CN105044659A - Indoor positioning device based on environment spectrum fingerprint - Google Patents

Indoor positioning device based on environment spectrum fingerprint Download PDF

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Publication number
CN105044659A
CN105044659A CN201510432192.8A CN201510432192A CN105044659A CN 105044659 A CN105044659 A CN 105044659A CN 201510432192 A CN201510432192 A CN 201510432192A CN 105044659 A CN105044659 A CN 105044659A
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spectral
spectral fingerprint
data
spectroscopic data
spectrum
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CN105044659B (en
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由克
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Shenzhen Xibotaike Electronics Co Ltd
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Shenzhen Xibotaike Electronics Co Ltd
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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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Collating Specific Patterns (AREA)

Abstract

The invention provides an indoor positioning device based on an environment spectrum fingerprint. The device comprises a spectrum measurement module, a central control module and a wireless module. The central control module receives spectrum data measured by the spectrum measurement module, and controls the measurement state of the spectrum measurement module. The wireless module is controlled by the central control module and wirelessly transmits the spectrum data or spatial point coordinates to the outside world. The spectrum measurement module has a first measurement state and a second measurement state. When the spectrum measurement module is in the first measurement state, the central control module constructs the received spectrum data of all spatial points into the spectrum fingerprint according to spatial position and the light intensity of each spatial point. In the second measurement state, the measured data are compared with the spectrum fingerprint, so as to acquire the position information of a terminal. The positioning device provided by the invention can be applied to an environment without external signal communication, and has the advantages of simple overall result, low cost and high measurement accuracy.

