CN105783924A - Indoor positioning method based on magnetic field intensity - Google Patents

Abstract

The invention relates to an indoor positioning method based on magnetic field intensity.The method comprises the following steps that S1, the magnetic field intensity of each sampling point in the indoor environment in the directions of the axis x, the axis y and the axis z is collected, the mean value and standard deviation of the magnetic field intensity of each sampling point in the directions of the axis x, the axis y and the axis z are calculated, and a static field intensity database is formed by the mean values and standard deviations of the magnetic field intensity of all the sampling points; S2, the mean value and standard deviation of the magnetic field intensity of a detecting point in the directions of the axis x, the axis y and the axis z are calculated; S3, the static field intensity database is searched for the sampling point matched with the detecting point based on the mean value and the standard deviation of the detecting point, and therefore positioning is achieved.

Description

A kind of indoor orientation method based on magnetic field intensity

Technical field

The present invention relates to indoor positioning field, more particularly, to a kind of indoor orientation method based on magnetic field intensity.

Background technology

Now, positioning service has become a requisite basic service in popular life.The quality of positioning service will directly affect daily life level.Location technology can be divided into indoor positioning and the big class of outdoor positioning two according to orientation range.At present, outdoor positioning technology mainly utilizes satellite to position, needed for precision (5 meters) scope enough daily life.Present outdoor positioning service field is captured by the giant company such as Google, Baidu.And indoor positioning technologies is because positioning precision is not enough, lower deployment cost is higher, the more high reason of layout, temporarily popularized.Currently, indoor positioning is the most extensive with wifi location technology, the most popular, meanwhile, utilizes the technology that the media such as bluetooth, LED, infrared light, ultrasound wave position also can obtain good locating effect.But, due to the problem such as positioning precision, lower deployment cost, these location technologies all fail to be formed to popularize.

Nowadays, smart mobile phone has obtained the accreditation of masses, and becomes a requisite part in people's daily life.And many hardware facilities embedded in smart mobile phone fail to have given play to its due effect.Such as, in indoor positioning services, electronic compass embedded in smart mobile phone can be utilized for the seizure of cellphone subscriber's motion feature；Magnetic field detectors can apply in geomagnetic matching location.

Summary of the invention

The present invention solves the defect of above prior art, it is provided that a kind of indoor orientation method based on magnetic field intensity, the method utilizes magnetic field coupling to realize indoor positioning.

For realizing above goal of the invention, the technical scheme is that

A kind of indoor orientation method based on magnetic field intensity, comprises the following steps:

S1. each sampled point of collecting chamber environment x-axis, y-axis, z-axis direction magnetic field intensity, and calculate it respectively in x-axis, y-axis, the average of z-axis direction magnetic field intensity and standard deviation, the magnetic field intensity average of all sampled points and standard deviation form static field intensity data base；

S2. test point is calculated in x-axis, y-axis, the average of z-axis direction magnetic field intensity and standard deviation；

S3. based on the average of test point and standard deviation, in static field intensity data base, matched sampled point is searched, thus realizing location.

Preferably, the average of described step S1 calculating sampling point magnetic field intensity and the detailed process of standard deviation are as follows:

(1) the solving of magnetic field intensity average

$\stackrel{\‾}{M_x}=\frac{{\mathrm{Mx}}_1+{\mathrm{Mx}}_2+{\mathrm{Mx}}_3+......+{\mathrm{Mx}}_n}{n};$

$\stackrel{\‾}{M_y}=\frac{{\mathrm{My}}_1+{\mathrm{My}}_2+{\mathrm{My}}_3+......+{\mathrm{My}}_n}{n};$

$\stackrel{\‾}{M_z}=\frac{{\mathrm{Mz}}_1+{\mathrm{Mz}}_2+{\mathrm{Mz}}_3+......+{\mathrm{Mz}}_n}{n};$

