CN105898692B - A kind of indoor orientation method and device - Google Patents
A kind of indoor orientation method and device Download PDFInfo
- Publication number
- CN105898692B CN105898692B CN201610180324.7A CN201610180324A CN105898692B CN 105898692 B CN105898692 B CN 105898692B CN 201610180324 A CN201610180324 A CN 201610180324A CN 105898692 B CN105898692 B CN 105898692B
- Authority
- CN
- China
- Prior art keywords
- signal
- user
- wifi
- bluetooth
- positioning node
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- 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
Abstract
The invention discloses a kind of indoor orientation method and devices, wherein method includes the following steps: to obtain the WiFi fingerprint signal that the WiFi positioning node received at active user present position is sent, and the WiFi fingerprint signal is obtained to the initial geographical location of the user by inquiring default location database；Judge whether the initial geographical location of the user is located at bluetooth positioning node signal coverage areas；If the initial geographical location of the user is in the bluetooth positioning node signal coverage areas, the Bluetooth signal that the bluetooth positioning node that the initial geographical location of the user receives is sent then is obtained, the Bluetooth signal is determined to the final position of the user using geometry location method.The present invention is by the environment of bluetooth special covering, promoting the accuracy rate and setting accuracy that floor judges, to further promote user experience.
Description
Technical field
The invention belongs to field of navigation technology, in particular to a kind of indoor orientation method and device.
Background technique
Indoor positioning technologies, which refer to, realizes position positioning in environment indoors, generally use signal strength measurement method and realize people
The monitoring position in space indoors such as member, object.Signal strength measurement method uses transmission loss or location fingerprint based on RSS
Technology.The radio wave that terminal is sent generates the multipath with the closely related AD HOC of ambient enviroment by reflection and refraction
Signal, such multipath characteristics may be considered " fingerprint " of the position.
The indoor positioning of mainstream is mainly to pass through what iBeacon (low-power consumption bluetooth positioning node) and wifi was completed at present.
Wherein, it needs to dispose iBeacon indoors by iBeacon positioning；And it then needs to acquire indoors by wifi positioning method
Wifi fingerprint (i.e. training sequence).Therefore in most of multi-source fusion positioning logic, when bluetooth and wifi signal exist simultaneously,
Preferentially Bluetooth signal can be selected to be positioned, therefore deploy the region of iBeacon node, especially building is due to iBeacon
Signal covering, cause the remote position apart from the area of coverage still to be able to receive signal, so as to cause positioning accuracy reduction.
Meanwhile the currently employed localization method when bluetooth and wifi signal exist simultaneously, usually by integrating two kinds of signals
It handles to realize indoor positioning, this mode algorithm is complicated, and operation is full.
Summary of the invention
To solve the low technological deficiency of indoor position accuracy in the prior art, the present invention is carried out just by WiFi positioning node
After secondary positioning, secondary positioning is carried out further according to bluetooth positioning node, improves the accuracy of indoor positioning, by simple twice fixed
Position method realizes the purpose for improving positioning accuracy.
The present invention provides a kind of indoor orientation methods, include the following steps；
The WiFi fingerprint signal that the WiFi positioning node received at active user present position is sent is obtained, it will be described
WiFi fingerprint signal obtains the initial geographical location of the user by inquiring default location database；
Judge whether the initial geographical location of the user is located at bluetooth positioning node signal coverage areas；
If the initial geographical location of the user is in the bluetooth positioning node signal coverage areas, the use is obtained
The Bluetooth signal that the bluetooth positioning node that the initial geographical location at family receives is sent, by the Bluetooth signal using several
What positioning mode determines the final position of the user.
In indoor orientation method of the present invention, the WiFi positioning node received at active user present position is obtained
The WiFi fingerprint signal is obtained the initial of the user by inquiring default location database by the WiFi fingerprint signal of transmission
Further include before geographical location
The current coordinate position of the user is obtained according to navigator fix technology；
Detect the WiFi fingerprint signal that the WiFi positioning node at the current coordinate position of the user is sent.
