CN105718549A - Airship based three-dimensional WiFi (Wireless Fidelity) fingerprint drawing system and method - Google Patents
Airship based three-dimensional WiFi (Wireless Fidelity) fingerprint drawing system and method Download PDFInfo
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- CN105718549A CN105718549A CN201610032275.2A CN201610032275A CN105718549A CN 105718549 A CN105718549 A CN 105718549A CN 201610032275 A CN201610032275 A CN 201610032275A CN 105718549 A CN105718549 A CN 105718549A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
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- G01R29/0871—Complete apparatus or systems; circuits, e.g. receivers or amplifiers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/0864—Measuring electromagnetic field characteristics characterised by constructional or functional features
- G01R29/0892—Details related to signal analysis or treatment; presenting results, e.g. displays; measuring specific signal features other than field strength, e.g. polarisation, field modes, phase, envelope, maximum value
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- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The invention relates to the technical field of wireless communications, and in particular to an airship based three-dimensional WiFi (Wireless Fidelity) fingerprint drawing system and method. The method comprises the steps of mounting a WiFi positioning module and a WiFi fingerprint collection module on an airship; mounting a plurality of AP (Access Point) control points at key positions; carrying out real-time communication with a background positioning server; dynamically acquiring space-time information of the airship to realize navigational flight based on a spatial position and a route; dynamically collecting WiFi signals in the process; synchronously recording a temporospatial four-dimensional coordinate and a movement locus; integrally inputting the data into a GIS (Geographic Information System) module; automatically drawing an indoor (outdoor) three-dimensional WiFi map. Aiming at the problems of too much overhead, insufficient expansibility and the like of existing WiFi fingerprint matching positioning training, WiFi fingerprints are automatically collected by using a barrier-free positioning airship, the problems of long construction time, complex treatment, insufficient information, unfavorable maintenance and the like are solved, the construction and updating of the fingerprint map are accelerated.
Description
Technical field
The present invention relates to wireless communication technology field, particularly to a kind of three-dimensional WiFi fingerprint Mapping System based on dirigible and method.
Background technology
Dirigible, as a kind of floated airborne vehicle being widely used, has the ability aloft suspended, and it is simple and convenient to operate driving, it can fly at low-altitude low-speed, and security performance is relatively good, and the site requirements risen and fallen is not high, operation cost is also relatively low, it is easy to maintaining.The advantage of indoor (outward) aircraft is in that its commercial value, can be widely used for monitoring, mapping, location, communication and the field such as signal enhancing and goods transport, good periphery visual field can be provided, it is possible to carry out advertising display, take photo by plane, the activity such as television relay and security monitoring.
And WiFi fingerprint (Fingerprint) positioning principle is exactly set up the stable mapping relation between WIFI signal feature and positional information, use Radio-map and signal value, by location algorithm calculating location information.WIFI fingerprint needs to draw " signal strength figure " (fingerprint base), and the signals collecting time is more long, and collection point is more many, and fingerprint base is more accurate, but time cost and expense are also more high.On the other hand, being limited by manual mode of operation, WIFI fingerprint collecting and location can only carry out on two dimension ground, lacks three dimensions disposal ability.
Summary of the invention
Based on above-mentioned situation, it is necessary to provide a kind of three-dimensional WiFi fingerprint Mapping System based on dirigible.
A kind of three-dimensional WiFi fingerprint Mapping System based on dirigible, including accessible navigation dirigible, multiple wireless aps control point and earth station, multiple wireless aps control point are uniformly arranged on region to be measured and launch the whole region to be measured of WiFi signal covering,
Described accessible navigation dirigible specifically includes power plant module, navigation module, WiFi finger print acquisition module, wireless communication module and locating module, wherein
Described power plant module is used for driving airship flight or break-in；
Described locating module is for obtaining the positional information of current dirigible in real time；
Described navigation module is connected with described power plant module, for presetting three-dimensional WiFi fingerprint collecting scope and gathering course line, and controls described power plant module and drives dirigible to fly according to default collection course line in default acquisition range；
Described WiFi finger print acquisition module is connected with locating module, for obtaining the positional information at wireless aps control point and gathering WiFi finger print information, and is sent to wireless communication module with current positional information by WiFi finger print information in real time；
Described wireless communication module is for being sent to earth station by WiFi finger print information and positional information；
Described earth station includes GIS module, three-dimensional drawing module and three-dimensional WiFi fingerprint synthesis module, wherein
Described three-dimensional drawing module for drawing the three-dimensional map in region to be measured according to positional information；
Described GIS module for drawing the WiFi fingerprint map in region to be measured according to WiFi finger print information；
The WiFi fingerprint map that described three-dimensional WiFi fingerprint synthesis module is drawn for the three-dimensional map drawn according to three-dimensional drawing module and GIS module synthesizes, and forms the three-dimensional WiFi fingerprint map that three-dimensional position is corresponding with WiFi fingerprint.
