CN105208652B - A kind of indoor locating system based on wireless technology - Google Patents
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- CN105208652B CN105208652B CN201510611256.0A CN201510611256A CN105208652B CN 105208652 B CN105208652 B CN 105208652B CN 201510611256 A CN201510611256 A CN 201510611256A CN 105208652 B CN105208652 B CN 105208652B
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- 238000004364 calculation method Methods 0.000 claims abstract description 9
- 238000013507 mapping Methods 0.000 claims abstract description 7
- 239000000284 extract Substances 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 25
- 230000005855 radiation Effects 0.000 claims description 25
- 238000009826 distribution Methods 0.000 claims description 15
- 238000001914 filtration Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 10
- 238000009825 accumulation Methods 0.000 claims description 3
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The present invention provides a kind of indoor locating system based on wireless technology, it includes iBeacon low-power consumption bluetooth base station, mapping component, scanning and collection assembly, filter inappropriate data package, extract collection area component, radius radiates weighing groupware and weighted calculation component, the present invention is using a set of indoor locating system based on 4.0 base station of bluetooth (iBeacon) positioning, with this system, user can start locating module by the cell phone client in hand, by the signal acquisition for pinpointing the base station iBeacon set up, it is converted into attenuation model measuring and calculating distance, current location is obtained in real time, levels of precision is up to 40CM.
Description
Technical field
The present invention relates to field of locating technology, specially a kind of indoor locating system based on wireless technology belongs to interior
Location Calculation field.
Background technique
Indoor positioning, which refers to, realizes position positioning in environment indoors, mainly fixed using wireless telecommunications, base station location, inertial navigation
The multiple technologies such as position are integrated to form a set of indoor location locating system, to realize the position indoors in space such as personnel, object
Set monitoring.
Indoor navigation is serviced WifiSLAM and is purchased by apple with 20,000,000 dollars.This movement of apple certainly will push interior
Position the heating of competition.WifiSLAM is the venture company for founding only 2 years, their technology can allow mobile phone application logical
WIFI signal is crossed, position of the user in building, the application developers of indoor map and novel retail and social activity are detected
Using all producing interest to this technology.And in the Nokia World exhibition that London is held, Nokia also opens up in research center
Their indoor navigation system is shown.This present set system has had new version, and Nokia has also released a new popularization
Video.This set system relies primarily on multiple positioning signal R-T unit networkings, to replace the effect of " navigation satellite ", these devices
The real-time tracking that may be implemented on the ceiling to target can be placed, maximal accuracy can achieve 30 centimetres.
In addition, mobile device giant Nokia, Samsung, Sony Mobile is mobile and other 19 companies jointly at
Indoor positioning alliance has been found, Cartographic Technique development in promotion room is conspired and has solved plan implementation process.They will establish general
Interface and standard realize the standardization of this technology, open and it is set to industrywide standard." in high precision, this alliance is intended to provide
The equipment or solution of low-power consumption, high mobility, high-performance, high availability ", to thus construct the life promoted innovation
State system pushes the development and application of this technology.
Wherein, the application demand of indoor positioning technologies includes public safety and emergency response, locating guide, social need
Ask, the big data mode application of marketing demand and worth of data, for example, in case of emergency, everyone all want by
Rescue personnel is pin-pointed to, the big position for arriving building, even floor or room number；What has in building；
Whom is around office；Where vehicle is placed on underground parking；Milk in supermarket where；Inside megastore
Where is nearest restaurant；Realize that business card exchange, microblogging push, similar wechat carry out friend-making interaction etc..In department stores
Shopping guide's service is provided for client.Mobile phone can tell you, provide shopping guide's service, nearby have which commodity on sale.Tourist attraction,
Museum, realizes locating guide at airport, carries out showpiece introduction etc..Airport can accurately guide user to go through the formalities, indicate toilet
Position etc..
Based on the above technical problem, the present invention provides a kind of indoor locating systems based on wireless technology, use one
Indoor locating system of the set based on 4.0 base station of bluetooth (iBeacon) positioning, with this system, user can pass through the hand in hand
Machine client terminal start-up locating module, by pinpointing the signal acquisition of the base station iBeacon set up, be converted into attenuation model measuring and calculating away from
From obtaining current location in real time, levels of precision is up to 40CM.