Description

Based on the indoor positioning device and method of environment spectral fingerprint
Technical field
The present invention relates to positioning field, particularly relate to a kind of indoor positioning device and method based on environment spectral fingerprint.
Background technology
Along with popularizing of information and communication technology (ICT), people grow with each passing day to the demand that indoor positioning is served, in some public places, as market, airport, exhibition room, office building, warehouse, underground parking etc., accurate indoor positioning information, can facilitate user to do shopping, go on a journey, search indoor objects etc.; Efficient management can be realized to free space and stock in storage; Specific indoor navigation task can be completed for police, fireman, soldier, health care worker.Intelligent space, general fit calculation etc. all be unable to do without indoor location service in addition, and therefore indoor positioning has broad application prospects.
Abundanter about the research of indoor positioning technologies both at home and abroad, there are proximity detection, fingerprint matching and polygon/Angle Method etc. according to positioning principle.For proximity detection method using the source location that detects as position location, precision is lower.Matching process based on WiFi fingerprint utilizes the signal characteristic in indoor environment to mate can obtain good positioning precision, but positioning result is subject to the impacts such as indoor multipath effect and environmental change.Polygon/Angle Method need first by algorithm time of arrival (TOA), difference algorithm time of arrival (TDOA), the accurate measurement and positioning point of angle of arrival location algorithm (AOA) scheduling algorithm to the information such as distance/angle of reference point, recycling trilateration etc. positions target, but in actual measurement, can be there is error in the data values such as reference mode position coordinates, measuring distance, thus affect positioning result.
Application number is the self-adaptation dynamic fingerprint base construction method that the patent of CN201410539385.9 proposes based on LED visible light indoor locating system, limitation part is that the transmission range due to LED light source is shorter, therefore for the measuring position point of indoor, its number ratio measuring the different LED light source obtained is less, namely probably two the even information of a LED light source can only be measured at a location point, for this situation, receiving end only can not determine the position of receiving end according to light source and intensity signal thereof, can effective location for all anchor points (as corridor etc.) if needed, then need intensive layout LED light source, but scheme cost can be increased.
Application number is the weighting three limit localization method that the patent of CN201110054768.3 proposes based on RSSI, and limitation part is that the method can not accurately record internodal distance, thus makes positioning error larger.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of surround lighting spectral fingerprint that utilizes at the device of indoor positioning and localization method.
For achieving the above object, the invention provides a kind of indoor positioning device based on environment spectral fingerprint.Described locating device comprises:
Spectral measurement module, for measuring the spectrum of the surround lighting of each spatial point;
Central control module, receives the spectroscopic data that described spectral measurement module is measured, and controls the measuring state of described spectral measurement module;
Wireless module, is controlled by described central control module to spectroscopic data described in outside wireless transmission or spatial point coordinate;
Described spectroscopic data comprises the optical wavelength at spatial point coordinate, spatial point intensity and spatial point place; Described spectral measurement module has the first measuring state and the second measuring state; The spectroscopic data of all spatial point received, when described spectral measurement module is in the first measuring state, is built into spectral fingerprint according to the light intensity of locus and each spatial point by described central control module; The spectroscopic data of all spatial point received and described spectral fingerprint, when described spectral measurement module is in the second measuring state, contrasts, thus determine the spatial point coordinate that spectroscopic data is different by described central control module.
Further, described spectral fingerprint is stored in described central control module.
For achieving the above object, the invention provides a kind of indoor orientation method based on environment spectral fingerprint.Described location side following steps:
Step 1: to area of space modeling, and gather the surround lighting spectroscopic data obtaining area of space;
Step 2: set up spectral fingerprint database according to the spectroscopic data gathered and area of space position relationship;
Step 3: according to terminal request, to the surround lighting spectra collection of terminal region, forms side spectrum data;
Step 4: side spectrum data and described spectral fingerprint database are contrasted, determines M candidate target location point;
Step 5: M candidate target position is calculated, and the final position point obtaining terminal;
When to area of space modeling, several area sampling blocks are divided into area of space, and to each area sampling block continuous sampling N time, obtain N number of surround lighting spectroscopic data; According to different optical wavelength, light intensity, spectral fingerprint database vector is calculated to described N number of surround lighting spectroscopic data.
Further, spectral fingerprint database building method comprises in step 2:
Be λ for wavelength wlight wave, calculate the mean value of N number of light intensity value and standard deviation thus obtain spectral fingerprint database vector S;
Maximum Likelihood (MLE) is used to estimate that wavelength is λ wdistribution parameter with
estimation: μ ~ w = 1 N Σ i = 1 N s j , w ( i ) , I.e. Estimation of Mean;
estimation: σ ~ w = 1 N Σ i = 1 N [ P j , w ( i ) - μ ~ w ] 2 , I.e. variance evaluation;
Wherein, 1≤w≤K, K be in spectral information intensity higher than the quantity of the different light wave of the wavelength of intensity threshold value D, K>=1; s j,w(i) for the spectral information medium wavelength that a jth location point records be λ wi-th light intensity value of light wave; 1≤j≤L, L is the total number of location point; After light wave higher than intensity threshold value D is all carried out feature extraction, obtain fingerprint vector p jfor the coordinate of a jth location point.
