CN105828296A - Indoor positioning method based on convergence of image matching and WI-FI - Google Patents
Indoor positioning method based on convergence of image matching and WI-FI Download PDFInfo
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- CN105828296A CN105828296A CN201610351683.4A CN201610351683A CN105828296A CN 105828296 A CN105828296 A CN 105828296A CN 201610351683 A CN201610351683 A CN 201610351683A CN 105828296 A CN105828296 A CN 105828296A
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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
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
- H04W84/12—WLAN [Wireless Local Area Networks]
Abstract
The present invention relates to the field of indoor positioning technologies, and provides an indoor positioning method based on convergence of image matching and WI-FI. According to the method, indoor positioning accuracy can be improved effectively through convergence of WI-FI coarse positioning and image accurate positioning; and no hardware is deployed, all works can be finished automatically, there is no other interference, the cost is saved, and the replication performance is high.
Description
Technical field
The present invention relates to indoor positioning technologies field, be specifically related to a kind of indoor orientation method utilizing images match to merge with WI-FI.
Background technology
When indoor environment cannot use satellite fix, use indoor positioning technologies as the auxiliary positioning of satellite fix, solve the problem more weak when satellite-signal arrives ground, building can not be penetrated.The position that final location object is presently in.In addition to the cellular localization technology of communication network, common indoor wireless location technology also has Wi-Fi, bluetooth, infrared ray, earth magnetism, RFID etc..But existing indoor positioning technologies has the disadvantage that the location technologies such as 1.WI-FI, bluetooth, RFID need to dispose hardware device, and cost is high；The location technology such as 2.WI-FI, earth magnetism is along with the difference of flow of the people, and deviations is big；3. images match can not position or position inaccurate.
Summary of the invention
In place of the invention aims to overcome above-mentioned the deficiencies in the prior art, it is provided that a kind of indoor orientation method utilizing images match to merge with WI-FI, it utilizes images match to merge with WI-FI, simple to operate, registration, and saves indoor hardware deployment cost.
The present invention seeks to be achieved through the following technical solutions.
A kind of indoor orientation method utilizing images match to merge with WI-FI, comprises the steps:
(1) indoor point cloud chart (set of point), key point image, key point WI-FI fingerprint are gathered with laser ranging, photographic head, WI-FI fingerprint collecting equipment back and forth around indoor path；
(2) point cloud chart and the WI-FI fingerprint of collection are depicted as indoor electronic map and are deployed to map server；
(3) corresponding relation of point cloud chart, key point image and key point WI-FI fingerprint and the electronic map coordinates gathered is recorded；
(4) key point image has been processed rear portion be deployed to image server by stretching, compression, be used for mating；
(5) electronic chart comprises WI-FI fingerprint to download to photographic head, 3G or 4G, the mobile terminal of WI-FI function from map server；
(6) capture the view data of indoor current live with the timing of above-mentioned mobile terminal, by 3G or 4G, WI-FI wireless telecommunications, view data is uploaded to image server；
(7) view data uploaded by mobile terminal is mated with the key point image in image server, and by electronic map coordinates set corresponding for the set of keypoints i.e. image of coupling, returns to mobile terminal；
(8) set of keypoints received first is compared by mobile terminal with the history elements of a fix, if there being framing coordinate to meet data rule in set of keypoints, then forwards step (9) to；Meet data rule without framing coordinate, then return step (6), reorientate；
(9) mobile terminal calculates electronic map coordinates corresponding to the WI-FI elements of a fix i.e. WI-FI according to the signal intensity i.e. RSSI value of current search to WI-FI with WI-FI fingerprint；
(10) if the WI-FI elements of a fix are compared with the history elements of a fix, meet data rule, then forward step (12) to；
(11) if the WI-FI elements of a fix do not meet data rule, then this coordinate is invalid, returns to step (9), searches again for the signal intensity of WI-FI and calculates the WI-FI elements of a fix；
(12) set of keypoints that image server returns is merged with the WI-FI elements of a fix, if set of keypoints having framing coordinate within effective range ε of the WI-FI elements of a fix, then by optimum framing coordinate, i.e. closest to a upper history elements of a fix point and meet the framing coordinate of course and show in electronic chart, complete to position；
(13) if framing coordinate is not within the effective range of the WI-FI elements of a fix, then replace framing coordinate with the WI-FI elements of a fix, the WI-FI elements of a fix are shown in electronic chart, complete location.
In technique scheme, described effective range ε is diameter 10 meters.