In indoor orientation method of the present invention, obtains active user present position and go out the WiFi positioning node received
Further include before the WiFi fingerprint signal of transmission
The filtering rule for receiving signal is set, the WiFi that the WiFi positioning node is sent is determined according to the filtering rule
The processing sequencing for the Bluetooth signal that fingerprint signal and the bluetooth positioning node are sent.
In indoor orientation method of the present invention, the filtering rule is by the way that the WiFi positioning node, institute is arranged
The priority for stating bluetooth positioning node determines processing sequencing.
The present invention also provides a kind of indoor positioning devices, including the first locating module, monitoring module, the second positioning mould
Block, wherein
First locating module, for obtaining the WiFi positioning node received at active user present position transmission
The WiFi fingerprint signal is obtained the user initially geographical position by inquiring default location database by WIFI fingerprint signal
It sets；
The monitoring module is covered for judging whether the initial geographical location of the user is located at bluetooth positioning node signal
Cover area；
Second locating module covers if the initial geographical location for the user is in the bluetooth positioning node signal
Cover area then obtains the Bluetooth signal that the bluetooth positioning node that the initial geographical location of the user receives is sent, will be described
Bluetooth signal determines the final position of user using geometry location method.
In indoor positioning device of the present invention, first locating module further includes
D navigation submodule, for obtaining the current coordinate position of the user according to navigator fix technology；
First detection sub-module, for detecting the WiFi that WiFi positioning node is sent at the current coordinate position of the user
Fingerprint signal.
In indoor positioning device of the present invention, first locating module further includes
Submodule is set, for the filtering rule for receiving signal to be arranged, determines that the WiFi is fixed according to the filtering rule
The processing sequencing for the Bluetooth signal that fingerprint signal described in the WiFi that position node is sent and the bluetooth positioning node are sent.
In indoor positioning device of the present invention, the filtering rule is by the way that the WiFi positioning node, institute is arranged
The priority for stating bluetooth positioning node determines processing sequencing.
To sum up, the present invention is at the beginning of by judging user by the wide signal source WiFi positioning node of deployment or coverage area
Beginning position, then by judge user's initial position whether in iBeacon signal cover to the secondary positioning of user's progress, from
And improve the precision of indoor positioning.
Detailed description of the invention
Fig. 1 is the flowage structure schematic diagram of indoor orientation method of the present invention；
Fig. 2 is the structural schematic diagram of indoor positioning device of the present invention.
Specific embodiment
The present invention is described in further detail below by specific embodiment and in conjunction with attached drawing.
The present invention provides a kind of indoor orientation methods, include the following steps；
S101, the WiFi fingerprint signal that the WiFi positioning node received at active user present position is sent is obtained, it will
The WiFi fingerprint signal obtains the initial geographical location of the user by inquiring default location database.
In most of multi-source fusion positioning logic, when bluetooth and wifi signal exist simultaneously, bluetooth letter can be preferentially selected
Number positioned, therefore deploy the region of iBeacon node, especially built since the signal of iBeacon covers, cause away from
Remote position from the area of coverage still is able to receive signal, so as to cause positioning accuracy reduction.In order to solve to utilize
The technological deficiency that positioning accuracy caused by iBeacon node preferentially positions is low and positioning is complicated, the present invention are fixed by WiFi first
Position node is positioned.
The common method of indoor positioning is signal strength measurement method, and signal strength measurement method uses the transmission based on RSS
Loss or location fingerprint technology.When it is implemented, optional positioned using WiFi fingerprint hair location technology.Main includes connecing
It receives signal strength positioning mode, arrival time positioning mode, receive signal angle positioning mode, reference point positioning mode.WiFi wireless signal
Good characterization distance and the mapping relations between signal strength are difficult to stronger time-varying radio signal propagation attenuation model,
Using radio-frequency fingerprint matching locating method is based on, it has the robustness preferably positioned.So-called fingerprint matching location algorithm is built
It stands on the basis of delay data, mainly includes two stages of off-line training and tuning on-line.Wherein, the task of off-line training step
It is the one-to-one relationship established between RF signal strength vector sum client location, forms a fingerprint base, positioning stage is then
It is the fingerprint base that the building of matching training stage is gone using the signal strength vector acquired in real time, so that the position for obtaining target is estimated
Meter.Location algorithm based on location fingerprint mainly includes deterministic type and probabilistic type, the former computational efficiency is higher, the positioning of the latter
Accuracy is higher.The algorithm mainly includes the following steps: 1, determines sample distribution figure；2, each positioning node-WiFi positioning is acquired
Signal strength, MAC Address of node etc.；3, the position coordinates of RSSI are stored；4, the signal for implementing the positioning node of acquisition is led to
The position of overmatching algorithm estimation user.The present invention illustrates WiFi in the present invention by taking the location fingerprint location algorithm of deterministic type as an example
And/or the mode of bluetooth localization method positioning.And location matches algorithm includes arest neighbors method, probabilistic method, neural network side
The methods of method, SVM.