Mx₁,Mx₂,Mx₃,......,Mx_nRepresent the sampled point magnetic field intensity in x-axis direction；

My₁,My₂,My₃,......,My_nRepresent the sampled point magnetic field intensity in y-axis direction；

Mz₁,Mz₂,Mz₃,......,Mz_nRepresent the sampled point magnetic field intensity in z-axis direction；

Respectively represent sampled point x-axis, y-axis, z-axis direction magnetic field intensity average；

(2) the solving of magnetic intensity standard

${\mathrm{\σ}}_{Mx}=\sqrt{\frac{{({\mathrm{Mx}}_1-\stackrel{\‾}{Mx})}^2+{({\mathrm{Mx}}_2-\stackrel{\‾}{Mx})}^2+{({\mathrm{Mx}}_3-\stackrel{\‾}{Mx})}^2+\mathrm{......}+{({\mathrm{Mx}}_n-\stackrel{\‾}{Mx})}^2}{n};}$

${\mathrm{\σ}}_{My}=\sqrt{\frac{{({\mathrm{My}}_1-\stackrel{\‾}{My})}^2+{({\mathrm{My}}_2-\stackrel{\‾}{My})}^2+{({\mathrm{My}}_3-\stackrel{\‾}{My})}^2+\mathrm{......}+{({\mathrm{My}}_n-\stackrel{\‾}{My})}^2}{n}};$

${\mathrm{\σ}}_{Mz}=\sqrt{\frac{{({\mathrm{Mz}}_1-\stackrel{\‾}{Mz})}^2+{({\mathrm{Mz}}_2-\stackrel{\‾}{Mz})}^2+{({\mathrm{Mz}}_3-\stackrel{\‾}{Mz})}^2+\mathrm{......}+{({\mathrm{Mz}}_n-\stackrel{\‾}{Mz})}^2}{n}};$

σ_Mx、σ_My、σ_MzNot Biao Shi sampled point x-axis, y-axis, z-axis direction magnetic field intensity standard deviation.

Preferably, the detailed process that described step S3 lookup coupling sampled point realizes positioning is as follows:

S31. test point is set in x-axis, y-axis, z-axis direction magnetic field intensity average respectively as M_x0、M_y0、M_z0, standard deviation is σ_Mx0、σ_My0、σ_Mz0；

S32. hypothesis is set up:

H0 (null hypothesis):Now the differing greatly of test point and sampled point, it fails to match；

H1 (alternative hypothesis):Now test point is less with the difference of sampled point, and the match is successful；

S33. adopt two-sided test, inspection level α=0.05, then calculate statistic of test:

$t_x=\frac{M_{x0}-\stackrel{\‾}{M_x}}{{\mathrm{\σ}}_{Mz}^2/\sqrt{n}};$

$t_y=\frac{M_{y0}-\stackrel{\‾}{M_y}}{{\mathrm{\σ}}_{My}^2/\sqrt{n}};$

$t_z=\frac{M_{z0}-\stackrel{\‾}{M_z}}{{\mathrm{\σ}}_{Mz}^2/\sqrt{n}};$

Examination 2-t Boundary table, finds corresponding t_0.05/Mx0、t_0.05/My0、t_0.05/Mz0Value, if t_x<t_0.05/Mx0、t_y<t_0.05/My0、t_z<t_0.05/Mz0, probability P > and 0.05, then press α=0.05 level, accept to assume H0, now changing sampled point, then repeated execution of steps S32, S33 are until the match is successful；Otherwise accepting to assume H1, now test point is less with the difference of sampled point, and the match is successful, and the sampled point that the match is successful is positioning result, and location completes.

Accompanying drawing explanation

Fig. 1 is the flow chart of the present invention.

Detailed description of the invention

Accompanying drawing being merely cited for property explanation, it is impossible to be interpreted as the restriction to this patent；

Below in conjunction with drawings and Examples, the present invention is further elaborated.

