CN106248084A - A kind of indoor positioning navigation system and data processing method thereof - Google Patents
A kind of indoor positioning navigation system and data processing method thereof Download PDFInfo
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- CN106248084A CN106248084A CN201610897214.2A CN201610897214A CN106248084A CN 106248084 A CN106248084 A CN 106248084A CN 201610897214 A CN201610897214 A CN 201610897214A CN 106248084 A CN106248084 A CN 106248084A
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- 238000003672 processing method Methods 0.000 title claims abstract description 7
- 238000000034 method Methods 0.000 claims abstract description 61
- 230000008569 process Effects 0.000 claims abstract description 36
- 230000004807 localization Effects 0.000 claims abstract description 31
- 230000011664 signaling Effects 0.000 claims abstract description 26
- 238000013500 data storage Methods 0.000 claims description 20
- 238000005457 optimization Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 2
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Classifications
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- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of indoor positioning navigation system and data processing method thereof, relates to object positioning field, including signaling module, data acquisition module, localization process module and display module.Described signaling module is connected with data acquisition module；The outfan of described data acquisition module is connected with localization process module；The outfan of described localization process module is connected with display module.The present invention is positioned by the signal intensity of detection router, only needs equipment that FTP client FTP is installed and can be carried out real-time indoor positioning.
Description
Technical field
The present invention relates to object positioning field, particularly relate to a kind of indoor positioning navigation system and data process side thereof
Method.
Background technology
Society, along with economic develops rapidly, the increase of the size of population, the heavy construction such as high buildings and large mansions rise sheer from level ground and
Rise, increasing to the demand of indoor positioning, when entering the buildings such as large-scale airport, railway station as people, strange for one
Heavy construction, how people realize quickly navigating to current location and find the problem of destination more and more prominent.In order to
Realizing quickly positioning and find destination, existing GPS, the outdoor positioning technology such as architecture the most gradually realizes meter level
Positioning precision, but indoor because the signal of position location satellite is weak and instability is difficult to location.
Along with the demand for services of indoor positioning is increased by people day by day, the universal and wifi hotspot of wifi location technology is entirely
The coverage rate of ball constantly promotes, and wifi location is combined with map, completes indoor positioning, and it is fixed faster to enable users to
Position is to current location and finds destination.Therefore, it can design a kind of Position Fixing Navigation System based on indoor.
Summary of the invention
For the deficiency existing for the problems referred to above, the present invention provides a kind of indoor positioning navigation system and data process side thereof
Method.
The present invention solves the problems referred to above by the following technical programs:
A kind of indoor positioning navigation system and data processing method thereof, including signaling module, data acquisition module, localization process mould
Block and display module；
Described signaling module is used for launching wireless signal, and the information and wireless signal strength launching wireless signal equipment is passed
To data acquisition module；
Described data acquisition module is for obtaining information and the wireless signal strength of the wireless signal equipment of signaling module, wireless
Information and the wireless signal strength of signalling arrangement store, and information and wireless signal strength to wireless signal equipment carry out excellent
Change processes and obtains optimizing data and passing to localization process module；
Described localization process module receives the optimization data that data acquisition module is incoming, optimization data is carried out computing and obtains target
Coordinate data, passes to display module Target Coordinate Data；
Described display module receives the incoming Target Coordinate Data of localization process module and obtains indoor map, and coordinates of targets
Display is in indoor map.
In such scheme, preferably data acquisition module includes that data acquisition, data storage circuitry and data are excellent
Changing circuit, described data acquisition is connected with signaling module；The outfan of described data acquisition and data storage circuitry
Connect；The outfan of described data storage circuitry is connected with data-optimized circuit；Data-optimized circuit output end and localization process
Module connects.
In such scheme, preferably localization process module includes RSSI range-measuring circuit and method of least square circuit；Described
The input of RSSI range-measuring circuit is connected with data acquisition module；The outfan of described data acquisition module is through method of least square electricity
Road is connected with display module.
In such scheme, preferably display module connects and includes that search in circuit, map scale walking circuit and show
Show circuit；The input of described search in circuit is connected with localization process module；The outfan warp of described search in circuit
Map scaling walking circuit is connected with display circuit.
In such scheme, preferably signaling module includes being made up of several routers, the outfan of each router
All it is connected with data acquisition module.