Summary of the invention
The object of the present invention is to provide a kind of structure and using simply, rationally, at low cost, performance is stable, accurate positioning
A kind of indoor locating system based on wireless technology.
To achieve the above object, the present invention adopts the following technical scheme that：A kind of indoor locating system based on wireless technology,
It includes iBeacon low-power consumption bluetooth base station, mapping component, scanning and collection assembly, the inappropriate data package of filtering, mentions
Take collection area component, radius radiation weighing groupware and weighted calculation component, which is characterized in that the iBeacon low-power consumption
Bluetooth base. station is using 202 series of base stations of APRILBEACON for being equipped with TICC2540 chip；
The drawing process of the mapping component includes the following steps：
Firstly, instantiation MapManager, in instantiation process, MapManager can generate one MapArray pairs
As that after reading in a building, can modify to the data in MapArray, while generating a BlockBase's
Object is added in blockList, after reading building data, system generate Bitmap, MapView according to currently
MapMatrix, to map zooms in and out and rotation process, on the painting canvas for being plotted in Surface, is presented to the user；
The scanning is responsible for the bluetooth module high frequency sweep carried using system Bluetooth base. station signal nearby with collection assembly,
The maximum 3-4 base station of signal strength is extracted by calculating, the signal strength data of accumulation 200 or more passes through ranging formula
Original distance set is obtained first；
The inappropriate data package of filtering uses the superposition of many algorithms, guarantees the filtering of maximum possible；
The algorithm core for extracting collection area component is two circles or three circle intersection methods, utilizes base station coordinates and the list of calculating
A distance value does circle, and every two circle is once compared, if there is intersecting area, samples having for intersecting area according to a kind of algorithm
Effect point；
The radius radiation weighing groupware is responsible for secondary filter Null Spot and calculates point in the region containing available point and Null Spot
The central point of collection；
The weighted calculation component is responsible for that x, y-coordinate is weighted respectively according to the radiation value of available point, obtains
As a result coordinate.
Further, preferably, many algorithms that the inappropriate data package of filtering uses include at least cell type graphic calculation
Method, queue mean algorithm and Gauss distribution method, wherein the cell type nomography includes the following steps：
Firstly, listing all numerical value by sequence from small to large, the number of all numerical value is denoted as n, in order in this way
Row number：X1 is the smallest number, and X2 is secondary small number, until maximum several Xn；Then, median is calculated：Data are split into two halves,
Find half numerical value greater than it, half numerical value be less than it point median；Later, quartile is calculated：Divide the data into four
The median i.e. quartile of a half data is found in part；Later, interquartile-range IQR is calculated：Calculate between two quantiles away from
From i.e. interquartile-range IQR, wherein interquartile-range IQR=the 3rd the-the 1 quartile of quartile；After again, internal range is calculated：It distinguishes and belongs to
Numerical value except specific distribution and distribution, wherein the upper limit of internal range is in higher than the 3rd quartile and 1.5 times four points
Position away from the sum of position, lower limit is then in the position that 1.5 times of interquartile-range IQRs are subtracted lower than the 1st quartile, i.e.,：
The internal upper limit=the 3rd+1.5 × interquartile-range IQR of quartile
Internal lower limit=the 1st -1.5 × interquartile-range IQR of quartile；
The queue mean algorithm is to construct the queue that a length is n, is initially empty, when data generate, from queue
End is put into, while being checked whether beyond queue length, if exceeding, leaves out queue head end data, takes queue when finally counting
Average value；
The Gauss distribution method accumulates Distribution Algorithm using in Gaussian Profile.
Further, preferably, radius radiation weighing groupware includes the following steps：Firstly, basis signal intensity is just
Than varied configurations radiation radius R, radiation value is defined, the radiation value of each point is initially 0；Then, circle is done to each point, is swept
It retouches, if there are other points in circle, the radiation value of corresponding point is weighted；Later, it counts radiation value according in region less than a's
Null Spot is filtered, and to avoid extreme case, guarantees the validity largely put.