Improve as one, described dirigible also includes detecting module, described detecting module is connected with described power plant module, whether described detecting module is for existing barrier when dirigible is according to default collection airline operation on detection course line, if there is barrier, temporarily changing the default line of flight, after avoiding obstacles, coming back to collection course line.
Further, described detecting module specifically includes ultrasonic sensing module, described ultrasonic sensing module carries out ultrasonic listening when dirigible is according to default collection airline operation, when receiving the ultrasound wave that barrier is reflected back, control power plant module and change the line of flight preset, come back to after avoiding obstacles and preset collection course line.
Further, described detecting module specifically also includes visual response module, described visual response module is for failing to induce barrier when ultrasonic induction module, and during visual response module discovery barrier, the timely power plant module that controls changes the line of flight preset, and comes back to and preset collection course line after avoiding obstacles.
Further, described detecting module specifically also includes collision sensing module, described collision sensing module is not for when ultrasonic sensing module and visual response module all detect barrier and cause dirigible to collide with barrier, the timely power plant module that controls changes the line of flight preset, and comes back to and preset collection course line after avoiding obstacles.
Concrete, described positional information includes longitude and latitude and the attitude information of elevation information, heading information and dirigible.
Concrete, described WiFi finger print information includes signal intensity (RSS), angle information (AOA), phase information (POA), temporal information (TOA) and time difference information (DTOA).
Improving as one, dirigible is positioned by described locating module by GPS, Big Dipper location, base station, WLAN.
Furthermore, described locating module can also pass through obtain the positional information at wireless aps control point and gather WiFi finger print information, utilizes triangle polyester fibre principle that dirigible is positioned.
A kind of three-dimensional WiFi fingerprint drafting method based on dirigible, comprises the steps:
S101: set up multiple AP control point in region to be measured, makes WiFi signal cover whole region to be measured；
S102: dirigible flies in region to be measured according to pre-set flight course line, it is installed in the WiFi finger print acquisition module on dirigible and locating module Real-time Collection WiFi finger print information and current location information respectively, and WiFi finger print information and current location information are sent to earth station by wireless communication module；
S103: be installed on the detection of the detecting module on dirigible course line and whether there is barrier, if there is barrier, temporarily changing the default line of flight, coming back to collection course line after avoiding obstacles；
S104: the three-dimensional drawing module of earth station draws the three-dimensional map in region to be measured according to positional information；GIS module for drawing the WiFi fingerprint map in region to be measured according to WiFi finger print information；
S105: the WiFi fingerprint map that the three-dimensional WiFi fingerprint synthesis module of earth station is drawn according to three-dimensional map and the GIS module of three-dimensional drawing module drafting synthesizes, and forms the three-dimensional WiFi fingerprint map that three-dimensional position is corresponding with WiFi fingerprint.
A kind of three-dimensional WiFi fingerprint Mapping System based on dirigible of the present invention and method, by installing WiFi location and WiFi finger print acquisition module on dirigible, at key position, many AP control point is installed, with backstage location-server real-time Communication for Power, dynamically obtain dirigible space time information, realize the navigation flight based on locus and circuit, dynamic acquisition WIFI signal in process, synchronous recording space-time four-dimensional coordinate and movement locus, above-mentioned data integration is inputted GIS module, automatically draws the three-dimensional WIFI map in indoor (outward)；The problems such as and autgmentability excessive for existing WIFI fingerprint matching location training expense is not enough, accessible location dirigible is adopted to carry out automatic WIFI fingerprint collecting, solve structure length consuming time, process the problems such as loaded down with trivial details, information is insufficient, unfavorable maintenance, accelerate structure and the renewal of fingerprint map.