Embodiment 1

The invention provides a kind of indoor orientation method based on magnetic field intensity, as it is shown in figure 1, it comprises the following steps:

(1) collect magnetic field intensity, form baseline sample；

First, positioning precision and doors structure according to demand determine sampled point, arrange a sampled point every 1m, then skip reference point if any barrier；Then, when sampled point is measured, slowly rotate a circle at each point of measuring, measure Primary field intensity every 10 °, record the magnetic field intensity in three directions on north-south, East and West direction and three directions of upward and downward (being designated as x, y, z respectively) respectively；Finally, adopting linear interpolation algorithm that the grid map being collected is interpolated, the data of point are omitted in completion.

Repeating three above step 30 time, record data are as baseline sample data.And all above record be a little independent some sample population.

(2) average and the standard deviation of population sample are calculated；

According to mean value formula and standard deviation formula, calculate average and the standard deviation of each magnetic field intensity measuring some all directions respectively.

Mean value computation process is as follows:

$\stackrel{\&OverBar;}{M_x}=\frac{{\mathrm{Mx}}_1+{\mathrm{Mx}}_2+{\mathrm{Mx}}_3+......+{\mathrm{Mx}}_n}{n}$

$\stackrel{\&OverBar;}{M_y}=\frac{{\mathrm{My}}_1+{\mathrm{My}}_2+{\mathrm{My}}_3+......+{\mathrm{My}}_n}{n}$

$\stackrel{\&OverBar;}{M_z}=\frac{{\mathrm{Mz}}_1+{\mathrm{Mz}}_2+{\mathrm{Mz}}_3+......+{\mathrm{Mz}}_n}{n}$

It is as follows that standard deviation calculates process:

${\mathrm{\&sigma;}}_{Mx}=\sqrt{\frac{{({\mathrm{Mx}}_1-\stackrel{\&OverBar;}{Mx})}^2+{({\mathrm{Mx}}_2-\stackrel{\&OverBar;}{Mx})}^2+{({\mathrm{Mx}}_3-\stackrel{\&OverBar;}{Mx})}^2+\mathrm{......}+{({\mathrm{Mx}}_n-\stackrel{\&OverBar;}{Mx})}^2}{n}}$

${\mathrm{\&sigma;}}_{My}=\sqrt{\frac{{({\mathrm{My}}_1-\stackrel{\&OverBar;}{My})}^2+{({\mathrm{My}}_2-\stackrel{\&OverBar;}{My})}^2+{({\mathrm{My}}_3-\stackrel{\&OverBar;}{My})}^2+\mathrm{......}+{({\mathrm{My}}_n-\stackrel{\&OverBar;}{My})}^2}{n}}$

${\mathrm{\&sigma;}}_{Mz}=\sqrt{\frac{{({\mathrm{Mz}}_1-\stackrel{\&OverBar;}{Mz})}^2+{({\mathrm{Mz}}_2-\stackrel{\&OverBar;}{Mz})}^2+{({\mathrm{Mz}}_3-\stackrel{\&OverBar;}{Mz})}^2+\mathrm{......}+{({\mathrm{Mz}}_n-\stackrel{\&OverBar;}{Mz})}^2}{n}}$

(3) propose inspection vacation, detect tested point

First, taking one of them baseline sample point as reference, its average isStandard deviation sigma_Mx、σ_My、σ_Mz。

Then, using the method put forward in 1,2 steps, the sample number n collecting test point is the sample of 30.Calculating the average of field intensity in these sample all directions is M_x0、M_y0、M_z0、M_{Total 0}, standard deviation is σ_Mx0、σ_My0、σ_Mz0；

Then, set up it is assumed that determine inspection level α；

H0 (null hypothesis): $M_{x0}\&NotEqual;\stackrel{\&OverBar;}{M_x},M_{y0}\&NotEqual;\stackrel{\&OverBar;}{M_y},M_{z0}\&NotEqual;\stackrel{\&OverBar;}{M_z}$ (namely tested point and datum mark field intensity differ greatly, and it fails to match；)

H1 (alternative hypothesis): $M_{x0}=\stackrel{\&OverBar;}{M_x},M_{y0}=\stackrel{\&OverBar;}{M_y},M_{z0}=\stackrel{\&OverBar;}{M_z}$ (namely tested point is less with datum mark field intensity difference, and the match is successful；)

Owing to sample meets normal distribution, therefore can adopting two-sided test, inspection level α=0.05, recycling below equation calculates statistic of test.