Further, preferably, it is provided with positioning accuracy lifting assembly, which carries out distance measuring method using RSSI,
Sequential model is used in its wireless signal transmission, the simplified model of sequential model is：
To take d usually convenient for expressing and calculating0For 1m, can then obtain：
The form of [p (d)] dBm RSSI that write as is obtained RSSI=A-10nlg (d) by [p (d)] dBm=A-10nlg (d)；
Wherein, A be wireless receiving and dispatching node at a distance of 1m when the wireless signal strength RSSI value that receives of receiving node.
Further, preferably, it is characterized in that, wherein, A=-42, n=2, ranging formula are RSSI=-42-20lg
(d)。
Further, preferably, it further includes shortest path computation module, the calculating step of the component is：First, it is assumed that
There is x, tri- points of y, z, if the shortest distance of x to y is Sxy, the shortest distance of y to z is Syz, and the shortest distance of x to z is
Sxz, if Sxz > Sxy+Syz, Sxz are changed to Sxy+Syz, then doing the definition of an iteration is：It is combined into current figure
All such three points all do primary such operation, until being all primary such behaviour between three all points
Make, it is assumed that a current shared T node can be found out between any two point then at most needing to carry out (T-2) secondary iteration
The shortest distance.
Further, preferably, the shortest path computation module is in such a way that three recirculate, it is each circulation be from
0 is chosen to T, and outmost circulation chooses y point, and second layer circulation chooses x point, and third layer circulation chooses z point, passes through map
The value of [x] [y] and map [y] [z] update map [x] [z], and when needing to update every time, path is also updated, until three layers of circulation are complete
Portion terminates, and the time complexity T^3 needed, space complexity T^2 can calculate the shortest path of any two point in map.
The beneficial effects of the present invention are：
A kind of indoor locating system based on wireless technology provided by the invention uses a set of based on 4.0 base station of bluetooth
(iBeacon) indoor locating system positioned, with this system, user can start positioning mould by the cell phone client in hand
Block is converted into attenuation model measuring and calculating distance, obtains present bit in real time by pinpointing the signal acquisition for the base station iBeacon set up
It sets, levels of precision is up to 40CM.
Detailed description of the invention
Fig. 1 is a kind of location Calculation flow diagram of indoor locating system based on wireless technology of the invention；
Fig. 2 is scanning and the collection assembly of a kind of indoor locating system and localization method based on wireless technology of the invention
Two circle intersection schematic diagrames.
Specific embodiment
Come to carry out detailed description to the present invention below in conjunction with attached drawing.It should be appreciated, however, that attached drawing has been provided only more
Understand the present invention well, they should not be interpreted as limitation of the present invention.
As shown in Figs. 1-2, the present invention provides a kind of indoor locating system based on wireless technology, and one kind being based on wireless technology
Indoor locating system comprising iBeacon low-power consumption bluetooth base station, mapping component, scanning and collection assembly, filtering not
Appropriate data package extracts collection area component, radius radiation weighing groupware and weighted calculation component, which is characterized in that described
IBeacon low-power consumption bluetooth base station use using being equipped with 202 series of base stations of APRILBEACON of TICC2540 chip；
The drawing process of the mapping component includes the following steps：
Firstly, instantiation MapManager, in instantiation process, MapManager can generate one MapArray pairs
As that after reading in a building, can modify to the data in MapArray, while generating a BlockBase's
Object is added in blockList, after reading building data, system generate Bitmap, MapView according to currently
MapMatrix, to map zooms in and out and rotation process, on the painting canvas for being plotted in Surface, is presented to the user；
The scanning is responsible for the bluetooth module high frequency sweep carried using system Bluetooth base. station signal nearby with collection assembly,
The maximum 3-4 base station of signal strength is extracted by calculating, the signal strength data of accumulation 200 or more passes through ranging formula
Original distance set is obtained first；
The inappropriate data package of filtering uses the superposition of many algorithms, guarantees the filtering of maximum possible；
The algorithm core for extracting collection area component is two circles or three circle intersection methods, utilizes base station coordinates and the list of calculating
A distance value does circle, and every two circle is once compared, if there is intersecting area, samples having for intersecting area according to a kind of algorithm
Effect point；
The radius radiation weighing groupware is responsible for secondary filter Null Spot and calculates point in the region containing available point and Null Spot
The central point of collection；
The weighted calculation component is responsible for that x, y-coordinate is weighted respectively according to the radiation value of available point, obtains
As a result coordinate.