Accompanying drawing explanation
Fig. 1 is a kind of three-dimensional WiFi fingerprint Mapping System block diagram based on dirigible of the present invention；
Fig. 2 is a kind of three-dimensional WiFi fingerprint drafting method schematic flow sheet based on dirigible of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage become apparent from, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, a kind of three-dimensional WiFi fingerprint Mapping System based on dirigible 100, including accessible navigation dirigible 100, multiple wireless aps control point 200 and earth station 300, multiple wireless aps control point 200 are uniformly arranged on region to be measured and launch the whole region to be measured of WiFi signal covering
Described accessible navigation dirigible 100 specifically includes power plant module 101, navigation module 102, WiFi finger print acquisition module 104, wireless communication module 105 and locating module 103, wherein
Described power plant module 101 is used for driving dirigible 100 to fly or break-in；
Described locating module 103 is for obtaining the positional information of current dirigible 100 in real time；
Described navigation module 102 is connected with described power plant module 101, for presetting three-dimensional WiFi fingerprint collecting scope and gathering course line, and controls described power plant module 101 and drives dirigible 100 to fly according to default collection course line in default acquisition range；
Described WiFi finger print acquisition module 104 is connected with locating module 103, for obtaining the positional information at wireless aps control point 200 and gathering WiFi finger print information, and is sent to wireless communication module 105 with current positional information by WiFi finger print information in real time；
Described wireless communication module 105 is for being sent to earth station 300 by WiFi finger print information and positional information；
Described earth station 300 includes GIS module 301 and three-dimensional drawing module 302 and three-dimensional WiFi fingerprint synthesis module 303, wherein
Described three-dimensional drawing module 302 for drawing the three-dimensional map in region to be measured according to positional information；
Described GIS module 301 for drawing the WiFi fingerprint map in region to be measured according to WiFi finger print information；
The WiFi fingerprint map that described three-dimensional WiFi fingerprint synthesis module 303 is drawn for the three-dimensional map drawn according to three-dimensional drawing module 302 and GIS module 301 synthesizes, and forms the three-dimensional WiFi fingerprint map that three-dimensional position is corresponding with WiFi fingerprint.
As a kind of improved embodiment, described dirigible 100 also includes detecting module, described detecting module is connected with described power plant module 101, whether described detecting module is for existing barrier when dirigible 100 is according to default collection airline operation on detection course line, if there is barrier, temporarily changing the default line of flight, after avoiding obstacles, coming back to collection course line.
In the present embodiment, described detecting module specifically includes ultrasonic sensing module, described ultrasonic sensing module carries out ultrasonic listening when dirigible 100 is according to default collection airline operation, when receiving the ultrasound wave that barrier is reflected back, control power plant module 101 and change the line of flight preset, come back to after avoiding obstacles and preset collection course line.
As a kind of improved embodiment, described detecting module specifically also includes visual response module, described visual response module is for failing to induce barrier when ultrasonic induction module, and during visual response module discovery barrier, the timely power plant module 101 that controls changes the line of flight preset, and comes back to and preset collection course line after avoiding obstacles.
As another kind of embodiment, described detecting module specifically also includes collision sensing module, described collision sensing module is not for when ultrasonic sensing module and visual response module all detect barrier and cause dirigible 100 to collide with barrier, the timely power plant module 101 that controls changes the line of flight preset, and comes back to and preset collection course line after avoiding obstacles.
Concrete, described positional information includes longitude and latitude and the attitude information of elevation information, heading information and dirigible 100.
Concrete, described WiFi finger print information includes signal intensity (RSS), angle information (AOA), phase information (POA), temporal information (TOA) and time difference information (DTOA).
Improving as one, dirigible 100 is positioned by described locating module 103 by GPS, Big Dipper location, base station, WLAN.
Furthermore, described locating module 103 can also pass through obtain the positional information at wireless aps control point 200 and gather WiFi finger print information, utilizes triangle polyester fibre principle that dirigible 100 is positioned.
As in figure 2 it is shown, a kind of three-dimensional WiFi fingerprint drafting method based on dirigible 100, comprise the steps:
S101: set up multiple AP control point 200 in region to be measured, makes WiFi signal cover whole region to be measured；
S102: dirigible 100 flies in region to be measured according to pre-set flight course line, it is installed in the WiFi finger print acquisition module 104 on dirigible 100 and locating module 103 Real-time Collection WiFi finger print information and current location information respectively, and WiFi finger print information and current location information are sent to earth station 300 by wireless communication module 105；
S103: be installed on the detection of the detecting module on dirigible 100 course line and whether there is barrier, if there is barrier, temporarily changing the default line of flight, coming back to collection course line after avoiding obstacles；
S104: the three-dimensional drawing module 302 of earth station 300 draws the three-dimensional map in region to be measured according to positional information；GIS module 301 for drawing the WiFi fingerprint map in region to be measured according to WiFi finger print information；
S105: the WiFi fingerprint map that the three-dimensional WiFi fingerprint synthesis module 303 of earth station 300 is drawn according to three-dimensional map and the GIS module 301 of three-dimensional drawing module 302 drafting synthesizes, and forms the three-dimensional WiFi fingerprint map that three-dimensional position is corresponding with WiFi fingerprint.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1., based on a three-dimensional WiFi fingerprint Mapping System for dirigible, including accessible navigation dirigible, multiple wireless aps control point and earth station, multiple wireless aps control point are uniformly arranged on region to be measured and launch the whole region to be measured of WiFi signal covering, it is characterised in that
Described accessible navigation dirigible includes power plant module, navigation module, WiFi finger print acquisition module, wireless communication module and locating module, wherein:
Described power plant module is used for driving airship flight or break-in；
Described locating module is for obtaining the positional information of current dirigible in real time；
Described navigation module is connected with described power plant module, for presetting three-dimensional WiFi fingerprint collecting scope and gathering course line, and controls described power plant module and drives dirigible to fly according to default collection course line in default acquisition range；
Described WiFi finger print acquisition module is connected with locating module, for obtaining the positional information at wireless aps control point and gathering WiFi finger print information, and is sent to wireless communication module with current positional information by WiFi finger print information in real time；
Described wireless communication module is for being sent to earth station by WiFi finger print information and positional information；
Described earth station includes GIS module and three-dimensional drawing module and three-dimensional WiFi fingerprint synthesis module, wherein:
Described three-dimensional drawing module for drawing the three-dimensional map in region to be measured according to positional information；
Described GIS module for drawing the WiFi fingerprint map in region to be measured according to WiFi finger print information；
The WiFi fingerprint map that described three-dimensional WiFi fingerprint synthesis module is drawn for the three-dimensional map drawn according to three-dimensional drawing module and GIS module synthesizes, and forms the three-dimensional WiFi fingerprint map that three-dimensional position is corresponding with WiFi fingerprint.