Further, determine that the method for M candidate target position comprises:
By the side spectrum data of collection and the described spectral fingerprint database comparing calculation degree of correlation, choose the highest M of the degree of correlation and put alternatively source location APt; Wherein, Euclidean distance is utilized to represent the degree of correlation of side spectrum data and described spectral fingerprint data, c a,j=| s a-s j|, wherein, s jfor the spectral fingerprint data of the location point of the jth in spectral fingerprint database, c a,jrepresent s awith the degree of correlation of the spectral fingerprint data of a jth location point.
Further, the method obtaining the final position point of terminal comprises:
Weight is converted to the degree of correlation of M candidate target position, calculates the coordinate of final position point according to the weight of candidate target position and the coordinate of M candidate target position;
Weighted value is: wherein 1≤t≤M; Final goal location point coordinate is calculated according to weight and M candidate target location point coordinate:
Further, the equipment gathering surround lighting spectroscopic data at least comprises spectrometer.
The indoor positioning device that the present invention is based on environment spectral fingerprint utilizes spectral measurement module to carry out sampled measurements to the spectrum of the surround lighting of each spatial point and forms spectral fingerprint, and the surround lighting spectrum of follow-up measurement and described spectral fingerprint are contrasted, determine the position coordinates of immediate point in terminal position and spectral fingerprint, thus reach the object to terminal positioning; Indoor positioning device whole result of the present invention is fairly simple, and cost is lower, and measuring accuracy is high.
Indoor orientation method based on environment spectral fingerprint provided by the invention is respectively for the calculating of different wave length in the light intensity of spatial point, and under obtaining environment striation line, the photodistributed spectral fingerprint database of whole area of space environment is vectorial; And utilizing relatedness computation determination candidate target phase near point respectively, exploitation right re-computation obtains the coordinate of final goal location point, thus reaches the object of location; Utilize this method carry out the location of indoor terminal and no longer need by means of additional LED lamplight, thus the situation that cannot complete measurement because of the problem of light source radiating angle, light intensity etc. can not be brought; Be not subject to measuring elements of a fix reference point and offset the error brought yet; Procedure of the present invention is simple, and model is set up rationally, and algorithm is accurate, lower to hardware requirement.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, by the specific embodiment of the present invention describe in detail, will make technical scheme of the present invention and other beneficial effect apparent.
In accompanying drawing,
Fig. 1 is the modular structure schematic diagram of the indoor positioning device that the present invention is based on environment spectral fingerprint;
Fig. 2 is the indoor orientation method process flow diagram that the present invention is based on environment spectral fingerprint;
Fig. 3 sets up spectral fingerprint database flowchart in the indoor orientation method that the present invention is based on environment spectral fingerprint;
Fig. 4 is the terminal tuning on-line process flow diagram of the indoor orientation method that the present invention is based on environment spectral fingerprint.
Drawing reference numeral illustrates:
1, spectral measurement module; 2, central control module; 3, wireless module.
Embodiment
For further setting forth the technological means and effect thereof that the present invention takes, be described in detail below in conjunction with the preferred embodiments of the present invention and accompanying drawing thereof.
Refer to Fig. 1, the specific embodiment of the invention provides a kind of indoor positioning device based on environment spectral fingerprint, and this locating device comprises spectral measurement module 1, central control module 2 and wireless module 3.
Wherein, described spectral measurement module 1 is mainly used in the spectrum of the surround lighting measuring each spatial point; This spectral measurement module 1 has two kinds of measuring states, is subject to the control of described central control module 2.
Described spectral measurement module 1 is when the first measuring state, described spectral measurement module 1 measures the spectrum of the surround lighting of each spatial point, and this spectroscopic data is kept in central control unit according to the intensity correlation of locus (coordinate) and each spatial point, form spectral fingerprint; Wherein said spectroscopic data comprises the optical wavelength at the coordinate of spatial point, the light intensity of spatial point and spatial point place.
When positioning measurement to the terminal be in above-mentioned space, when described spectral measurement module 1 is in the second measuring state, described spectral measurement module 1 measures the surround lighting spectrum of each spatial point, and surround lighting spectroscopic data and the spectral fingerprint be stored in described central control module 2 are contrasted, through the coordinate of the different spatial point of computing determination spectroscopic data, thus determine the position of terminal, reach the object of location.
In the present embodiment, described spectral measurement module 1 comprises spectrometer or other can measure the equipment of natural light spectrum.
In the present embodiment, described central processing module comprises single-chip microcomputer and dsp processor, and wherein, described single-chip microcomputer is mainly used in carrying out working state control to spectral measurement module 1; Described dsp processor is mainly used in the structure of spectral fingerprint and spectroscopic data and described spectral fingerprint comparison calculation.
Present embodiment, owing to have employed surround lighting as measurement light source, can't be subject to the impact of the intensity of light source, light source projects angle etc., thus does not need to set up extra light source, can reduce costs, improve the scope of application.