In the present embodiment, many algorithms that the inappropriate data package of the filtering uses include at least cell type nomography,
Queue mean algorithm and Gauss distribution method, wherein the cell type nomography includes the following steps：
Firstly, listing all numerical value by sequence from small to large, the number of all numerical value is denoted as n, in order in this way
Row number：X1 is the smallest number, and X2 is secondary small number, until maximum several Xn；Then, median is calculated：Data are split into two halves,
Find half numerical value greater than it, half numerical value be less than it point median；Later, quartile is calculated：Divide the data into four
The median i.e. quartile of a half data is found in part；Later, interquartile-range IQR is calculated：Calculate between two quantiles away from
From i.e. interquartile-range IQR, wherein interquartile-range IQR=the 3rd the-the 1 quartile of quartile；After again, internal range is calculated：It distinguishes and belongs to
Numerical value except specific distribution and distribution, wherein the upper limit of internal range is in higher than the 3rd quartile and 1.5 times four points
Position away from the sum of position, lower limit is then in the position that 1.5 times of interquartile-range IQRs are subtracted lower than the 1st quartile, i.e.,：
The internal upper limit=the 3rd+1.5 × interquartile-range IQR of quartile；
Internal lower limit=the 1st -1.5 × interquartile-range IQR of quartile；
The queue mean algorithm is to construct the queue that a length is n, is initially empty, when data generate, from queue
End is put into, while being checked whether beyond queue length, if exceeding, leaves out queue head end data, takes queue when finally counting
Average value；
The Gauss distribution method is using the area distributions algorithm in Gaussian Profile.
Wherein, the radius radiation weighing groupware includes the following steps：Firstly, basis signal intensity proportional varied configurations spoke
Radius R is penetrated, radiation value is defined, the radiation value of each point is initially 0；Then, circle is done to each point, be scanned, if in circle
There are other points, then the radiation value weightings of corresponding point；Later, it is carried out according to the Null Spot counted in region by radiation value less than a
Filtering guarantees the validity largely put to avoid extreme case.
Further, preferably, it is provided with positioning accuracy lifting assembly, which carries out distance measuring method using RSSI,
Sequential model is used in its wireless signal transmission, the simplified model of sequential model is：
To take d usually convenient for expressing and calculating0For 1m.Then it can obtain：
The form of [p (d)] dBm RSSI that write as is obtained RSSI=A-10nlg (d) by [p (d)] dBm=A-10nlg (d)；
Wherein, A be wireless receiving and dispatching node at a distance of 1m when the wireless signal strength RSSI value that receives of receiving node.Wherein, A
=-42, n=2, ranging formula are RSSI=-42-20lg (d).
The invention also includes shortest path computation module, the calculating step of the component is：First, it is assumed that have x, y, z tri-
Point, if the shortest distance of x to y is Sxy, the shortest distance of y to z is Syz, and the shortest distance of x to z is Sxz, if Sxz >
Sxy+Syz, then Sxz is changed to Sxy+Syz, then doing the definition of an iteration is：It is combined into current figure all such
Three points all do primary such operation, until all doing primary such operation between three all points, it is assumed that when previous
T node is shared, then at most needing to carry out (T-2) secondary iteration, the shortest distance between any two point can be found out.
In addition, shortest path computation module, in such a way that three recirculate, each circulation is chosen from 0 to T, most
The circulation of outside chooses y point, and second layer circulation chooses x point, and third layer circulation chooses z point, passes through map [x] [y] and map [y]
The value of [z] updates map [x] [z], and when needing to update every time, path is also updated, and terminates until three layers of circulation are whole, needs
Time complexity T^3, space complexity T^2 can calculate the shortest path of any two point in map.
The present invention is using a set of indoor locating system based on 4.0 base station of bluetooth (iBeacon) positioning, with this system,
User can start locating module by the cell phone client in hand, by pinpointing the signal acquisition for the base station iBeacon set up,
It is converted into attenuation model measuring and calculating distance, obtains current location in real time, levels of precision is up to 40CM.
