CN106454725A - Multi-instance positioning engine data fusion anti-shake method - Google Patents
Multi-instance positioning engine data fusion anti-shake method Download PDFInfo
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- CN106454725A CN106454725A CN201610848105.1A CN201610848105A CN106454725A CN 106454725 A CN106454725 A CN 106454725A CN 201610848105 A CN201610848105 A CN 201610848105A CN 106454725 A CN106454725 A CN 106454725A
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- China
- Prior art keywords
- positioning
- record
- prelocalization
- dither state
- return
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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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- 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
Abstract
The present invention provides a method for overcoming positioning shaking in a multi-instance positioning engine data fusion scenario. The present invention provides a multi-instance positioning engine data fusion anti-shake method. When shaking is detected, one positioning region is locked for the positioning terminal device, then positioning data arriving at a data export again is detected, if the positioning data belongs to the positioning region, the data is delivered continuously, or, the data is deemed as invalid positioning data and is discarded or used for other purposes. The method can process shaking rapidly and efficiently.
Description
Technical field
The present invention relates to a kind of method preventing position fixing process from shake occurring.
Background technology
In the present invention, the term of use is defined as follows：
Engine of positioning：By collecting wireless terminal signals information and surrounding enviroment information, the multiple advanced calculation of integrated use
Method, determines the 3-dimensional physical location (X-coordinate, Y-coordinate, Z coordinate/floor) of positioning terminal equipment.
Positioning region：The geographic area that engine of positioning is covered, can be any region in space, including continuous or from
Scattered.
Engine of positioning example：The process of engine of positioning is run in server.
Shake：Be positioned terminal unit be positioned in the way of violating general knowledge engine judge occur in plurality of positions (for example
And from Stall to 9th floors in the short time).
The positioning region of single engine of positioning example is limited, excessive in the geographic area gross area needing positioning to cover
When, often may require that the multiple engine of positioning examples of introducing, inevitably occur that engine of positioning institute positioning region occurs overlapping
Cover (tentatively referred to as intersection region), the terminal unit being in intersection region very likely meets with jitter phenomenon.As Fig. 1 institute
Show, A is one positioning region of engine of positioning, B is two positioning regions of engine of positioning, the overlapping region of A and B is the zone of intersection
Domain.
It is assumed that certain positioning terminal equipment begins to pass through intersection below intersection region in the case of shown in Fig. 1
Region is simultaneously left above intersection region, then can obtain position as shown in Figure 2 and change over figure, in figure, the 0 of the longitudinal axis
～9 represent position at non-conterminous 10 in positioning region (wherein 5 is the undercrossing point, and 6 is overcrossing point), and transverse axis represents different
Moment.In 1～8 moment, positioning terminal equipment is constantly at position 5.In 8～25 moment, positioning terminal equipment is in mutual not phase
Beat back and forth between adjacent position, after 25 moment, positioning terminal equipment is at position 6.In positioning terminal equipment moving process
In, the positioning result of 8～25 moment engine of positioning one and engine of positioning two mutually covers, and leads to the positioning of positioning terminal equipment to be tied
Fruit is constantly in dither state, and positioning precision and locating effect experience all can be caused to have a strong impact on.
For solving this problem, the patent of Application No. 201310373678X discloses one kind and is based on RFID label tag stabilization
Indoor orientation method, comprise the following steps：
(1) RFID card reader identification RFID label tag, determines the position location of RFID label tag；Currently fixed according to RFID label tag
Whether position position is changed with the position location of the last positioning, judges whether to positioning result correction；When RFID label tag
When current position location produces change with the last position location positioning, carry out the positioning result correction of step (2)；Otherwise
Directly determine the position location of RFID label tag as positioning result；
(2) had with signal according to time interval U between the change of current position location and the change of the last position location
The relation of effect phase T initial value judges whether to stabilization and processes；When this time interval U is less than signal effect duration T initial value,
The stabilization carrying out step (3) is processed；Otherwise carry out step (4)；
(3) signal effect duration T is extended the scheduled time, simultaneously using the position location of the last positioning as this RFID
The positioning result of label, abandons this positioning result；
(4) whether extended according to current demand signal effect duration, and the time of closest one-time detection to shake has been
No exceed predetermined threshold come to judge shake whether eliminated；Extended when current demand signal effect duration, and closest once
Time shake is detected exceedes predetermined threshold then it is assumed that shake has eliminated, and executes window restoration, and by signal effect duration also
As far as initial value, using the current position location of RFID label tag as positioning result；If current demand signal effect duration does not extend, or
The closest one-time detection of person to shake time be less than or equal to predetermined threshold, then using the current position location of RFID label tag as
Positioning result.