Data processing method based on above-mentioned a kind of indoor positioning navigation system, comprises the steps:
Step 1: the router of signaling module launches wireless signal；
Step 2: the data acquisition of data acquisition module obtains information and the wireless communication of wireless signal equipment in signaling module
Number intensity, and the data storage circuitry passing to data acquisition module stores；
Step 3: the data-optimized circuit of data acquisition module at least obtains the information of three routers from data storage circuitry
And signal strength information, and the signal intensity of each router is carried out for every 20 seconds a mean operation obtain optimizing number
According to；
Step 4: the RSSI range-measuring circuit of localization process module carries out RSSI location algorithm after obtaining optimization data and obtains tested mesh
Mark and the distance of each router, and the distance of measured target Yu each router is passed to the least square of localization process module
Method circuit；
Step 5: method of least square circuit receives measured target, after the distance of each router, it carried out method of least square fortune
Calculate, draw optimal solution according to method of least square computing, draw the particular location of measured target and display module is passed in position；
Step 6: the search in circuit of display module receives after the particular location of measured target from data acquisition module data
Storage circuit obtains indoor map；
Step 7: the map scaling walking circuit of display module calculates scaling ratio according to the size of indoor map, according to scaling ratio
Number of cases is marked in indoor map according to the particular location of measured target, and scale according to the map the particular location of measured target with
With scaling；
Step 8: the display circuit of display module receives the incoming indoor map of map scaling walking circuit and the tool of measured target
Body position shows.
Advantages of the present invention with effect is:
1. the present invention is positioned by the signal intensity of detection router, only need equipment that FTP client FTP is installed the most permissible
Carry out real-time indoor positioning；
2. further, carry out impact point inquiry by map mark and position impact point, the use of convenient navigation；
3. invention also uses the RSSI of optimization and the method for least square that accuracy rate is higher, can position more accurately the most more
Few.
Accompanying drawing explanation
Fig. 1 is present configuration block diagram.
Detailed description of the invention
Below in conjunction with embodiment, the invention will be further described.
A kind of indoor positioning navigation system, as it is shown in figure 1, include signaling module, data acquisition module, localization process module
And display module.Wherein, data acquisition module, localization process module and display module are arranged on measured target or measured target is taken
On the equipment of band, indoor navigation can be carried out easily and fast, make people be easier to indoor searching target.General, measured target
Or the equipment that measured target carries is for collecting or panel computer.
Described signaling module is used for launching wireless signal, and strong for the information and wireless signal launching wireless signal equipment
Degree passes to data acquisition module.As it is shown in figure 1, signaling module includes being made up of several routers, the output of each router
End is all connected with data acquisition module.Wherein, the number of router is determined by indoor space size.In order to enable preferably,
Being accurately obtained anchor point, the place arranged by router is higher than general ground obstacle, preferably 4 to 5 meters height；Preferably it route
The router that device signal is preferable, stable；Dispose router a certain anchor point no less than three and two-by-two distance less than 12
Rice；In such scheme, three routers of covering of four routers are preferentially used to reach in order to obtain more preferable positioning precision
The basic area arrived, the position of one of them three router middle of installation, the other three is arranged on two-by-two less than 12 meters
Distance on；In such scheme, field measurement data carry out scaled down map making, during location, carry out adaptation.
Described data acquisition module is used for obtaining information and the wireless signal strength of the wireless signal equipment of signaling module,
Information and the wireless signal strength of wireless signal equipment store, and information and wireless signal strength to wireless signal equipment are entered
Row optimization processes and obtains optimizing data and passing to localization process module.As it is shown in figure 1, data acquisition module includes data acquisition electricity
Road, data storage circuitry and data-optimized circuit, described data acquisition is connected with signaling module；Described data acquisition
Outfan be connected with data storage circuitry；The outfan of described data storage circuitry is connected with data-optimized circuit；Data are excellent
Change circuit output end to be connected with localization process module.General, data acquisition is wireless receiving circuit, in the present embodiment is
Wireless WIFI module.Data acquisition and signaling module carry out radio communication, can also be wherein that the data of wired connection obtain
Delivery formula.
Described localization process module receives the optimization data that data acquisition module is incoming, optimization data is carried out computing and obtains
Target Coordinate Data, passes to display module Target Coordinate Data.As it is shown in figure 1, localization process module includes RSSI range finding electricity
Road and method of least square circuit；The input of described RSSI range-measuring circuit is connected with data acquisition module；Described data acquisition mould
The outfan of block is connected with display module through method of least square circuit.Wherein, RSSI range-measuring circuit and method of least square circuit can
To use small microprocessors to replace, carry out program and carry out computing within a processor, it is achieved quickly computing.
