CN105866729B - A kind of indoor orientation method and device based on user behavior characteristics - Google Patents
A kind of indoor orientation method and device based on user behavior characteristics Download PDFInfo
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- CN105866729B CN105866729B CN201610180013.0A CN201610180013A CN105866729B CN 105866729 B CN105866729 B CN 105866729B CN 201610180013 A CN201610180013 A CN 201610180013A CN 105866729 B CN105866729 B CN 105866729B
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- active user
- mobile terminal
- bluetooth
- positioning
- user
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Abstract
The invention discloses a kind of indoor orientation method and device based on user behavior characteristics, wherein method includes Bluetooth beacon, mobile terminal, include the following steps: the positioning record for obtaining indoor navigation system on the mobile terminal, judges whether active user is to position for the first time according to positioning record；If active user is not to position for the first time, the detected value of the movement of active user is detected by the gyroscope built in the mobile terminal, judges whether the detected value is not less than preset turning calibration value；If the detected value is not less than preset turning calibration value, the location of active user is calibrated.Positioning accuracy can be substantially improved in the case where the sparse deployment of Bluetooth beacon node in the present invention, to promote user experience, reduce deployment and maintenance cost.
Description
Technical field
The invention belongs to field of navigation technology, in particular to a kind of indoor positioning side based on user behavior characteristics
Method and device.
Background technique
As the building of the continuous development of modern city, such as large supermarket, shopping center etc is continuous
Occur.People can want to determine the position where oneself in above-mentioned indoor environment, and quickly search out the destination of oneself.With
The development of the universal and mobile Internet of smart phone, it is indoor that map and navigation type software will enter a new epoch-
Navigation.Common practice is deployment bluetooth (iBeacon) at present.And it is based on the positioning method of bluetooth (iBeacon), positioning accuracy
It is strongly depend on the deployment density of iBeacon node.Therefore under (iBeacon) low-density deployment scenario, the essence of indoor positioning
Degree property greatly has received influence.Receive the positioning method having that can not consider influence of the user movement to positioning simultaneously.
Summary of the invention
To solve the technological deficiency that existing low-density Bluetooth beacon disposes lower indoor position accuracy difference, the present invention passes through analysis
The behavioural characteristic of user, and interior GIS information is combined, position correction is carried out in due course during sensor recursion, to mention
The precision and stability positioned under high/low density Bluetooth beacon appointed condition, to promote user experience.
The present invention provides a kind of indoor orientation method based on user behavior characteristics, including Bluetooth beacon, mobile terminal,
Include the following steps:
The positioning record for obtaining indoor navigation system on the mobile terminal judges active user according to positioning record
It whether is to position for the first time；
If active user is not to position for the first time, the fortune of active user is detected by the gyroscope built in the mobile terminal
Dynamic detected value, judges whether the detected value is not less than preset turning calibration value；
If the detected value is not less than preset turning calibration value, the location of active user is calibrated.
The detected value for active user's movement that gyroscope built in the mobile terminal detects refers to active user's
Motion state, the motion state include turning and its angle.User's its mobile phone direction when turning round can also change therewith,
The integral result of gyroscope can reflect this mobile phone towards the degree of (azimuth) variation, to also be known that user turns
How many degree are to the left or to the right etc., in conjunction with indoor GIS information, so that it may judge user whether be in crossing or
Which crossing be in.
In indoor orientation method of the present invention based on user behavior characteristics, the method also includes
If active user is not to have positioned for the first time, pass through the indigo plant for the Bluetooth beacon transmission that the mobile terminal detects
Tooth signal, judges whether the Bluetooth signal reaches default bluetooth calibration value；
If the Bluetooth signal reaches default bluetooth calibration value, the location of active user is calibrated.
In indoor orientation method of the present invention based on user behavior characteristics, if active user is not to position for the first time
Further include
According to the Bluetooth signal that the Bluetooth beacon that the mobile terminal detects is sent, inquiry presetting database is obtained
The corresponding geographical location of the Bluetooth signal, the presetting database includes the incidence relation in Bluetooth signal value and geographical location
In indoor orientation method of the present invention based on user behavior characteristics, obtains interior on the mobile terminal and lead
The positioning of boat system records, and judges whether active user is that positioning further includes for the first time according to positioning record
Using the mobile terminal into indoor navigation system dispatcher's office GIS location information.
In indoor orientation method of the present invention based on user behavior characteristics, the mobile terminal is by built in it
Gyroscope detected value judge active user movement behavioural characteristic, the behavioural characteristic includes turning action.