$t_x=\frac{M_{x0}-\stackrel{\&OverBar;}{M_x}}{{\mathrm{\&sigma;}}_{Mz}^2/\sqrt{n}}$

$t_y=\frac{M_{y0}-\stackrel{\&OverBar;}{M_y}}{{\mathrm{\&sigma;}}_{My}^2/\sqrt{n}}$

$t_z=\frac{M_{z0}-\stackrel{\&OverBar;}{M_z}}{{\mathrm{\&sigma;}}_{Mz}^2/\sqrt{n}}$

Finally, check 2-t Boundary table, find corresponding t_0.05/Mx0、t_0.05/My0、t_0.05/Mz0Value, if t_x<t_0.05/Mx0、t_y<t_0.05/My0、t_z<t_0.05/Mz0, probability P > and 0.05, then press α=0.05 level, accept to assume H0, namely think that this test point is big with datum mark field intensity difference, it fails to match.Otherwise, accept to assume H1, it is believed that this test point is less with datum mark field intensity difference, and the match is successful.If it fails to match, then change datum mark, repeat above step, till the match is successful.The datum mark that the match is successful is anchor point, and location completes.

Obviously, the above embodiment of the present invention is only for clearly demonstrating example of the present invention, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.All any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within the protection domain of the claims in the present invention.

Claims (3)

1. the indoor orientation method based on magnetic field intensity, it is characterised in that: comprise the following steps:

S1. each sampled point of collecting chamber environment x-axis, y-axis, z-axis direction magnetic field intensity, and calculate it respectively in x-axis, y-axis, the average of z-axis direction magnetic field intensity and standard deviation, the magnetic field intensity average of all sampled points and standard deviation form static field intensity data base；

S2. test point is calculated in x-axis, y-axis, the average of z-axis direction magnetic field intensity and standard deviation；

S3. based on the average of test point and standard deviation, in static field intensity data base, matched sampled point is searched, thus realizing location.

2. the indoor orientation method based on magnetic field intensity according to claim 1, it is characterised in that: the average of described step S1 calculating sampling point magnetic field intensity and the detailed process of standard deviation are as follows:

(1) the solving of magnetic field intensity average

$\stackrel{\&OverBar;}{M_x}=\frac{{\mathrm{Mx}}_1+{\mathrm{Mx}}_2+{\mathrm{Mx}}_3+......+{\mathrm{Mx}}_n}{n};$

$\stackrel{\&OverBar;}{M_y}=\frac{{\mathrm{My}}_1+{\mathrm{My}}_2+{\mathrm{My}}_3+......+{\mathrm{My}}_n}{n};$

$\stackrel{\&OverBar;}{M_z}=\frac{{\mathrm{Mz}}_1+{\mathrm{Mz}}_2+{\mathrm{Mz}}_3+......+{\mathrm{Mz}}_n}{n};$

Mx₁,Mx₂,Mx₃,......,Mx_nRepresent the sampled point magnetic field intensity in x-axis direction；

My₁,My₂,My₃,......,My_nRepresent the sampled point magnetic field intensity in y-axis direction；

Mz₁,Mz₂,Mz₃,......,Mz_nRepresent the sampled point magnetic field intensity in z-axis direction；

Respectively represent sampled point x-axis, y-axis, z-axis direction magnetic field intensity average；