Described display module receives the incoming Target Coordinate Data of localization process module and obtains indoor map, and target
Coordinate shows in indoor map.As it is shown in figure 1, display module connects includes that search in circuit, map scale walking circuit
And display circuit；The input of described search in circuit is connected with localization process module；The output of described search in circuit
Hold and be connected with display circuit through map scaling walking circuit.Map scaling big according to indoor map of walking circuit of display module
Little calculate scaling ratio, according to scaling ratio data, the particular location of measured target is marked in indoor map, and base area
The particular location of figure scaling measured target follows scaling.Mainly achieve the zoom control of map and target location and indoor ground
The splicing of figure.
Data processing method based on above-mentioned a kind of indoor positioning navigation system, comprises the steps:
Step 1: the router of signaling module launches wireless signal, equipment entrained by measured target or measured target carry out wireless
WIFI connects, it is achieved radio communication.
Step 2: the data acquisition of the data acquisition module on equipment entrained by measured target or measured target obtains
The information of wireless signal equipment and wireless signal strength in signaling module, and the data storage circuitry passing to data acquisition module enters
Row storage.Wherein, acquisition mode is real-time, along with the mobile route-map carrying out more row data storage circuitry in real time and road
By the wireless signal strength information of device.
Step 3: the data-optimized circuit of data acquisition module at least obtains three routers from data storage circuitry
Information and signal strength information thereof, and the signal intensity of each router is carried out a mean operation for every 20 seconds optimized
Data.The general number obtaining router is 3-6, and the router data wherein obtained is taken by measured target or measured target
The router that the connected wireless signal of carrying device is stronger.
Step 4: the RSSI range-measuring circuit of localization process module obtain carry out after optimizing data RSSI location algorithm obtain by
Survey the distance of target and each router, and the distance of measured target Yu each router is passed to the minimum of localization process module
Square law circuit.Device interior entrained by measured target or measured target realizes quick position and determines, RSSI range-measuring circuit can
Think the internal circuit of processor.RSSI location algorithm is existing location algorithm, is no longer discussed in detail at this.
Step 5: method of least square circuit receives measured target, after the distance of each router, it carried out least square
Method computing, draws optimal solution according to method of least square computing, draws the particular location of measured target and display mould is passed in position
Block.Method of least square computing is prior art, the introduction the most detailed at this, and the environment that method of least square computing runs is tested
On processor on equipment entrained by target or measured target.
Step 6: the search in circuit of display module receives after the particular location of measured target from data acquisition module
Data storage circuitry obtains indoor map.Wherein, indoor map by equipment entrained by measured target or measured target from router
Middle acquisition or acquisition from the Internet.
Step 7: the map scaling walking circuit of display module calculates scaling ratio according to the size of indoor map, according to putting
Contracting ratio data is marked at the particular location of measured target in indoor map, and scales the concrete position of measured target according to the map
Put and follow scaling.The display of current location, distance proportion and compass, needs the actual position coordinate that acquisition algorithm obtains, root
It is multiplied by map scaling according to cell phone map coordinate to be multiplied by distance proportion and shown current location equal to actual position coordinate method
Show on map.For avoiding the operation of map to influence whether the display of distance proportion and compass, so distance proportion and guide
Pin shows in other one layer of Bitmap.Distance proportion needs to capture the change of map size, follows the different size of map and shows
Showing corresponding distance proportion, compass then needs to monitor the change in direction, changes compass in time while direction changes
Sensing.
The operation of the scaling of map is completed by 2 touch screen events, first passes through the distance change calculating point-to-point transmission
Changing and judge which kind of operate, the distance of 2 becomes big the most then into the amplifieroperation of map, and it is then the contracting of map that the distance of 2 reduces
Little operation.Amplifieroperation: if current map width is less than screen height less than screen width or height, then keep in screen
Heart point coordinates is constant to be amplified.If map width is more than screen height more than screen width or height, then be accomplished by
First determine central point, change map scaling, seen if fall out maximum amplification range, without beyond model simultaneously
Enclosing, then keep central point constant, scaling is amplified according to the map.Completing and enlarging function side of the reduction capability of map
Method is essentially identical.
The mobile operation of map is completed by single-point touch screen event, carries out map by the change of single locus
Corresponding mobile.First obtain the change in location of contact, calculate the side-play amount of contact coordinate.Also need to judge map before movement
Whether size is less than the size of mobile phone screen, if map is less than the size of mobile phone screen, then can not move；If map
More than mobile phone screen, then also need to carry out bounds checking, carry out bounds checking, it is ensured that map moves in the reverse direction and will not offset out
Screen.After meeting conditions above, map can move according to side-play amount.