The inventive method compared with prior art has the advantage that
1. utilize the coarse localization of WI-FI and being accurately positioned of image, improve the accuracy of indoor positioning；
2. without disposing any hardware, can complete all working voluntarily, disturb without other, cost-effective, reproducibility is high.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the inventive method.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, the present embodiment provides a kind of indoor orientation method utilizing images match to merge with WI-FI, comprise the steps:
(1) indoor point cloud chart (set of point), key point image, key point WI-FI fingerprint are gathered with laser ranging, photographic head, WI-FI fingerprint collecting equipment back and forth around indoor path；
(2) point cloud chart and the WI-FI fingerprint of collection are depicted as indoor electronic map and are deployed to map server；
(3) corresponding relation of point cloud chart, key point image and key point WI-FI fingerprint and the electronic map coordinates gathered is recorded；
(4) key point image has been processed rear portion through cut out, compression etc. and be deployed to image server, be used for mating；
(5) electronic chart comprises WI-FI fingerprint to download to photographic head, 3G or 4G, the mobile terminal of WI-FI function from map server；
(6) capture the view data of indoor current live with the timing of above-mentioned mobile terminal, by 3G or 4G, WI-FI wireless telecommunications, view data is uploaded to image server；
(7) view data uploaded by mobile terminal is mated with the key point image in image server, and by electronic map coordinates set corresponding for the set of keypoints i.e. image of coupling, returns to mobile terminal；
(8) set of keypoints received first is compared by mobile terminal with the history elements of a fix, if the electronic map coordinates having framing coordinate i.e. image corresponding in set of keypoints meets data rule, such as in 3 seconds on same floor or same path, there is no the most unexpected change, then forward step (9) to；Meet data rule without framing coordinate, then return step (6), reorientate；
(9) mobile terminal calculates electronic map coordinates corresponding to the WI-FI elements of a fix i.e. WI-FI according to the signal intensity i.e. RSSI value of current search to WI-FI with WI-FI fingerprint；
(10) if the WI-FI elements of a fix are compared with the history elements of a fix, meet data rule, then forward step (12) to；
(11) if the WI-FI elements of a fix do not meet data rule, then this coordinate is invalid, returns to step (9), searches again for the signal intensity of WI-FI and calculates the WI-FI elements of a fix；
(12) set of keypoints that image server returns is merged with the WI-FI elements of a fix, if set of keypoints having framing coordinate within effective range ε of the WI-FI elements of a fix, effective range ε is diameter 10 meters, then by optimum framing coordinate i.e. closest to a upper history elements of a fix point and meet the framing coordinate of course and show in electronic chart, complete to position；
(13) if framing coordinate is not within WI-FI elements of a fix effective range, then replace framing coordinate with the WI-FI elements of a fix, the WI-FI elements of a fix are shown in electronic chart, complete location.
The content not being described in detail in this specification, belongs to prior art known to those skilled in the art.
Claims (2)
1. one kind utilizes the indoor orientation method that images match merges with WI-FI, it is characterised in that the method comprises the steps:
(1) set that indoor point cloud chart i.e. puts, key point image, key point WI-FI fingerprint are gathered back and forth around indoor path with laser ranging, photographic head, WI-FI fingerprint collecting equipment；
(2) point cloud chart and the WI-FI fingerprint of collection are depicted as indoor electronic map and are deployed to map server；
(3) corresponding relation of point cloud chart, key point image and key point WI-FI fingerprint and the electronic map coordinates gathered is recorded；
(4) key point image has been processed rear portion be deployed to image server by stretching, compression, be used for mating；
(5) electronic chart comprises WI-FI fingerprint to download to photographic head, 3G or 4G, the mobile terminal of WI-FI function from map server；
(6) capture the view data of indoor current live with the timing of above-mentioned mobile terminal, by 3G or 4G, WI-FI wireless telecommunications, view data is uploaded to image server；
(7) view data uploaded by mobile terminal is mated with the key point image in image server, and by electronic map coordinates set corresponding for the set of keypoints i.e. image of coupling, returns to mobile terminal；
(8) set of keypoints received first is compared by mobile terminal with the history elements of a fix, if there being framing coordinate to meet data rule in set of keypoints, then forwards step (9) to；Meet data rule without framing coordinate, then return step (6), reorientate；
(9) mobile terminal calculates electronic map coordinates corresponding to the WI-FI elements of a fix i.e. WI-FI according to the signal intensity i.e. RSSI value of current search to WI-FI with WI-FI fingerprint；
(10) if the WI-FI elements of a fix are compared with the history elements of a fix, meet data rule, then forward step (12) to；
(11) if the WI-FI elements of a fix do not meet data rule, then this coordinate is invalid, returns to step (9), searches again for the signal intensity of WI-FI and calculates the WI-FI elements of a fix；
(12) set of keypoints that image server returns is merged with the WI-FI elements of a fix, if set of keypoints having framing coordinate within effective range ε of the WI-FI elements of a fix, then optimum framing coordinate is shown in electronic chart, complete location；
(13) if framing coordinate is not within the effective range of the WI-FI elements of a fix, then replace framing coordinate with the WI-FI elements of a fix, the WI-FI elements of a fix are shown in electronic chart, complete location.