The defect of said method is, depends on RFID label tag, and based on single example engine of positioning, for many examples positioning
The scene that engine data merges is not covered with.
Content of the invention
The purpose of the present invention is the scene for many examples engine of positioning data fusion, provides a kind of solution alignment jitter
Method.
In order to achieve the above object, the technical scheme is that and provide a kind of many examples engine of positioning data fusion
Anti-shaking method is it is characterised in that comprise the following steps：
Step 1, the up-to-date anchor point of acquisition positioning terminal equipment, as when prelocalization record, are sentenced according to dither state mark
Whether the current positioning terminal equipment that breaks is in dither state, if so, then enters step 2, if it is not, then entering step 4；
Step 2, prelocalization record will be worked as put into dither state record queue, according to several recently in dither state record queue
Secondary positioning record, judges whether current positioning terminal equipment is in steady statue, if so, then destroys dither state record queue
And dither state mark, return to step 1, if it is not, then enter step 3；
Step 3, judge whether to be located at ' locked ' zone when prelocalization record, if so, then return to step 1, if it is not, then destroy working as
Step 1 is returned again to after prelocalization record；
Step 4, according to when prelocalization record and the positioning record that obtains several times recently judges whether to shake, if it is not,
Then return to step 1, if so, then newly-built dither state record queue, and dither state mark is set, enter step 5；
Step 5, using original positioning region as ' locked ' zone, or using the positioning region when prelocalization record as locking
Region, will work as prelocalization record and put into dither state record queue, return to step 3.
The method that the present invention provides can operate with the scene of many examples engine of positioning data fusion, can be fast and efficiently
Shake is processed.
Brief description
Fig. 1 is that the positioning region of different engine of positioning overlapping schematic diagram；
Fig. 2 changes over figure for position；
Fig. 3 is the flow chart of the present invention.
Specific embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than restriction the scope of the present invention.In addition, it is to be understood that after having read the content of present invention instruction, people in the art
Member can make various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims and limited
Scope.
It is assumed that the initial position location of certain positioning terminal equipment is A, engine of positioning continuous positioning, different engine of positioning are real
The data of example can be converged to a data outlet by unification, if positioning terminal equipment moves to drawn by two or more positioning
Hold up the region that example covers simultaneously, the positioning point sequence of this equipment that data outlet provides is probably A- ＞ A- ＞ B- ＞ A- ＞
This situation of C- ＞ B- ＞ A- ＞ B- ＞ B..., when showing on map, anchor point can knock-on in position relatively far apart
Dynamic.For solving this jitter phenomenon, need, when shake is detected, to lock a positioning region for this positioning terminal equipment,
Next the location data arriving again at data outlet can be detected, if belonging to this positioning region, continues downwards
Transmission data, is otherwise considered as invalid location data, can be abandoned or do other process.Two kinds of strategies are had to select lock to determine
Position region, the first is to maintain original positioning region, and second is using emerging positioning region.Final location equipment meeting
Reach a stable positioning sequence such as：B- ＞ B- ＞ B- ＞ B- ＞ B- ＞ B..., at this moment can announce alignment jitter state solution
Remove.
A kind of anti-shaking method of the many examples engine of positioning data fusion being provided based on above-mentioned principle, the present invention, including
Following steps：
Step 1, the up-to-date anchor point of acquisition positioning terminal equipment, as when prelocalization record, are sentenced according to dither state mark
Whether the current positioning terminal equipment that breaks is in dither state, if so, then enters step 2, if it is not, then entering step 4；
Step 2, prelocalization record will be worked as put into dither state record queue, according to several recently in dither state record queue
Secondary positioning record, judges whether current positioning terminal equipment is in steady statue, if so, then destroys dither state record queue
And dither state mark, return to step 1, if it is not, then enter step 3；
Step 3, judge whether to be located at ' locked ' zone when prelocalization record, if so, then return to step 1, if it is not, then destroy working as
Step 1 is returned again to after prelocalization record；
Step 4, according to when prelocalization record and the positioning record that obtains several times recently judges whether to shake, if it is not,
Then return to step 1, if so, then newly-built dither state record queue, and dither state mark is set, enter step 5；
Step 5, using original positioning region as ' locked ' zone, or using the positioning region when prelocalization record as locking
Region, will work as prelocalization record and put into dither state record queue, return to step 3.