The above embodiments are only used to illustrate the present invention, and not limitation of the present invention, in relation to the common of technical field
Technical staff can also make a variety of changes and modification without departing from the spirit and scope of the present invention, therefore all
Equivalent technical solution also belongs to scope of the invention, and scope of patent protection of the invention should be defined by the claims.
Claims (7)
1. a kind of indoor locating system based on wireless technology comprising iBeacon low-power consumption bluetooth base station, mapping group
Part, scanning and collection assembly, the inappropriate data package of filtering extract collection area component, radius radiation weighing groupware and weighting
Computation module, which is characterized in that the iBeacon low-power consumption bluetooth base station uses and is equipped with TICC2540 chip
202 series of base stations of APRILBEACON；
The drawing process of the mapping component includes the following steps：
Firstly, instantiation MapManager, in instantiation process, MapManager can generate a MapArray object, often
It after reading in a building, can modify to the data in MapArray, while the object for generating a BlockBase adds
Be added in blockList, after reading building data, system generates Bitmap, MapView according to current mapMatrix,
To map zooms in and out and rotation process, on the painting canvas for being plotted in Surface, is presented to the user；
The scanning is responsible for the bluetooth module high frequency sweep carried using system Bluetooth base. station signal nearby with collection assembly, passes through
It calculates and extracts the maximum 3-4 base station of signal strength, the signal strength data of accumulation 200 or more, first by ranging formula
Obtain original distance set；
The inappropriate data package of filtering uses the superposition of many algorithms, guarantees the filtering of maximum possible；
The algorithm core for extracting collection area component is two circles or three circle intersection methods, using base station coordinates and calculating it is single away from
Circle is done from value, every two circle is once compared, if there is intersecting area, samples the effective of intersecting area according to a kind of algorithm
Point；
The radius radiation weighing groupware is responsible for secondary filter Null Spot and calculates point set in the region containing available point and Null Spot
Central point；
The weighted calculation component is responsible for that x, y-coordinate is weighted respectively according to the radiation value of available point, obtains a result
Coordinate.
2. a kind of indoor locating system based on wireless technology according to claim 1, which is characterized in that the filtering is not
The many algorithms that appropriate data package uses include at least cell type nomography, queue mean algorithm and Gauss distribution method, wherein
The cell type nomography includes the following steps：
Firstly, listing all numerical value by sequence from small to large, the number of all numerical value is denoted as n, is arranged in numerical order so in order：
X1 is the smallest number, and X2 is secondary small number, until maximum several Xn；Then, median is calculated：Data are split into two halves, are found
Half numerical value be greater than it, half numerical value be less than it point median；Later, quartile is calculated：Four parts are divided the data into,
Find the median i.e. quartile of a half data；Later, interquartile-range IQR is calculated：Calculate the distance between two quantiles i.e. four
Quartile is away from, wherein interquartile-range IQR=the 3rd the-the 1 quartile of quartile；After again, internal range is calculated：Differentiation belongs to specific
Numerical value except distribution and distribution, wherein the upper limit of internal range be in higher than the 3rd quartile and 1.5 times of interquartile-range IQRs it
The position of sum, lower limit are then in the position that 1.5 times of interquartile-range IQRs are subtracted lower than the 1st quartile, i.e.,：
The internal upper limit=the 3rd+1.5 × interquartile-range IQR of quartile；
Internal lower limit=the 1st -1.5 × interquartile-range IQR of quartile；
The queue mean algorithm is to construct the queue that a length is n, is initially empty, when data generate, from queue end
It is put into, while checking whether beyond queue length, if exceeding, leave out queue head end data, take being averaged for queue when finally counting
Value；
The Gauss distribution method is using the area distributions algorithm in Gaussian Profile.
3. a kind of indoor locating system based on wireless technology according to claim 1, which is characterized in that the radius spoke
Weighing groupware is penetrated to include the following steps：Firstly, basis signal intensity proportional varied configurations radiation radius R, defines radiation value, each
The radiation value of point is initially 0；Then, circle is done to each point, be scanned, if there are other points in circle, corresponding point
Radiation value weighting；Later, it is filtered according to the Null Spot counted in region by radiation value less than a, to avoid extreme case, guarantees
The validity largely put.
