according to AP2 under same communication network also adopts AOA algorithm for estimating to obtain AOA data corresponding to AP2 under this communication network, and then adopt method of geometry to obtain the set of the positional information of smart machine 1 under this communication network in conjunction with the positional information of AP2, under contrast different communication network, the set of the positional information of smart machine 1 obtains the optimal location information of smart machine 1.
Wherein, communication network is divided into high frequency network and Low Frequency Network, because high-frequency signal diffracting power is more weak, reflected refraction is more, there is multipath, the AOA data estimated have a lot, the position so finally obtained also has a lot accordingly, and for obtaining a positional information under Low Frequency Network, positional information immediate with the positional information of smart machine under Low Frequency Network 1 in the set of the positional information of smart machine 1 under high frequency network selected by central processing unit 3, as the optimal location information of smart machine 1.
For four of indoor AP2, as shown in Figure 7.3rd AP, the 4th AP are two AP2 under Low Frequency Network, the 5th AP, the 6th AP is two AP2 under high frequency network.The smart machine 1 of node to be measured launches low frequency signal to the 3rd AP, the 4th AP, and central processing unit 3 obtains α respectively by AOA algorithm for estimating
3, α
4, then geometric operation method obtains its position; Then smart machine 1 emission of high frequency signals is to the 5th AP, the 6th AP, and central processing unit 3 obtains α respectively by AOA algorithm for estimating
5, α
6, then geometric operation method obtains the set of its position.Then in the location sets that estimates under selecting high frequency network of central processing unit 3 with the immediate position, position estimated under Low Frequency Network as the position finally will located.
For three networks, suppose there are A, B, C tri-networks, A frequency is minimum, and C is the highest.So we can select A and B to carry out Combined estimator, A and C also can be selected to estimate, this method of estimation is consistent with the method for estimation of two networks.May little due to the area coverage of C (high frequency area coverage be little) for network A C, and region-wide location cannot be completed, now can carry out Combined estimator by network A B, realize all region covering.The operation principle of two or more communication network is the same.
Embodiment three
The difference of the present embodiment and embodiment one is, indoor arrange four AP2.The mobile phone of user can use as transmiting signal source, and signal source transmits signals to four AP2.System brings into operation under the effect of control chip 4 (writing control routine in chip): such as system selects frequency to be the WIFI frequency range of 2.4GHz first automatically, and the signal return received by AP2 is to central processing unit 3; Then system have selected again the GSM signal that frequency is 450MHz, by same mode Received signal strength.Central processing unit 3 brings into operation subsequently, and this system uses high-precision AOA algorithm for estimating to start to carry out computing to data, and by the signal that four AP2 receive under WIFI signal, system obtains the result that four AOA estimate; The result that four AOA obtained under GSM signal that use the same method estimate.The AOA of different AP2 under comparison WIFI and GSM, just can obtain the optimum AOA data of accurate single AP2, system and then the positional information intrinsic according to this four AP2, finally obtain the positional information of emission source i.e. the positional information of node to be measured by geometric operation method.
Embodiment four
The difference of the present embodiment and embodiment two is, indoor arrange six AP2.Under wherein three AP2 are operated in Low Frequency Network, under other three AP2 are operated in high frequency network.The smart machine 1 of node to be measured launches three AP2 under low frequency signal to Low Frequency Network, and central processing unit 3 obtains the AOA of these three AP2 respectively by AOA algorithm for estimating, and then geometric operation method obtains the position under smart machine 1 Low Frequency Network; Then three AP2 under smart machine 1 emission of high frequency signals to high frequency network, central processing unit 3 obtains the AOA of these three AP2 respectively by AOA algorithm for estimating, and then geometric operation method obtains the set of the position under smart machine 1 high frequency network.Then in the location sets that estimates under selecting high frequency network of central processing unit 3 with the immediate position, position estimated under Low Frequency Network as the position finally will located.