(2) the solving of magnetic intensity standard

${\mathrm{\&sigma;}}_{Mx}=\sqrt{\frac{{({\mathrm{Mx}}_1-\stackrel{\&OverBar;}{Mx})}^2+{({\mathrm{Mx}}_2-\stackrel{\&OverBar;}{Mx})}^2+{({\mathrm{Mx}}_3-\stackrel{\&OverBar;}{Mx})}^2+\mathrm{......}+{({\mathrm{Mx}}_n-\stackrel{\&OverBar;}{Mx})}^2}{n}};$

${\mathrm{\&sigma;}}_{My}=\sqrt{\frac{{({\mathrm{My}}_1-\stackrel{\&OverBar;}{My})}^2+{({\mathrm{My}}_2-\stackrel{\&OverBar;}{My})}^2+{({\mathrm{My}}_3-\stackrel{\&OverBar;}{My})}^2+\mathrm{......}+{({\mathrm{My}}_n-\stackrel{\&OverBar;}{My})}^2}{n}};$

${\mathrm{\&sigma;}}_{Mz}=\sqrt{\frac{{({\mathrm{Mz}}_1-\stackrel{\&OverBar;}{Mz})}^2+{({\mathrm{Mz}}_2-\stackrel{\&OverBar;}{Mz})}^2+{({\mathrm{Mz}}_3-\stackrel{\&OverBar;}{Mz})}^2+\mathrm{......}+{({\mathrm{Mz}}_n-\stackrel{\&OverBar;}{Mz})}^2}{n}};$

σ_Mx、σ_My、σ_MzNot Biao Shi sampled point x-axis, y-axis, z-axis direction magnetic field intensity standard deviation.

3. the indoor orientation method based on magnetic field intensity according to claim 2, it is characterised in that: the detailed process that described step S3 searches coupling sampled point realization location is as follows:

S31. test point is set in x-axis, y-axis, z-axis direction magnetic field intensity average respectively as M_x0、M_y0、M_z0, standard deviation is σ_Mx0、σ_My0、σ_Mz0；

S32. hypothesis is set up:

H0 (null hypothesis): $M_{x0}\&NotEqual;\stackrel{\&OverBar;}{M_x},M_{y0}\&NotEqual;\stackrel{\&OverBar;}{M_y},M_{z0}\&NotEqual;\stackrel{\&OverBar;}{M_z},$ Now the differing greatly of test point and sampled point, it fails to match；

H1 (alternative hypothesis): $M_{x0}=\stackrel{\&OverBar;}{M_x},M_{y0}=\stackrel{\&OverBar;}{M_y},M_{z0}=\stackrel{\&OverBar;}{M_z},$ Now test point is less with the difference of sampled point, and the match is successful；

S33. adopt two-sided test, inspection level α=0.05, then calculate statistic of test:

$t_x=\frac{M_{x0}-\stackrel{\&OverBar;}{M_x}}{{\mathrm{\&sigma;}}_{Mz}^2/\sqrt{n}};$

$t_y=\frac{M_{y0}-\stackrel{\&OverBar;}{M_y}}{{\mathrm{\&sigma;}}_{My}^2/\sqrt{n}};$

$t_z=\frac{M_{z0}-\stackrel{\&OverBar;}{M_z}}{{\mathrm{\&sigma;}}_{Mz}^2/\sqrt{n}};$

Examination 2-t Boundary table, finds corresponding t_0.05/Mx0、t_0.05/My0、t_0.05/Mz0Value, if t_x<t_0.05/Mx0、t_y<t_0.05/My0、t_z<t_0.05/Mz0, probability P > and 0.05, then press α=0.05 level, accept to assume H0, now changing sampled point, then repeated execution of steps S32, S33 are until the match is successful；Otherwise accepting to assume H1, now test point is less with the difference of sampled point, and the match is successful, and the sampled point that the match is successful is positioning result, and location completes.