Claims (1)
1. a kind of anti-shaking method of many examples engine of positioning data fusion is it is characterised in that comprise the following steps：
Step 1, the up-to-date anchor point of acquisition positioning terminal equipment, as when prelocalization record, judge to work as according to dither state mark
Whether prelocalization terminal unit is in dither state, if so, then enters step 2, if it is not, then entering step 4；
Step 2, prelocalization record will be worked as put into dither state record queue, according in dither state record queue several times recently
Positioning record, judges whether current positioning terminal equipment is in steady statue, if so, then destroys dither state record queue and trembles
Dynamic Status Flag, return to step 1, if it is not, then enter step 3；
Step 3, judge whether to be located at ' locked ' zone when prelocalization record, if so, then return to step 1, if it is not, then destroy currently fixed
Step 1 is returned again to after the record of position；
Step 4, according to when prelocalization record and the positioning record that obtains several times recently judges whether to shake, if it is not, then returning
Return step 1, if so, then newly-built dither state record queue, and dither state mark is set, enter step 5；
Step 5, using original positioning region as ' locked ' zone, or using the positioning region when prelocalization record as lock room
Domain, will work as prelocalization record and put into dither state record queue, return to step 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610848105.1A CN106454725B (en) | 2016-09-23 | 2016-09-23 | The anti-shaking method of more example engine of positioning data fusions |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610848105.1A CN106454725B (en) | 2016-09-23 | 2016-09-23 | The anti-shaking method of more example engine of positioning data fusions |
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| CN106454725A true CN106454725A (en) | 2017-02-22 |
| CN106454725B CN106454725B (en) | 2019-07-09 |
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Citations (7)
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|---|---|---|---|---|
| US20020131386A1 (en) * | 2001-01-26 | 2002-09-19 | Docomo Communications Laboratories Usa, Inc. | Mobility prediction in wireless, mobile access digital networks |
| CN102467229A (en) * | 2010-11-09 | 2012-05-23 | 晶翔微系统股份有限公司 | Device, system and method for interacting with target in operating area |
| WO2012158045A3 (en) * | 2011-05-16 | 2013-01-31 | Radionor Communications As | Long-range adaptive mobile beam-forming ad-hoc communication system with integrated positioning |
| CN103415073A (en) * | 2013-08-26 | 2013-11-27 | 中国科学技术大学苏州研究院 | Anti-jitter indoor positioning method based on RFID label |
| CN103581831A (en) * | 2013-10-12 | 2014-02-12 | 上海交通大学 | Indoor locating algorithm based on WiFi and mobile terminal |
| CN103841642A (en) * | 2014-03-10 | 2014-06-04 | 北京工业大学 | Three-dimensional positioning method in a room |
| CN104469936A (en) * | 2014-12-09 | 2015-03-25 | 重庆邮电大学 | Hybrid location method and system for wireless signal attenuation model based on intelligent space |
-
2016
- 2016-09-23 CN CN201610848105.1A patent/CN106454725B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020131386A1 (en) * | 2001-01-26 | 2002-09-19 | Docomo Communications Laboratories Usa, Inc. | Mobility prediction in wireless, mobile access digital networks |
| CN102467229A (en) * | 2010-11-09 | 2012-05-23 | 晶翔微系统股份有限公司 | Device, system and method for interacting with target in operating area |
| WO2012158045A3 (en) * | 2011-05-16 | 2013-01-31 | Radionor Communications As | Long-range adaptive mobile beam-forming ad-hoc communication system with integrated positioning |
| CN103415073A (en) * | 2013-08-26 | 2013-11-27 | 中国科学技术大学苏州研究院 | Anti-jitter indoor positioning method based on RFID label |
| CN103581831A (en) * | 2013-10-12 | 2014-02-12 | 上海交通大学 | Indoor locating algorithm based on WiFi and mobile terminal |
| CN103841642A (en) * | 2014-03-10 | 2014-06-04 | 北京工业大学 | Three-dimensional positioning method in a room |
| CN104469936A (en) * | 2014-12-09 | 2015-03-25 | 重庆邮电大学 | Hybrid location method and system for wireless signal attenuation model based on intelligent space |
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