Claims (10)
1. the indoor locating system based on multiple existing communication network, comprise multiple AP and smart machine to be positioned, it is characterized in that, also comprise control chip and central processing unit, described multiple AP is by respective communication network wireless connections smart machine, described central processing unit connects AP, and described control chip connects central processing unit;
Multiple AP is by respective communication network and smart device communication and Received signal strength, the positional information of the signal acquisition smart machine that central processing unit receives according to multiple AP, the AP that control chip is selected AP and the communication network of smart machine and communicated with central processing unit.
2. a kind of indoor locating system based on multiple existing communication network according to claim 1, it is characterized in that, communication network in described control chip sensing chamber and the positional information of AP, AP and two or more communication networks communicated between smart machine are selected according to communication frequency, and select arbitrarily to be positioned at according to the positional information of AP the AP that diverse location communicates with central processing unit, under selected communication network, received by the AP selected the signal that smart machine sends.
3. a kind of indoor locating system based on multiple existing communication network according to claim 1, it is characterized in that, communication network is divided into Low Frequency Network and high frequency network according to communication frequency by described control chip, and the difference of the communication frequency between described Low Frequency Network and high frequency network is at least 1GHz.
4. a kind of indoor locating system based on multiple existing communication network according to claim 3, it is characterized in that, described Low Frequency Network is the communication network of below 1GHz, and described high frequency network is the communication network of more than 2GHz.
5. a kind of indoor locating system based on multiple existing communication network according to claim 3, it is characterized in that, multiple communication network is there is between AP and smart machine, the signal that central processing unit receives according to single AP under different communication network also adopts AOA algorithm for estimating to obtain many groups AOA data that single AP is corresponding under different communication network, optimum AOA data corresponding to single AP are obtained after contrasting many groups AOA data that single AP is corresponding under different communication network, the positional information of optimum AOA data corresponding to multiple AP and AP combined by central processing unit, the optimal location information of smart machine is obtained by method of geometry.
6. a kind of indoor locating system based on multiple existing communication network according to claim 5, it is characterized in that, the method contrasting many groups AOA data corresponding to single AP under different communication network comprises: the AOA data obtained under Low Frequency Network acknowledge(ment) signal are designated as set φ by central processing unit
a, the set of the AOA data obtained under high frequency network acknowledge(ment) signal is designated as set φ
b, at set φ
ain find a maximum angular θ
1, i.e. θ
1=max (φ
a), then from set φ
bin find one and θ
1closest to the θ of angle
bas optimum AOA data, namely
for θ
bwith θ
1difference minimum value, described set φ
aand φ
bbe the set of the peak value obtained according to AOA algorithm for estimating.
7. a kind of indoor locating system based on multiple existing communication network according to claim 3, it is characterized in that, a kind of communication network is only there is between AP and smart machine, the signal that central processing unit receives according to AP under same communication network also adopts AOA algorithm for estimating to obtain AOA data corresponding to AP under this communication network, and then adopting method of geometry to obtain the set of the positional information of smart machine under this communication network in conjunction with the positional information of AP, under contrast different communication network, the set of the positional information of smart machine obtains the optimal location information of smart machine.
8. a kind of indoor locating system based on multiple existing communication network according to claim 7, it is characterized in that, under contrast different communication network, the method for set of the positional information of smart machine comprises: central processing unit select in the set of the positional information of smart machine under high frequency network with the immediate positional information of the positional information of smart machine under Low Frequency Network, as the optimal location information of smart machine.
9. a kind of indoor locating system based on multiple existing communication network according to claim 1, is characterized in that, described central processing unit according to the network communication protocol of different systems to AP receive smart machine signal analyze.
10. a kind of indoor locating system based on multiple existing communication network according to claim 1, it is characterized in that, described communication network comprises GSM, WCDMA, LTE, CDMA and WIFI network.
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| CN112911505A (en) * | 2021-01-29 | 2021-06-04 | 西安交通大学 | Frequency-adaptive wheelchair indoor positioning method |
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