4. a kind of indoor locating system based on wireless technology according to claim 1, which is characterized in that it is provided with fixed
Position precision improvement component, the component carry out distance measuring method using RSSI, use sequential model, gradual change mould in wireless signal transmission
The simplified model of type is：
To take d usually convenient for expressing and calculating0For 1m, can then obtain：
The form of [p (d)] dBm RSSI that write as is obtained RSSI=A-10nlg (d) by [p (d)] dBm=A-10nlg (d)；Wherein,
A be wireless receiving and dispatching node at a distance of 1m when the wireless signal strength RSSI value that receives of receiving node.
5. a kind of indoor locating system based on wireless technology according to claim 4, which is characterized in that wherein, A=-
42, n=2, ranging formula is RSSI=-42-201g (d).
6. a kind of indoor locating system based on wireless technology according to claim 1, which is characterized in that it further includes most
The calculating step of short path computation module, the component is：First, it is assumed that have x, tri- points of y, z, if the shortest distance of x to y is
The shortest distance of Sxy, y to z are Syz, and the shortest distance of x to z is Sxz, if Sxz > Sxy+Syz, Sxz are changed to Sxy+
Syz, then doing the definition of an iteration is：All such three points are combined into current figure, are all primary such behaviour
Make, until all doing primary such operation between three all points, it is assumed that a current shared T node, then at most needing
(T-2) secondary iteration is carried out, the shortest distance between any two point can be found out.
7. a kind of indoor locating system based on wireless technology according to claim 6, which is characterized in that the shortest path
For diameter computation module in such a way that three recirculate, each circulation is chosen from 0 to T, and outmost circulation chooses y point,
Second layer circulation chooses x point, and third layer circulation chooses z point, updates map [x] by the value of map [x] [y] and map [y] [z]
[z] when needing to update every time, path is also updated, and is terminated until three layers of circulation are whole, the time complexity T^3 needed, space
Complexity T^2 can calculate the shortest path of any two point in map.
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| CN105737833B (en) * | 2016-05-13 | 2018-06-22 | 上海会志信息科技有限公司 | indoor navigation method and device |
| CN107566975A (en) * | 2017-09-05 | 2018-01-09 | 合肥工业大学 | A kind of location aware method based on Solr correlations |
| CN107911786A (en) * | 2017-10-24 | 2018-04-13 | 星际空间（天津）科技发展有限公司 | A kind of mixing indoor orientation method based on road network correction |
| CN108668246B (en) * | 2018-05-13 | 2021-05-11 | 索奇智能科技（北京）有限公司 | Indoor positioning method capable of being rapidly deployed in ultra-large exhibition venue |
| CN110335557B (en) * | 2019-06-12 | 2020-12-22 | 北京邮电大学 | Ibeacon-based vehicle-mounted navigation system and control method |
| CN110379340B (en) * | 2019-06-19 | 2020-12-22 | 北京邮电大学 | Outdoor positioning tour guide system based on iBeacon and GPS |
| CN110874620A (en) * | 2019-10-21 | 2020-03-10 | 中国银联股份有限公司 | Shopping cart, management device, payment system, payment method and storage medium |
| CN113993069B (en) * | 2021-10-28 | 2023-06-23 | 华清科盛(北京)信息技术有限公司 | Indoor positioning method and device and electronic equipment |
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| CN104869641A (en) * | 2015-06-18 | 2015-08-26 | 重庆大学 | Wi-Fi indoor positioning method based on AP optimization |
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| US8836580B2 (en) * | 2005-05-09 | 2014-09-16 | Ehud Mendelson | RF proximity tags providing indoor and outdoor navigation and method of use |
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| CN102695273A (en) * | 2012-05-30 | 2012-09-26 | 深圳和而泰智能控制股份有限公司 | Integrated radio positioning processing method |
| CN103458369A (en) * | 2013-08-09 | 2013-12-18 | 南京信息工程大学 | WiFi indoor positioning method based on anchor point and position fingerprints |
| CN104869641A (en) * | 2015-06-18 | 2015-08-26 | 重庆大学 | Wi-Fi indoor positioning method based on AP optimization |
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| 基于iBeacons的室内定位方法的设计与实现;刘新野;《中国优秀硕士学位论文全文数据库》;20150630;全文 * |
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