Present embodiment can also send by wireless module 3 spectroscopic data or the spectral fingerprint that built measured terminal to outside, thus can be verified the spectroscopic data received or spectral fingerprint by external unit, indirectly reach the verification to this locating device.
Present embodiment can also send position or the spatial point coordinate of the terminal that will locate by wireless module 3 external device, thus realizes the remote monitoring function to terminal location.
Refer to Fig. 2, the invention provides a kind of indoor orientation method based on surround lighting spectral fingerprint, comprise the following steps:
Step 1: to area of space modeling, and gather the surround lighting spectroscopic data obtaining area of space.
When to area of space modeling, first several area sampling blocks are divided into area of space, and to each area sampling block continuous sampling N time, obtain N number of surround lighting spectroscopic data.
Such as the height of general adult and the estimation of use habit, for the location of mobile phone terminal in indoor, we set adult under indoor environment, use the height of mobile phone as 1.3m, therefore the surface level of distance ground 1.3m is divided into different region units, wherein, the size of region unit can set according to positioning precision, and the size of general setting is greater than the size of mobile phone, the region of such as 1*1m, supposes that this careat is 300m simultaneously 2, so the quantity of this area sampling block is 300.
Then this each region unit is carried out to the sampling of surround lighting spectrum, continuous sampling N time, by N number of spectrum of an acquisition region unit.
Step 2: set up spectral fingerprint database according to the spectroscopic data gathered and area of space position relationship.
Wherein, calculate spectral fingerprint database vector to described N number of surround lighting spectroscopic data according to different optical wavelength, light intensity, such as we are with light wavelength lambda in surround lighting w=600nm is example.
Because surround lighting shows different light intensity during different measuring on a region unit, first setting Intensity threshold D is needed for N measurement result, and calculate for the light being greater than Intensity threshold D, such as select the light intensity of 0.4 times of largest light intensity to be Intensity threshold D, the work that so we will do is measured one by one to 300 area sampling blocks exactly; During measurement, first to λ wthe light intensity of=600nm is that the light of the 0.4D of largest light intensity carries out light intensity and measures, and obtains several and measures numerical value; Then the numerical value measured is carried out respectively to the calculating of light intensity mean value and standard of luminous intensity difference; A vector relevant to the wavelength of light intensity mean value and standard deviation, measurement and current region block position on this region unit will be obtained afterwards.
After completing above measurement, further can also measure according to different optical wavelength, obtain several with this region unit position and light intensity and the relevant composite vector of optical wavelength.
Concrete, in the present embodiment, be that computing method calculate the light intensity mean value of the different wave length light component in region unit and standard deviation with maximum Likelihood, wherein:
Wavelength is λ wlight intensity mean value estimation:
Wavelength is λ wthe standard of luminous intensity poor estimation: σ ~ w = 1 N Σ i = 1 N [ P j , w ( i ) - μ ~ w ] 2 ;
Wherein, s j,w(i) for the spectral information medium wavelength that a jth region unit records be λ wi-th light intensity value of light wave, 1≤j≤L, L is the total number of location point, is 300*N herein, 1≤w≤K, K be in spectral information intensity higher than the quantity of the light wave of efficient intensity threshold values D, K>=1;
More than passing through, after whole 300 area sampling blocks have been measured one by one, the spectral fingerprint database for this plane will be formed.
Step 3: according to terminal request, to the surround lighting spectra collection of terminal region, forms side spectrum data.
After formation spectral fingerprint database, concrete position positioning stage will be entered.In this space, now certainly exist the terminal device that needs location.
When measuring, the also same method according to step 2, the whole plane containing this terminal device carries out measurement sampling, forms side spectrum data.These side spectrum data are inevitable not identical with the spectral fingerprint database formerly formed.
Step 4: side spectrum data and described spectral fingerprint database are contrasted, determines M candidate target location point.
When determining candidate target, described side spectrum data and described spectral fingerprint database being compared, according to the degree of correlation of the light intensity in corresponding coordinate, obtains the position at terminal place.
Concrete, by the side spectrum data of collection and the described spectral fingerprint database comparing calculation degree of correlation, choose the highest M of the degree of correlation and put alternatively source location AP t; Wherein, Euclidean distance is utilized to represent the degree of correlation of side spectrum data and described spectral fingerprint data, c a,j=| s a-s j|, wherein, s jfor the spectral fingerprint data of the location point of the jth in spectral fingerprint database, c a,jrepresent s awith the degree of correlation of the spectral fingerprint data of a jth location point.
The side spectrum data S that records of the definition of the degree of correlation in this step awith the spectral fingerprint data S of described spectral fingerprint database opposite position jthe difference of light intensity numerical value.
Step 5: M candidate target position is calculated, and the final position point obtaining terminal.
When to M candidate target position calculation, generally using the degree of correlation of the degree of correlation of M candidate target position and all M candidate target position only and weight maximum as final position.
Concrete, the coordinate of final position point is calculated according to the weight of candidate target position and the coordinate of M candidate target position;
Weighted value is: wherein 1≤t≤M; Final goal location point coordinate is calculated according to weight and M candidate target location point coordinate:
The above, for the person of ordinary skill of the art, can make other various corresponding change and distortion according to technical scheme of the present invention and technical conceive, and all these change and be out of shape the protection domain that all should belong to the claims in the present invention.