The present invention also provides a kind of indoor positioning device based on user behavior characteristics, including judgment module, first obtain
Modulus block, the first locating module, wherein
The judgment module, the positioning for obtaining indoor navigation system on the mobile terminal records, according to described fixed
Position record judges whether active user is to position for the first time；
The first acquisition module passes through the gyro built in the mobile terminal if active user is not to position for the first time
Instrument detects the detected value of the movement of active user, judges whether the detected value is not less than preset turning calibration value；
First locating module, if the detected value is not less than preset turning calibration value, to locating for active user
Position calibrated.
In indoor positioning device of the present invention based on user behavior characteristics, described device further includes
Second obtains module, if not being to have positioned for the first time for active user, the institute detected by the mobile terminal
The Bluetooth signal for stating Bluetooth beacon transmission, judges whether the Bluetooth signal reaches default bluetooth calibration value；
Second locating module, if reaching default bluetooth calibration value for the Bluetooth signal, to locating for active user
Position calibrated.
In indoor positioning device of the present invention based on user behavior characteristics, described device further includes
Third locating module, if not being to position for the first time for active user, the institute detected according to the mobile terminal
The Bluetooth signal of Bluetooth beacon transmission is stated, inquiry presetting database obtains the corresponding geographical location of the Bluetooth signal, described pre-
If database includes the incidence relation in Bluetooth signal value and geographical location.
In indoor positioning device of the present invention based on user behavior characteristics, the judgment module further includes receiving son
Module,
The receiving submodule, for utilizing mobile terminal GIS location information into indoor navigation system dispatcher's office.
In indoor positioning device of the present invention based on user behavior characteristics, the mobile terminal is by built in it
The detected value of gyroscope judges the behavioural characteristic of active user's movement, and the behavioural characteristic includes turning action.
To sum up, after the present invention detects user's human body behavioural characteristic by the mobile terminal first, further according to Bluetooth beacon
The user location is carried out to improve the accuracy of indoor positioning under the conditions of calibration realizes that indoor Bluetooth beacon is low density.
Detailed description of the invention
Fig. 1 is that the process of indoor orientation method one embodiment of the present invention based on user behavior characteristics is illustrated
Figure；
Fig. 2 is the process signal of indoor orientation method another embodiment of the present invention based on user behavior characteristics
Figure；
Fig. 3 is to show using the structure of indoor positioning device one embodiment of the present invention based on user behavior characteristics
It is intended to；
Fig. 4 is the structure of indoor positioning device another embodiment using of the present invention based on user behavior characteristics
Schematic diagram.
Specific embodiment
The present invention is described in further detail below by specific embodiment and in conjunction with attached drawing.
Positioning accuracy can be substantially improved, to promote user in the case where the sparse deployment of iBeacon node in the present invention
Experience reduces deployment and maintenance cost.
The present invention provides a kind of indoor orientation methods based on user behavior characteristics.It is described based on user behavior characteristics
Indoor orientation method, including Bluetooth beacon, mobile terminal, as shown in Figure 1, including the following steps:
S101, the positioning record for obtaining indoor navigation system on the mobile terminal, work as according to positioning record judgement
Whether preceding user is to position for the first time.
When it is implemented, the mobile terminal is optional to judge whether user is to position for the first time by positioning log request.It needs
Illustrate, the positioning for the first time of the present invention herein refers in preset time range whether user is transmitted across positioning log positioning and asks
It asks, that is, judges that whether user's last time sends the time of log Location Request in preset time range.For example, will optionally set the time
It sets for 24 hours, if last time log Location Request, in for 24 hours, user is not to position for the first time, otherwise to position for the first time.
With the development of science and technology, mobile terminal (such as smart phone) is built-in with sensor (such as gyroscope or acceleration
Spend sensor), mobile terminal detects user movement state by gyroscope.It is detected with the movement of user, mobile phone gyroscope
Value changes in real time, and when turning action occurs, detected value can occur more significantly to change user, therefore it records detected value
More, the accuracy that it is positioned can also be gradually increased.It should be noted that heretofore described mobile terminal not only includes
Smart phone, further includes other smart machines, such as iPad etc. is numerous to list herein.
If S102, active user are not to position for the first time, used by the way that the gyroscope detection built in the mobile terminal is current
The detected value of the movement at family, judges whether the detected value is not less than preset turning calibration value.
The mobile terminal is the behavioural characteristic that active user's movement is judged by the detected value of the gyroscope built in it, institute
Stating behavioural characteristic includes turning action.
The judgement of user's turning behavior can be examined by the output of continuous observation gyroscope, when turning action occurs
Measured value can occur more significantly to change.The mobile terminal judges to use by the detected value (specially rotational angle) of gyroscope
It turns at family.
If S103, the detected value are not less than preset turning calibration value, school is carried out to the location of active user
It is quasi-.