The present invention illustrates matching algorithm of the invention by taking k nearest neighbor algorithm as an example.WiFi fingerprint location optionally uses k nearest neighbor
Algorithm (K Nearest Ne ighborhood, KNN).K (K >=2) a the smallest location fingerprint of RSS Euclidean distance is usually chosen,
User location will be determined by the average value of corresponding reference point locations coordinate:
In formula, that (x, y) is indicated is positioning coordinate, (xi,yi) be i-th of reference point of arest neighbors coordinate.In view of K
The difference of RSS signal of the fingerprint apart from real-time measurement, contributes and is also different, therefore letter provided by K neighbour's reference point
The weight of number intensity should take different values.It weights k nearest neighbor algorithm (Weighted K NearestNeighborhood, WKNN)
It has also been proposed.WKNN is calculating the reference point of K arest neighbors and then is being respectively allocated to correspond to by normalized weighing factors
Reference point coordinate:
In formula, diIndicate the RSS vector sample of real-time measurement and the RSS Euclidean distance of i-th of neighbour's reference point, parameter η
For normalized weighing factors, ε is a lesser normal number to avoid denominator from zero and setting occur.Define weighting coefficient values with
The Euclidean distance value of signal is inversely proportional, and the weight of the position coordinates of the RSS with guarantee apart from real-time measurement smaller reference point is got over
Height, position weighting coefficient can improve the positioning accuracy of system to a certain extent.
S102, judge whether the initial geographical location of the user is located at bluetooth positioning node signal coverage areas.
It is an object of the invention to be positioned for the first time first with WiFi positioning node, bluetooth positioning section is recycled later
Point is accurately positioned.The location technology for other fusion WiFi and the bluetooth positioning node of comparing, the present invention does not need complicated
Fusion calculation is positioned, by the way that simply the location determination of WiFi positioning node and bluetooth positioning node, realization are accurately positioned twice.
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 indoor positioning technologies based on WLAN and location fingerprint can be divided into
Two major classes.The first kind is determining localization method.Its feature is signal strength of the location fingerprint from each access point
Average value indicates, the position of user is then estimated using deterministic reasoning algorithm.
The multipath transmisstion of signal has dependence to environment, shows very strong particularity, for each position,
The multidiameter configuration of channel in this position is that uniquely, the radio wave of terminal transmission by reflection and reflects, generation and surrounding
The multipath signal of the closely related AD HOC of environment, such multipath characteristics may be considered " fingerprint " of the position.
Location database proceeds as follows setting when being embodied.Such as oneself can be received and be believed in positioning by user
Number situation is organized into Location Request journal file and is sent to server (when it is implemented, by location data lab setting in server
In), we can with reading corresponding signal strength and MAC from the WiFi module of user mobile phone and bluetooth module respectively
Location, and be placed in the corresponding field of Location Request journal file.
For example, when being positioned for the first time using WiFi positioning node, for using received signal strength positioning mode, mainly
Include the following steps: 1, determine sample distribution figure；2, each positioning node (such as WiFi positioning node or bluetooth positioning node) is acquired
Signal strength, MAC Address etc.；3, the position coordinates of RSSI are stored；4, will implement acquisition positioning node signal by
Position with algorithm estimation user.The present invention illustrate in the present invention by taking the location fingerprint location algorithm of deterministic type as an example WiFi and/
Or the mode of bluetooth localization method positioning.