The search in module of map needs to initially set up a data base of map, and the information of router is saved in number
In the middle of storehouse.Search when, the place name of search is wanted in input, then can retrieve corresponding coordinate according to place name, will sit
Mark passes to map display module, then the position of search is put mark on map, highlights.Wherein, this data base is
Data storage circuitry in this programme, it is also possible to be designed as the form of data base.
Step 8: the display circuit of display module receives the incoming indoor map of map scaling walking circuit and measured target
Particular location show.
Below preferred embodiment to the invention is illustrated, but the present invention is not limited to embodiment,
Those of ordinary skill in the art can also make the modification of all equivalents on the premise of the invention spirit
Or replace, modification or the replacement of these equivalents are all contained in scope of the present application.
Claims (6)
1. an indoor positioning navigation system, it is characterised in that: include signaling module, data acquisition module, localization process module
And display module；
Described signaling module is used for launching wireless signal, and the information and wireless signal strength launching wireless signal equipment is passed
To data acquisition module；
Described data acquisition module is for obtaining information and the wireless signal strength of the wireless signal equipment of signaling module, wireless
Information and the wireless signal strength of signalling arrangement store, and information and wireless signal strength to wireless signal equipment carry out excellent
Change processes and obtains optimizing data and passing to localization process module；
Described localization process module receives the optimization data that data acquisition module is incoming, optimization data is carried out computing and obtains target
Coordinate data, passes to display module Target Coordinate Data；
Described display module receives the incoming Target Coordinate Data of localization process module and obtains indoor map, and coordinates of targets
Display is in indoor map.
2. according to a kind of indoor positioning navigation system described in claim 1, it is characterised in that: described data acquisition module bag
Including data acquisition, data storage circuitry and data-optimized circuit, described data acquisition is connected with signaling module；Described
The outfan of data acquisition is connected with data storage circuitry；The outfan of described data storage circuitry and data-optimized circuit
Connect；Data-optimized circuit output end is connected with localization process module.
A kind of indoor positioning navigation system the most according to claim 1, it is characterised in that: described localization process module includes
RSSI range-measuring circuit and method of least square circuit；The input of described RSSI range-measuring circuit is connected with data acquisition module；Described
The outfan of data acquisition module is connected with display module through method of least square circuit.
A kind of indoor positioning navigation system the most according to claim 1, it is characterised in that: described display module connects and includes
Search in circuit, map scaling walking circuit and display circuit；The input of described search in circuit and localization process mould
Block connects；The outfan of described search in circuit is connected with display circuit through map scaling walking circuit.
5. according to a kind of indoor positioning navigation system described in claim 1, it is characterised in that: described signaling module includes
Being made up of several routers, the outfan of each router is all connected with data acquisition module.
6. data processing method based on above-mentioned a kind of indoor positioning navigation system, it is characterised in that: comprise the steps:
Step 1: the router of signaling module launches wireless signal；
Step 2: the data acquisition of data acquisition module obtains information and the wireless communication of wireless signal equipment in signaling module
Number intensity, and the data storage circuitry passing to data acquisition module stores；
Step 3: the data-optimized circuit of data acquisition module at least obtains the information of three routers from data storage circuitry
And signal strength information, and the signal intensity of each router is carried out for every 20 seconds a mean operation obtain optimizing number
According to；
Step 4: the RSSI range-measuring circuit of localization process module carries out RSSI location algorithm after obtaining optimization data and obtains tested mesh
Mark and the distance of each router, and the distance of measured target Yu each router is passed to the least square of localization process module
Method circuit；
Step 5: method of least square circuit receives measured target, after the distance of each router, it carried out method of least square fortune
Calculate, draw optimal solution according to method of least square computing, draw the particular location of measured target and display module is passed in position；
Step 6: the search in circuit of display module receives after the particular location of measured target from data acquisition module data
Storage circuit obtains indoor map；
Step 7: the map scaling walking circuit of display module calculates scaling ratio according to the size of indoor map, according to scaling ratio
Number of cases is marked in indoor map according to the particular location of measured target, and scale according to the map the particular location of measured target with
With scaling；
Step 8: the display circuit of display module receives the incoming indoor map of map scaling walking circuit and the tool of measured target
Body position shows.
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Cited By (1)
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Application publication date: 20161221 |