Rssi indicates the intensity of signal in the wireless network, it decays with the increase of distance, and usually negative value, the value are got over
Illustrate that signal strength is higher close to zero.According to the difference that location fingerprint indicates, the interior based on WLAN and location fingerprint
Location technology can be divided into two major classes.The first kind is determining localization method.Its feature is location fingerprint with from each connecing
The average value of the signal strength of access point indicates, the position of user is then estimated using deterministic reasoning algorithm.Signal it is more
Diameter, which is propagated, has dependence to environment, shows very strong particularity, for each position, channel in this position
Multidiameter configuration is that uniquely, the radio wave of terminal transmission by reflection and reflects, generation and the closely related spy of ambient enviroment
The multipath signal of mould-fixed, such multipath characteristics may be considered " fingerprint " of the position.
Indoor orientation method is mainly positioned using WiFi positioning node or bluetooth positioning node, and main includes receiving letter
Number intensity positioning mode, receives signal angle positioning mode, reference point positioning mode at arrival time positioning mode.It is different when specific implementation
Signal strength correspond to different positions.Geographical location locating for different positioning active users of the present invention by signal strength.
For example, WiFi location technology is in such a way that experience is tested and signal propagation model combines.WiFi wireless signal has relatively strong
Time-varying radio signal propagation attenuation model be difficult to the characterization distance and mapping relations between signal strength well, using being based on
Radio-frequency fingerprint matching locating method, it has the robustness preferably positioned.So-called fingerprint matching location algorithm is established in time delay
It mainly include two stages of off-line training and tuning on-line in data basis.Wherein, the task of off-line training step is to establish to penetrate
One-to-one relationship between frequency signal strength vector sum client location, forms a fingerprint base, and positioning stage is then using real
When the signal strength vector that acquires remove the fingerprint base of matching training stage building, to obtain the location estimation of target.Based on position
The location algorithm for setting fingerprint mainly includes deterministic type and probabilistic type, the former computational efficiency is higher, the setting accuracy of the latter compared with
It is high.
The algorithm mainly includes the following steps: 1, determines sample distribution figure；2, each positioning node (such as WiFi positioning section is acquired
Point or bluetooth positioning node) signal strength, MAC Address etc.；3, the position coordinates of RSSI are stored；4, the positioning of acquisition will be implemented
The signal of node estimates the position of user by matching algorithm.The present invention illustrates by taking the location fingerprint location algorithm of deterministic type as an example
WiFi and/or the mode of bluetooth localization method positioning in the present invention.
For example, shown in the optional table 1 of fingerprint base storing data.
Table 1
In table 1, the object AP of sampled point expressionnPosition (i.e. coordinate), APnThat indicate is the number of WiFi positioning node, RSSI
It is expressed as collected fingerprint (i.e. signal strength) in this position.
And location matches algorithm includes the methods of arest neighbors method, probabilistic method, neural network method, SVM.Specific implementation
When, it is optional to be calculated using any method, since such algorithm is known, the present invention to those skilled in the art
It will not be described herein.
It is illustrated in figure 2 another embodiment of the indoor orientation method of the present invention based on user behavior characteristics
Flow diagram.
S201, the positioning record for obtaining indoor navigation system on the mobile terminal, work as according to positioning record judgement
Whether preceding user is to position for the first time.
Wherein, S201 further includes utilizing mobile terminal GIS location information into indoor navigation system dispatcher's office.
When it is implemented, being shown on the position GIS by the geographical location for obtaining the mobile terminal location, intuitively
Prompt the user with the position being presently in.
If S202, active user are not to have positioned for the first time, sent out by the Bluetooth beacon that the mobile terminal detects
The Bluetooth signal sent, judges whether the Bluetooth signal reaches default bluetooth calibration value；
If S203, the Bluetooth signal reach default bluetooth calibration value, school is carried out to the location of active user
It is quasi-.
S204, the Bluetooth signal sent according to the Bluetooth beacon that the mobile terminal detects, inquire preset data
Library obtains the corresponding geographical location of the Bluetooth signal, and the presetting database includes Bluetooth signal value to be associated with geographical location
Relationship.
As shown in figure 3, the present invention also provides a kind of indoor positioning device based on user behavior characteristics, including judge mould
Block 10, first obtains module 20, the first locating module 30.
Wherein,
The judgment module 10, the positioning for obtaining indoor navigation system on the mobile terminal records, according to described
Positioning record judges whether active user is to position for the first time.
The judgment module further includes receiving submodule 101,
The receiving submodule 101, for the position GIS to be believed into indoor navigation system dispatcher's office using the mobile terminal
Breath.
The first acquisition module 20 passes through the top built in the mobile terminal if active user is not to position for the first time
Spiral shell instrument detects the detected value of the movement of active user, judges whether the detected value is not less than preset turning calibration value.