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.
If the initial geographical location of S103, the user are in the bluetooth positioning node signal coverage areas, obtain
The Bluetooth signal that the bluetooth positioning node for taking the initial geographical location of the user to receive is sent, by the Bluetooth signal
The final position of the user is determined using geometry location method.
When it is implemented, optionally using geometry (three sides) positioning mode.For example, it is assumed that three distances are nearest (intensity highest)
IBeacon position be respectively (x1,y1),(x2,y2),(x3,y3).Mobile terminal locations coordinate to be positioned is (x, y), right
Answering measurement point is d at a distance from each ibeacon1,d2,d3.According to geometrical relationship:
Preceding two formula, which is individually subtracted, in above-mentioned equation group last formula to obtain:
Wherein (x1,y1),(x2,y2),(x3,y3) it is given data, solving the linear equation in two unknowns group can obtain:
By above-mentioned formula to user's
Position carries out secondary accurate.
Further include before S101
The current coordinate position of the user is obtained according to navigator fix technology；
Detect the WiFi fingerprint signal that the WiFi positioning node at the current coordinate position of the user is sent.
Obtained in S101 active user present position go out WiFi fingerprint signal that the WiFi positioning node that receives is sent it
Before further include
The filtering rule for receiving signal is set, the WiFi that the WiFi positioning node is sent is determined according to the filtering rule
The processing sequencing for the Bluetooth signal that fingerprint signal and the bluetooth positioning node are sent.
The filtering rule is determined by the way that the priority of the WiFi positioning node and the bluetooth positioning node is arranged
Handle sequencing.
The present invention also provides a kind of indoor positioning devices, including the first locating module 10, monitoring module 20, second to position
Module 30.Wherein,
First locating module 10 is sent for obtaining the WiFi positioning node received at active user present position
WIFI fingerprint signal, the WiFi fingerprint signal is obtained into the user initially geographical position by inquiring default location database
It sets；
The monitoring module 20, for judging whether the initial geographical location of the user is located at bluetooth positioning node signal
Overlay area；
Second locating module 30, if the initial geographical location for the user is in the bluetooth positioning node signal
Overlay area then obtains the Bluetooth signal that the bluetooth positioning node that the initial geographical location of the user receives is sent, by institute
State the final position that Bluetooth signal determines user using geometry location method.
Further, first locating module further includes
D navigation submodule, for obtaining the current coordinate position of the user according to navigator fix technology；
First detection sub-module, for detecting the WiFi that WiFi positioning node is sent at the current coordinate position of the user
Fingerprint signal.
Further, first locating module further includes
Submodule is set, for the filtering rule for receiving signal to be arranged, determines that the WiFi is fixed according to the filtering rule
The processing sequencing for the Bluetooth signal that the WiFi fingerprint signal and the bluetooth positioning node that position node is sent are sent.
It is an object of the present invention to realize first positioning by WiFi positioning node first, positioned later further according to bluetooth
Node carries out secondary positioning to the result positioned for the first time, is successively calibrated by WiFi, bluetooth to positioning result, improves positioning
Accuracy, while not increasing existing localization method operation difficulty again.Therefore the present invention by setting submodule to using move
The mode of terminal (when it is implemented, the smart machines such as optional smart phone, iPad) positioning is configured.
Further, the filtering rule is by the way that the preferential of the WiFi positioning node, the bluetooth positioning node is arranged
Grade determines processing sequencing.
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 (8)
1. a kind of indoor orientation method, which is characterized in that include the following steps；
The WiFi fingerprint signal that the WiFi positioning node received at active user present position is sent is obtained, the WiFi is referred to
Line signal obtains the initial geographical location of the user by inquiring default location database；
Judge whether the initial geographical location of the user is located at bluetooth positioning node signal coverage areas；
If the initial geographical location of the user is in the bluetooth positioning node signal coverage areas, obtain the user's
The Bluetooth signal that the bluetooth positioning node that initial geographical location receives is sent, the Bluetooth signal is determined using geometry
Position method determines the final position of the user.