The indoor orientation method utilizing images match to merge with WI-FI the most according to claim 1, it is characterised in that: described effective range ε is diameter 10 meters.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106793086A (en) * | 2017-03-15 | 2017-05-31 | 河北工业大学 | A kind of indoor orientation method |
| CN107607118A (en) * | 2017-08-10 | 2018-01-19 | 浙江科技学院 | A kind of vehicle positioning method of parking garage |
| CN108230247A (en) * | 2017-12-29 | 2018-06-29 | 达闼科技（北京）有限公司 | Generation method, device, equipment and the application program of three-dimensional map based on high in the clouds |
| CN108495259A (en) * | 2018-03-26 | 2018-09-04 | 上海工程技术大学 | A kind of gradual indoor positioning server and localization method |
| CN110095119A (en) * | 2018-01-29 | 2019-08-06 | 光禾感知科技股份有限公司 | Distributing indoor locating system and distributing indoor orientation method |
| CN110738143A (en) * | 2019-09-27 | 2020-01-31 | Oppo广东移动通信有限公司 | Positioning method and device, equipment and storage medium |
| CN111156983A (en) * | 2019-11-19 | 2020-05-15 | 石化盈科信息技术有限责任公司 | Target equipment positioning method and device, storage medium and computer equipment |
| CN111724438A (en) * | 2019-03-18 | 2020-09-29 | 阿里巴巴集团控股有限公司 | Data processing method and device |
| CN111935641A (en) * | 2020-08-14 | 2020-11-13 | 上海木木聚枞机器人科技有限公司 | Indoor self-positioning realization method, intelligent mobile device and storage medium |
| CN112013842A (en) * | 2020-08-29 | 2020-12-01 | 桂林电子科技大学 | Multi-mode indoor positioning method based on image geomagnetic field and inertial sensor |
| WO2021057797A1 (en) * | 2019-09-27 | 2021-04-01 | Oppo广东移动通信有限公司 | Positioning method and apparatus, terminal and storage medium |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106793086A (en) * | 2017-03-15 | 2017-05-31 | 河北工业大学 | A kind of indoor orientation method |
| CN106793086B (en) * | 2017-03-15 | 2020-01-14 | 河北工业大学 | Indoor positioning method |
| CN107607118A (en) * | 2017-08-10 | 2018-01-19 | 浙江科技学院 | A kind of vehicle positioning method of parking garage |
| CN107607118B (en) * | 2017-08-10 | 2020-11-20 | 浙江科技学院 | Vehicle positioning method for indoor parking lot |
| CN108230247A (en) * | 2017-12-29 | 2018-06-29 | 达闼科技（北京）有限公司 | Generation method, device, equipment and the application program of three-dimensional map based on high in the clouds |
| CN108230247B (en) * | 2017-12-29 | 2019-03-15 | 达闼科技（北京）有限公司 | Generation method, device, equipment and the computer-readable storage medium of three-dimensional map based on cloud |
| CN110095119A (en) * | 2018-01-29 | 2019-08-06 | 光禾感知科技股份有限公司 | Distributing indoor locating system and distributing indoor orientation method |
| CN108495259A (en) * | 2018-03-26 | 2018-09-04 | 上海工程技术大学 | A kind of gradual indoor positioning server and localization method |
| CN111724438A (en) * | 2019-03-18 | 2020-09-29 | 阿里巴巴集团控股有限公司 | Data processing method and device |
| CN111724438B (en) * | 2019-03-18 | 2024-04-02 | 阿里巴巴集团控股有限公司 | Data processing method and device |
| CN110738143A (en) * | 2019-09-27 | 2020-01-31 | Oppo广东移动通信有限公司 | Positioning method and device, equipment and storage medium |
| WO2021057797A1 (en) * | 2019-09-27 | 2021-04-01 | Oppo广东移动通信有限公司 | Positioning method and apparatus, terminal and storage medium |
| CN110738143B (en) * | 2019-09-27 | 2023-06-02 | Oppo广东移动通信有限公司 | Positioning method and device, equipment and storage medium |
| CN111156983A (en) * | 2019-11-19 | 2020-05-15 | 石化盈科信息技术有限责任公司 | Target equipment positioning method and device, storage medium and computer equipment |
| CN111156983B (en) * | 2019-11-19 | 2023-06-13 | 石化盈科信息技术有限责任公司 | Target equipment positioning method, device, storage medium and computer equipment |
| CN111935641B (en) * | 2020-08-14 | 2022-08-19 | 上海木木聚枞机器人科技有限公司 | Indoor self-positioning realization method, intelligent mobile device and storage medium |
| CN111935641A (en) * | 2020-08-14 | 2020-11-13 | 上海木木聚枞机器人科技有限公司 | Indoor self-positioning realization method, intelligent mobile device and storage medium |
| CN112013842A (en) * | 2020-08-29 | 2020-12-01 | 桂林电子科技大学 | Multi-mode indoor positioning method based on image geomagnetic field and inertial sensor |
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