The mobile terminal is the behavioural characteristic that active user's movement is judged by the detected value of the gyroscope built in it, institute
Stating behavioural characteristic includes turning action.
First locating module 30, if the detected value is not less than preset turning calibration value, to active user institute
It is calibrated the position at place.
It is illustrated in figure 4 another embodiment of the indoor positioning device of the present invention based on user behavior characteristics
Structural schematic diagram.
Further, described device further includes
Second obtains module, if not being to have positioned for the first time for active user, the institute detected by the mobile terminal
The Bluetooth signal for stating Bluetooth beacon transmission, judges whether the Bluetooth signal reaches default bluetooth calibration value；
Second locating module, if reaching default bluetooth calibration value for the Bluetooth signal, to locating for active user
Position calibrated.
Further, described device further includes
Third locating module 40 is believed if being to position for the first time for active user according to the bluetooth of the Bluetooth beacon
Number strong and weak geographical location for determining active user.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of indoor orientation method based on user behavior characteristics, including iBeacon Bluetooth beacon, mobile terminal, feature
It is, includes the following steps:
Whether the positioning record for obtaining indoor navigation system on the mobile terminal judges active user according to positioning record
To position for the first time；
If active user is not to position for the first time, the movement of active user is detected by the gyroscope built in the mobile terminal
Detected value, judges whether the detected value is not less than preset turning calibration value；
If the detected value is not less than preset turning calibration value, the location of active user is calibrated；
If active user is not to have positioned for the first time, sent by the iBeacon Bluetooth beacon that the mobile terminal detects
Bluetooth signal, judge whether the Bluetooth signal reaches default bluetooth calibration value；
If the Bluetooth signal reaches default bluetooth calibration value, the location of active user is calibrated；
If active user is not that positioning further includes for the first time
According to the Bluetooth signal that the iBeacon Bluetooth beacon that the mobile terminal detects is sent, presetting database is inquired
Obtain the corresponding geographical location of the Bluetooth signal, the presetting database includes Bluetooth signal value to be associated with geographical location
System.
2. the indoor orientation method according to claim 1 based on user behavior characteristics, which is characterized in that obtain the shifting
The positioning record of indoor navigation system in dynamic terminal, judges whether active user is to position also to wrap for the first time according to positioning record
It includes and utilizes mobile terminal GIS location information into indoor navigation system dispatcher's office.
3. a kind of indoor positioning device based on user behavior characteristics, which is characterized in that obtain mould including judgment module, first
Block, the first locating module, wherein
The judgment module, the positioning for obtaining indoor navigation system on the mobile terminal record, are remembered according to the positioning
Record judges whether active user is to position for the first time；
Described first obtains module, if active user is not to position for the first time, is examined by the gyroscope built in the mobile terminal
The detected value for surveying the movement of active user, judges whether the detected value is not less than preset turning calibration value；
First locating module, if the detected value is not less than preset turning calibration value, to position locating for active user
It sets and is calibrated；
Described device further includes
Second obtains module, if not being to have positioned for the first time for active user, the indigo plant detected by the mobile terminal
The Bluetooth signal that tooth beacon is sent, judges whether the Bluetooth signal reaches default bluetooth calibration value；
Second locating module, if reaching default bluetooth calibration value for the Bluetooth signal, to position locating for active user
It sets and is calibrated；
Described device further includes
Third locating module, if not being to position for the first time for active user, the indigo plant detected according to the mobile terminal
The Bluetooth signal that tooth beacon is sent, inquiry presetting database obtain the corresponding geographical location of the Bluetooth signal, the present count
It include the incidence relation in Bluetooth signal value and geographical location according to library.
4. the indoor positioning device according to claim 3 based on user behavior characteristics, which is characterized in that the judgement mould
Block further includes receiving submodule,
The receiving submodule, for utilizing mobile terminal GIS location information into indoor navigation system dispatcher's office.
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| CN107339992B (en) * | 2017-08-24 | 2020-01-24 | 武汉大学 | Indoor positioning and landmark semantic identification method based on behaviors |
| CN107484241B (en) * | 2017-08-29 | 2019-09-27 | 北京邮电大学 | Method and apparatus based on geographical fingerprint location under a kind of millimeter wave channel |
| CN108375376B (en) * | 2018-03-08 | 2020-11-24 | 浙江师范大学 | Rotation angle detection method and device |
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| JP4016787B2 (en) * | 2002-07-31 | 2007-12-05 | 日本電気株式会社 | Positioning system in mobile communication network |
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| CN101936737A (en) * | 2009-06-30 | 2011-01-05 | 凹凸电子（武汉）有限公司 | Inertial navigation system and navigation method |
| CN103454657A (en) * | 2012-05-30 | 2013-12-18 | 中兴通讯股份有限公司 | Method and device for comprehensively positioning intelligent terminal |
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