2. indoor orientation method according to claim 1, which is characterized in that obtain and received at active user present position
The WiFi fingerprint signal that sends of WiFi positioning node, the WiFi fingerprint signal is obtained by inquiring default location database
Further include before the initial geographical location of the user
The current coordinate position of the user is obtained according to navigator fix technology；
Detect the WiFi fingerprint signal that the WiFi positioning node at the current coordinate position of the user is sent.
3. indoor orientation method according to claim 1, which is characterized in that obtain active user present position and go out to receive
WiFi positioning node send WiFi fingerprint signal before further include
The filtering rule for receiving signal is set, the WiFi fingerprint that the WiFi positioning node is sent is determined according to the filtering rule
The processing sequencing for the Bluetooth signal that signal and the bluetooth positioning node are sent.
4. indoor orientation method according to claim 3, which is characterized in that the filtering rule is by described in setting
WiFi positioning node, the priority of the bluetooth positioning node determine processing sequencing.
5. a kind of indoor positioning device, which is characterized in that including the first locating module, monitoring module, the second locating module,
In,
First locating module, the WIFI sent for obtaining the WiFi positioning node received at active user present position
The WiFi fingerprint signal is obtained the initial geographical location of user by inquiring default location database by fingerprint signal；
The monitoring module, for judging whether the initial geographical location of the user is located at bluetooth positioning node signal coverage
Domain；
Second locating module, if the initial geographical location for the user is in bluetooth positioning node signal coverage
Domain then obtains the Bluetooth signal that the bluetooth positioning node that the initial geographical location of the user receives is sent, by the bluetooth
Signal determines the final position of user using geometry location method.
6. indoor positioning device according to claim 5, which is characterized in that
First locating module further includes
D navigation submodule, for obtaining the current coordinate position of the user according to navigator fix technology；
First detection sub-module, for detecting the WiFi fingerprint that WiFi positioning node is sent at the current coordinate position of the user
Signal.
7. indoor positioning device according to claim 5, which is characterized in that first locating module further includes
Submodule is set, for the filtering rule for receiving signal to be arranged, the WiFi positioning section is determined according to the filtering rule
The processing sequencing for the Bluetooth signal that the WiFi fingerprint signal and the bluetooth positioning node that point is sent are sent.
8. indoor positioning device according to claim 7, which is characterized in that the filtering rule is by described in setting
WiFi positioning node, the priority of the bluetooth positioning node determine processing sequencing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610180324.7A CN105898692B (en) | 2016-03-25 | 2016-03-25 | A kind of indoor orientation method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610180324.7A CN105898692B (en) | 2016-03-25 | 2016-03-25 | A kind of indoor orientation method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105898692A CN105898692A (en) | 2016-08-24 |
| CN105898692B true CN105898692B (en) | 2019-12-03 |
Family
ID=57014907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610180324.7A Active CN105898692B (en) | 2016-03-25 | 2016-03-25 | A kind of indoor orientation method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105898692B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106324642A (en) * | 2016-10-18 | 2017-01-11 | 安徽天达网络科技有限公司 | Novel assistant positioning method |
| CN106792477A (en) * | 2017-01-11 | 2017-05-31 | 广东小天才科技有限公司 | The bluetooth localization method and device of a kind of mobile terminal |
| CN107295480A (en) * | 2017-07-13 | 2017-10-24 | 湖南汇博电子科技股份有限公司 | Indoor orientation method and device, computer equipment and storage medium |
| CN107948955B (en) * | 2017-10-20 | 2020-12-11 | 石化盈科信息技术有限责任公司 | Personnel positioning method based on intelligent handheld instrument |
| CN110472644A (en) * | 2018-05-09 | 2019-11-19 | 北京智慧图科技有限责任公司 | A kind of judgment method of indoor and outdoor and building |