2. three-dimensional WiFi fingerprint Mapping System as claimed in claim 1, it is characterized in that, described dirigible also includes detecting module, described detecting module is connected with described power plant module, whether described detecting module is for existing barrier when dirigible is according to default collection airline operation on detection course line, if there is barrier, temporarily changing the default line of flight, after avoiding obstacles, coming back to collection course line.
3. three-dimensional WiFi fingerprint Mapping System as claimed in claim 2, it is characterized in that, described detecting module includes ultrasonic sensing module, described ultrasonic sensing module is for carrying out ultrasonic listening when dirigible is according to default collection airline operation, when receiving the ultrasound wave that barrier is reflected back, control power plant module and change the line of flight preset, come back to after avoiding obstacles and preset collection course line.
4. three-dimensional WiFi fingerprint Mapping System as claimed in claim 3, it is characterized in that, described detecting module also includes visual response module, described visual response module is for when when ultrasonic induction module fails to induce barrier, visual response module finds barrier, control power plant module and change the line of flight preset, come back to after avoiding obstacles and preset collection course line.
5. three-dimensional WiFi fingerprint Mapping System as claimed in claim 4, it is characterized in that, described detecting module also includes collision sensing module, described collision sensing module for when ultrasonic sensing module and visual response module all do not detect barrier cause dirigible and barrier to collide time, control power plant module and change the line of flight preset, come back to after avoiding obstacles and preset collection course line.
6. three-dimensional WiFi fingerprint Mapping System as claimed in claim 5, it is characterised in that described positional information includes longitude and latitude and the attitude information of elevation information, heading information and dirigible.
7. three-dimensional WiFi fingerprint Mapping System as claimed in claim 6, it is characterised in that described WiFi finger print information includes signal intensity, angle information, phase information, temporal information and time difference information.
8. three-dimensional WiFi fingerprint Mapping System as claimed in claim 7, it is characterised in that dirigible is positioned by described locating module by GPS, Big Dipper location, base station or WLAN.
9. three-dimensional WiFi fingerprint Mapping System as claimed in claim 7, it is characterised in that described locating module can also pass through obtain the positional information at wireless aps control point and gather WiFi finger print information, utilizes triangle polyester fibre principle that dirigible is positioned.
10. the three-dimensional WiFi fingerprint drafting method based on dirigible, it is characterised in that comprise the steps:
S101: set up multiple AP control point in region to be measured, makes WiFi signal cover whole region to be measured；
S102: dirigible flies in region to be measured according to pre-set flight course line, it is installed in the WiFi finger print acquisition module on dirigible and locating module Real-time Collection WiFi finger print information and current location information respectively, and WiFi finger print information and current location information are sent to earth station by wireless communication module；
S103: be installed on the detection of the detecting module on dirigible course line and whether there is barrier, if there is barrier, temporarily changing the default line of flight, coming back to collection course line after avoiding obstacles；
S104: the three-dimensional drawing module of earth station draws the three-dimensional map in region to be measured according to positional information；GIS module for drawing the WiFi fingerprint map in region to be measured according to WiFi finger print information；
S105: the WiFi fingerprint map that the three-dimensional WiFi fingerprint synthesis module of earth station is drawn according to three-dimensional map and the GIS module of three-dimensional drawing module drafting synthesizes, and forms the three-dimensional WiFi fingerprint map that three-dimensional position is corresponding with WiFi fingerprint.
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| CN106950976A (en) * | 2017-02-28 | 2017-07-14 | 北京天恒长鹰科技股份有限公司 | Indoor airship 3 D locating device and method based on Kalman and particle filter |
| CN112822637A (en) * | 2021-01-06 | 2021-05-18 | 腾讯科技（深圳）有限公司 | Navigation starting road section determining method and device, electronic equipment and storage medium |
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Application publication date: 20160629 |