Claims (7)

1. based on an indoor positioning device for environment spectral fingerprint, it is characterized in that, described locating device comprises:
Spectral measurement module, for measuring the spectrum of the surround lighting of each spatial point;
Central control module, receives the spectroscopic data that described spectral measurement module is measured, and controls the measuring state of described spectral measurement module;
Wireless module, is controlled by described central control module to spectroscopic data described in outside wireless transmission or spatial point coordinate;
Described spectroscopic data comprises the optical wavelength at spatial point coordinate, spatial point intensity and spatial point place; Described spectral measurement module has the first measuring state and the second measuring state; The spectroscopic data of all spatial point received, when described spectral measurement module is in the first measuring state, is built into spectral fingerprint according to the light intensity of locus and each spatial point by described central control module; The spectroscopic data of all spatial point received and described spectral fingerprint, when described spectral measurement module is in the second measuring state, contrasts, thus determine the spatial point coordinate that spectroscopic data is different by described central control module.
2. the indoor positioning device based on environment spectral fingerprint according to claim 1, it is characterized in that, described spectral fingerprint is stored in described central control module.
3. based on the indoor orientation method of environment spectral fingerprint, it is characterized in that, comprise the following steps:
Step 1: to area of space modeling, and gather the surround lighting spectroscopic data obtaining area of space;
Step 2: set up spectral fingerprint database according to the spectroscopic data gathered and area of space position relationship;
Step 3: according to terminal request, to the surround lighting spectra collection of terminal region, forms side spectrum data;
Step 4: side spectrum data and described spectral fingerprint database are contrasted, determines M candidate target location point;
Step 5: M candidate target position is calculated, and the final position point obtaining terminal;
When to area of space modeling, several area sampling blocks are divided into area of space, and to each area sampling block continuous sampling N time, obtain N number of surround lighting spectroscopic data; According to different optical wavelength, light intensity, spectral fingerprint database vector is calculated to described N number of surround lighting spectroscopic data.
4. the indoor orientation method based on environment spectral fingerprint according to claim 3, is characterized in that, spectral fingerprint database building method comprises in step 2:
Be λ for wavelength wlight wave, calculate the mean value of N number of light intensity value and standard deviation thus obtain spectral fingerprint database vector S;
Maximum Likelihood (MLE) is used to estimate that wavelength is λ wdistribution parameter with
estimation: i.e. Estimation of Mean;
estimation: i.e. variance evaluation;
Wherein, 1≤w≤K, K be in spectral information intensity higher than the quantity of the different light wave of the wavelength of intensity threshold value D, K>=1; s j,w(i) for the spectral information medium wavelength that a jth location point records be λ wi-th light intensity value of light wave; 1≤j≤L, L is the total number of location point; After light wave higher than intensity threshold value D is all carried out feature extraction, obtain fingerprint vector p jfor the coordinate of a jth location point.
5. the indoor orientation method based on environment spectral fingerprint according to claim 2, is characterized in that, determines that the method for M candidate target position comprises:
By the side spectrum data of collection and the described spectral fingerprint database comparing calculation degree of correlation, choose the highest M of the degree of correlation and put alternatively source location AP t; Wherein, Euclidean distance is utilized to represent the degree of correlation of side spectrum data and described spectral fingerprint data, c a,j=| s a-s j|, wherein, s jfor the spectral fingerprint data of the location point of the jth in spectral fingerprint database, c a,jrepresent s awith the degree of correlation of the spectral fingerprint data of a jth location point.
6. the indoor orientation method based on environment spectral fingerprint according to claim 2, is characterized in that, the method obtaining the final position point of terminal comprises:
Weight is converted to the degree of correlation of M candidate target position, calculates the coordinate of final position point according to the weight of candidate target position and the coordinate of M candidate target position;
Weighted value is: wherein 1≤t≤M; Final goal location point coordinate is calculated according to weight and M candidate target location point coordinate:
7. the indoor orientation method of gene environment light spectral fingerprint according to claim 2, is characterized in that, the equipment gathering surround lighting spectroscopic data at least comprises spectrometer.
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CN109631910A (en) * 2019-02-13 2019-04-16 中南民族大学 Based on the matched indoor passive positioning system of light field and its method
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105974360A (en) * 2016-04-27 2016-09-28 沈阳云飞科技有限公司 Monitoring analysis method based on ADL and apparatus thereof
WO2017204839A1 (en) * 2016-05-23 2017-11-30 Thomson Licensing Method and apparatus for indoor localization
CN109644046A (en) * 2016-05-23 2019-04-16 交互数字Ce专利控股公司 Method and apparatus for indoor positioning
CN109143170A (en) * 2018-07-27 2019-01-04 清华大学 The position form and aspect method of sampling and device in visible polarized light interference positioning
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CN109631910B (en) * 2019-02-13 2020-08-28 中南民族大学 Indoor passive positioning system and method based on light field matching
CN114088095A (en) * 2021-10-29 2022-02-25 鹏城实验室 Three-dimensional indoor positioning method based on photodiode
CN114088095B (en) * 2021-10-29 2023-07-25 鹏城实验室 Three-dimensional indoor positioning method based on photodiode

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