| TWI666954B (en) * | 2018-11-28 | 2019-07-21 | 國立虎尾科技大學 | Multi-signal positioning method for internet of things devices |
| CN109799524A (en) * | 2019-03-15 | 2019-05-24 | 深圳五洲无线股份有限公司 | A kind of localization method and system for children's wearable device |
| CN111829519A (en) | 2019-05-29 | 2020-10-27 | 北京骑胜科技有限公司 | Positioning method, positioning device, electronic equipment and storage medium |
| CN111836194B (en) * | 2020-08-21 | 2022-08-30 | 桂林电子科技大学 | Indoor positioning method based on WiFi and Bluetooth |
| CN113079457B (en) * | 2021-03-08 | 2022-07-29 | 深圳市鹰硕技术有限公司 | Whale algorithm-based bimodal indoor positioning method and device |
| CN113453148B (en) * | 2021-06-25 | 2022-05-13 | 南通大学 | Indoor position fingerprint positioning method combining deep learning and weighted K-neighbor algorithm |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104596508A (en) * | 2015-02-15 | 2015-05-06 | 杭州酷班科技有限公司 | Indoor navigation method based on combination of region location, inertial navigation and map path |
| CN105142216A (en) * | 2015-08-07 | 2015-12-09 | 北京航空航天大学 | Indoor and outdoor positioning switching method based on characteristic signal fingerprint database |
-
2016
- 2016-03-25 CN CN201610180324.7A patent/CN105898692B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104596508A (en) * | 2015-02-15 | 2015-05-06 | 杭州酷班科技有限公司 | Indoor navigation method based on combination of region location, inertial navigation and map path |
| CN105142216A (en) * | 2015-08-07 | 2015-12-09 | 北京航空航天大学 | Indoor and outdoor positioning switching method based on characteristic signal fingerprint database |
Non-Patent Citations (1)
| Title |
|---|
| Improving Wi-Fi Based Indoor Positioning Using Bluetooth Add-Ons;Artur Baniukevie等;《2011 12th IEEE International Conference on Mobile Data Management》;20111231;246-255 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105898692A (en) | 2016-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105898692B (en) | A kind of indoor orientation method and device | |
| CN105704677B (en) | One kind being based on barometrical indoor orientation method and device | |
| KR101606382B1 (en) | Method for building database of fingerprinting positioning and fingerprinting position method using the built database | |
| Shin et al. | Enhanced weighted K-nearest neighbor algorithm for indoor Wi-Fi positioning systems | |
| CN103747524B (en) | A kind of Android terminal indoor orientation method based on cloud platform | |
| Elbakly et al. | A robust zero-calibration RF-based localization system for realistic environments | |
| CA2574794C (en) | Apparatus and method for determining a current position of a mobile device | |
| CN105137390B (en) | A kind of indoor orientation method based on adjustable transmission power AP | |
| CN105704652B (en) | Fingerprint base acquisition and optimization method in a kind of positioning of WLAN/ bluetooth | |
| CN104869639B (en) | A kind of indoor orientation method and device | |
| KR101901039B1 (en) | Method and apparatus for cross device automatic calibration | |
| CN109951798A (en) | Merge the enhancing location fingerprint indoor orientation method of Wi-Fi and bluetooth | |
| CN103905992A (en) | Indoor positioning method based on wireless sensor networks of fingerprint data | |
| CN104735781B (en) | A kind of indoor locating system and its localization method | |
| KR20170091811A (en) | An indoor positioning method using the weighting the RSSI of Bluetooth beacon and pedestrian pattern | |
| Benaissa et al. | Phone application for indoor localization based on Ble signal fingerprint | |
| CN110351660A (en) | A kind of bluetooth indoor orientation method based on two-step fingerprint matching framework | |
| CN109738863A (en) | A kind of WiFi fingerprint indoor positioning algorithms and system merging confidence level | |
| KR20140102450A (en) | System for assuming position of base station and method for assuming position of base station thereof | |
| Liu et al. | A real-time algorithm for fingerprint localization based on clustering and spatial diversity | |
| CN105866729B (en) | A kind of indoor orientation method and device based on user behavior characteristics | |
| Xu et al. | Variance-based fingerprint distance adjustment algorithm for indoor localization | |
| CN111836188A (en) | Online cooperative positioning and system based on Wi-Fi RSS | |
| CN105898710B (en) | Positioning method and device based on virtual positioning node | |
| KR20120048375A (en) | Knn/pcm hybrid mehod using gath-geva method for indoor location determination in waln |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |