CN106535097B - Indoor orientation method, device and server - Google Patents
Indoor orientation method, device and server Download PDFInfo
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- CN106535097B CN106535097B CN201611025557.6A CN201611025557A CN106535097B CN 106535097 B CN106535097 B CN 106535097B CN 201611025557 A CN201611025557 A CN 201611025557A CN 106535097 B CN106535097 B CN 106535097B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/06—Testing, supervising or monitoring using simulated traffic
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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
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The application provides a kind of indoor orientation method, device and server, this method comprises: obtaining the Bluetooth signal data of all anchor nodes acquisitions in current set period of time, the Bluetooth signal data include device identification and bluetooth signal intensity value；It whether is equipment to be positioned according to the equipment that the device identification determines transmitting Bluetooth signal；If the equipment for emitting Bluetooth signal is equipment to be positioned, the position of the equipment to be positioned is then determined according to the current location model of each anchor node, the current location model of each anchor node is clustered to obtain by emitting each anchor node in previous set period of time Bluetooth signal signal strength vector set generated.The location model of each anchor node is as indoor environment dynamic updates in the technical solution of the application, and locating accuracy is high.
Description
Technical field
This application involves indoor positioning technologies field more particularly to a kind of indoor orientation methods, device and server.
Background technique
Indoor positioning, which refers to, realizes position positioning in environment indoors, to realize personnel, object etc. indoors in space
Monitoring position, can pass through bluetooth, Wireless Fidelity (Wireless Fidelity, referred to as WIFI) etc. realize indoor positioning.It is existing
Having in technology, bluetooth positioning is mainly used in small range positioning, such as: the fixation known location in single layer hall installs anchor section
Point, anchor node receive the Bluetooth signal from destination node, and using the position of the maximum anchor node of received signal strength as mesh
Mark the position of node.Due to the difference of having differences property between anchor node, such as antenna gain, installation direction etc., cause existing
The locating accuracy of technology is relatively low.
Summary of the invention
In view of this, the application provides a kind of new technical solution, it can solve indoor positioning and accurately determine the low technology of rate
Problem.
To achieve the above object, it is as follows to provide technical solution by the application:
According to a first aspect of the present application, a kind of indoor orientation method is proposed, is applied on location-server, comprising:
The Bluetooth signal data of all anchor node acquisitions, the Bluetooth signal data packet are obtained in current set period of time
Include device identification and bluetooth signal intensity value；
It whether is equipment to be positioned according to the equipment that the device identification determines transmitting Bluetooth signal；
If the equipment for emitting Bluetooth signal is equipment to be positioned, true according to the current location model of each anchor node
The position of the fixed equipment to be positioned, the current location model of each anchor node by each anchor node previous
Transmitting Bluetooth signal signal strength vector set generated is clustered to obtain in set period of time.
According to a second aspect of the present application, a kind of indoor positioning device is proposed, is applied on location-server, comprising:
Module is obtained, it is described for obtaining the Bluetooth signal data of all anchor node acquisitions in current set period of time
Bluetooth signal data include device identification and bluetooth signal intensity value；
Device type determining module, the corresponding equipment of the Bluetooth signal data for being obtained according to the acquisition module
Whether the equipment that mark determines transmitting Bluetooth signal is equipment to be positioned；
Position determination module, if the equipment for device type determining module to determine transmitting Bluetooth signal is to be positioned set
It is standby, then the position of the equipment to be positioned, each described anchor node are determined according to the current location model of each anchor node
Current location model it is strong by emitting each anchor node Bluetooth signal signal generated in previous set period of time
Degree set of vectors is clustered to obtain.
According to the third aspect of the application, a kind of location-server is proposed, the server includes:
Processor；For storing the memory of the processor-executable instruction；
Wherein, the processor is configured as executing above-mentioned indoor orientation method.
By above technical scheme as it can be seen that the indoor positioning server of the application deployment can receive anchor node transmission
When the Bluetooth signal data of equipment to be positioned, the position of equipment to be positioned can be determined according to the current location model of each anchor node
It sets.Since location-server can be generated according to each anchor node transmitting Bluetooth signal acquired in previous set period of time
Signal strength vector obtain the current location model of each anchor node, therefore locating accuracy is high, and does not need offline
Training data is acquired to generate location model, therefore positioning operation is simple, easy-to-use, practicability is high, improves the experience of user.
Detailed description of the invention
Figure 1A shows the flow diagram of the indoor orientation method of an exemplary embodiment according to the present invention；
Figure 1B shows the application scenarios schematic diagram of the indoor orientation method of an exemplary embodiment according to the present invention；
Fig. 1 C shows indoor orientation method application scenarios shown in Figure 1B of an exemplary embodiment according to the present invention
Under each equipment location arrangements schematic diagram；
Fig. 2 shows the flow diagrams according to the another indoor orientation method of an exemplary embodiment of invention；
Fig. 3 shows the flow diagram of the update method of the location model of the exemplary embodiment according to invention；
What Fig. 4 showed an exemplary embodiment according to the present invention determines equipment to be positioned according to current location model
The flow diagram of position；
Fig. 5 shows the structural schematic diagram of the location-server of an exemplary embodiment according to the present invention；
Fig. 6 shows the structural schematic diagram of the indoor positioning device of an exemplary embodiment according to the present invention；
Fig. 7 shows the structural schematic diagram of the another indoor positioning device of an exemplary embodiment according to the present invention；
Fig. 8 shows the structural schematic diagram of another indoor positioning device of an exemplary embodiment according to the present invention.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
For the application is further described, the following example is provided:
Figure 1A shows the flow diagram of the indoor orientation method of an exemplary embodiment according to the present invention, and Figure 1B shows
The application scenarios schematic diagram of the indoor orientation method of an exemplary embodiment according to the present invention is gone out, Fig. 1 C is shown according to this
The location arrangements signal of indoor orientation method each equipment under application scenarios shown in Figure 1B of one exemplary embodiment of invention
Figure；The technical solution of the embodiment can be applied on location-server, as shown in Figure 1A, include the following steps:
Step 101, the Bluetooth signal data of all anchor node acquisitions are obtained in current set period of time.
In one embodiment, Bluetooth signal data include device identification and bluetooth signal intensity value.In one embodiment, blue
Tooth signal data can also include signal reception time.
In one embodiment, device identification can be obtained by parsing Bluetooth signal, and bluetooth signal intensity value is anchor node
The signal strength for receiving Bluetooth signal, can be detected to obtain by anchor node.
In one embodiment, Bluetooth signal data can be the number for being deployed in the anchor node transmitting Bluetooth signal of current environment
According to, anchor node can generally be deployed in indoor known fixed position, such as: roof, wall etc.；In another embodiment, blue
Tooth signal data can emit the data of Bluetooth signal for equipment to be positioned, and equipment to be positioned can be wearable device, can wear
The type for wearing equipment includes but is not limited to bracelet, wrist-watch, glasses, jewelry, Bluetooth label etc..
In one embodiment, the anchor node in the application not only can receive the Bluetooth signal from equipment to be positioned, and
And there is Bluetooth transmission module, can periodic broadcasting Bluetooth signal, for example, believing according to one minute primary frequency broadcast bluetooth
Number.
In one embodiment, current set period of time can be a hour, 12 hours or daily constant duration.
It step 102, whether is equipment to be positioned according to the equipment that device identification determines transmitting Bluetooth signal.
In one embodiment, whether the equipment that location-server can determine transmitting Bluetooth signal according to device identification disposes
In the anchor node of current environment, if not the anchor node for being deployed in current environment, then it can determine it is equipment to be positioned.
In one embodiment, after equipment transmitting Bluetooth signal to be positioned, the anchor node for being deployed in current environment be can receive
To the Bluetooth signal, and setting the signal transmission time for receiving Bluetooth signal, bluetooth signal intensity value and equipment to be positioned
Standby mark is sent to location-server.
Step 103, if the equipment of transmitting Bluetooth signal is equipment to be positioned, according to the current fixed of each anchor node
Bit model determines the position of equipment to be positioned, the current location model of each anchor node by each anchor node previous
Transmitting Bluetooth signal signal strength vector set generated is clustered to obtain in set period of time.
In one embodiment, the location model positioned to the equipment to be positioned in current set period of time is before
What the bluetooth signal intensity set of vectors that anchor node transmitting Bluetooth signal generates in one set period of time clustered.Implement one
In example, can embodiment according to Fig.3, determine the current location model of anchor node, be not described in detail first here.
In one embodiment, the Bluetooth signal data that location-server can be sent according to all anchor nodes, determine to be positioned
Equipment sends Bluetooth signal signal strength vector generated.
In one embodiment, it is determined according to equipment to be positioned transmission Bluetooth signal signal strength vector generated to be positioned
The method of the position of equipment can be found in Fig. 4 and embodiment shown in fig. 5, not be described in detail first here.
In an exemplary scene, as illustrated in figures ib and 1 c, be deployed in anchor node 110 in current environment, 111 ...,
11N can receive equipment 120 (equipment to be positioned can be various wearable devices, illustrate here with Intelligent bracelet) hair to be positioned
The Bluetooth signal sent, and the Bluetooth signal data that Bluetooth signal based on the received generates are sent to location-server 130, it is fixed
Position server 130 according to anchor node 110,111 ..., the Bluetooth signal data that send of 11n, the indigo plant sent for equipment 120 to be positioned
Tooth signal generates a signal strength vector Sk=< sk1,sk2,sk3…skn>, wherein k is the device identification of equipment to be positioned, skn
The bluetooth signal intensity value of Bluetooth signal is received for n-th of anchor node, n is the number of anchor node.Location-server 130 is according to institute
The signal strength vector S of generationkWith the current location model of each anchor node, the position of equipment to be positioned is determined.The application
In, the location model of each anchor node dynamic change with time change, for example, location-server can be with every two hour
Or every day updates the location model of each primary anchor node, can specifically send out in previous set period of time according to anchor node
Bluetooth signal signal strength vector generated is sent to update location model, since location model dynamically becomes with time change
Change, therefore greatly alleviates the influence that environmental factor positions indoor bluetooth.
Seen from the above description, 101- step 103 can receive anchor node to the embodiment of the present invention through the above steps
When the Bluetooth signal data of the equipment to be positioned sent, equipment to be positioned is determined according to the current location model of each anchor node
Position.Since location-server can emit Bluetooth signal institute according to each anchor node acquired in previous set period of time
The signal strength vector of generation obtains the current location model of each anchor node, therefore locating accuracy is high, and does not need
It is offline to acquire training data to generate location model, therefore positioning operation is simple, easy-to-use, practicability is high, improves the body of user
It tests.
Fig. 2 shows the flow diagrams according to the another indoor orientation method of an exemplary embodiment of invention；Such as Fig. 2
It is shown, include the following steps:
Step 201, the Bluetooth signal data of all anchor node acquisitions, Bluetooth signal number are obtained in current set period of time
According to including device identification and bluetooth signal intensity value.
Step 202, whether it is equipment to be positioned according to the equipment that device identification determines transmitting Bluetooth signal, executes step
203 and step 204.
Step 203, if the equipment of transmitting Bluetooth signal is equipment to be positioned, according to the current fixed of each anchor node
Bit model determines the position of equipment to be positioned.
In one embodiment, the current location model of each anchor node by each anchor node in previous setting
Between in section transmitting Bluetooth signal signal strength vector set generated clustered to obtain.
In one embodiment, the description of step 201- step 203 can be found in the step 101- step of Figure 1A illustrated embodiment
103 description, I will not elaborate.
Step 204, if the equipment of transmitting Bluetooth signal is anchor node, the equipment mark for including according to Bluetooth signal data
Know, generates signal strength vector Si=< si1,si2,si3…sin>, signal strength vector generates anchor node for location-server
The location model of latter set period of time.
In one embodiment, signal strength vector is that the Bluetooth signal that i-th of anchor node is sent generates, sijIndicate jth
A anchor node detects the bluetooth signal intensity value for the Bluetooth signal that i-th of anchor node is emitted, siiIndicate i-th of anchor node inspection
Measure the bluetooth signal intensity value for the Bluetooth signal that i-th of anchor node is emitted, siiFor a preset value.For example, working as front ring
6 anchor nodes are deployed in border, if anchor node 1 has sent Bluetooth signal, anchor node 2, anchor node 3, anchor node 4, anchor node
5, anchor node 6 receive anchor node 1 Bluetooth signal bluetooth signal intensity value be respectively -70dB, -58dB, -45dB, -36dB, -
22dB can set -2dB for signal receiving strength of the anchor node 1 to Bluetooth signal transmitted by anchor node 1, this makes it possible to obtain
S1=< s11,s12,s13,s14,s15,s16>=<-2dB, -70dB, -58dB, -45dB, -36dB, -22dB>.
In one embodiment, each anchor node in current set period of time can be sent Bluetooth signal institute by location-server
The signal strength vector of generation is combined into a signal strength vector set, after then being generated according to the signal strength vector set
The location model of anchor node is corresponded in one set period of time.
In the present embodiment, each anchor node can periodically send Bluetooth signal, and location-server can be sent according to anchor node
Bluetooth signal signal strength vector generated generate the location model in latter set period of time, be achieved in positioning service
Device treats positioning device using dynamic models and carries out location estimation, reduces the influence that environmental factor positions bluetooth, mentions
The precision of equipment positioning is risen.
Fig. 3 shows the flow diagram of the update method of the location model of the exemplary embodiment according to invention；Such as
Shown in Fig. 3, include the following steps:
Step 301, it counts each anchor node in previous set period of time and emits the generated of Bluetooth signal each time
Signal strength vector obtains the signal strength vector set of each anchor node.
In one embodiment, signal strength vector includes n bluetooth signal intensity value, and n is anchor node number.
In one embodiment, each anchor node can periodically send Bluetooth signal, and location-server can be according to each anchor
The bluetooth signal intensity that node receives Bluetooth signal generates the corresponding signal strength vector of Bluetooth signal, and each anchor node exists
Multiple Bluetooth signal is sent in each set period of time can correspond to generation signal strength vector set.Such as: in current environment
N anchor node is deployed, each anchor node sends a Bluetooth signal per minute, and 24 hours time sent 24*60=1440
Secondary Bluetooth signal, location-server obtain 1440 signal strengths for each anchor node is statistics available in previous set period of time
Vector.
Step 302, the signal strength vector set of each anchor node is clustered using default clustering algorithm, is obtained
The current location model of each anchor node.
In one embodiment, default clustering algorithm can be a variety of cluster sides such as K- center method, hierarchical cluster, fuzzy clustering
One of formula.For example, can be calculated by formula (1) each when calculating the current location model of anchor node by K- center method
The current location model of a anchor node:
Wherein, t is for indicating that i-th of anchor node emits Bluetooth signal signal generated in the length of set period of time
The number of strength vector, MiFor indicating that the current location model of i-th of anchor node, the location model can be a matrix, Si
The signal strength vector generated for indicating the Bluetooth signal that i-th of anchor node is sent.
It in one embodiment, can also be public with reference to existing cluster by the formula that other cluster modes calculate location model
Formula, I will not elaborate.
In one embodiment, referring to the citing in step 301,5 subsets can be divided into signal strength vector set, to every
A subset is clustered, and a location model is obtained, and location model can be the vector matrix of 5*N.
In the present embodiment, location-server can send Bluetooth signal signal strength generated according to each anchor node and swear
Amount generates the dynamic models of each anchor node, thus can realize location-server using dynamic models to be positioned
Equipment carries out location estimation, reduces the influence that environmental factor positions bluetooth, improves the precision of equipment positioning.
What Fig. 4 showed an exemplary embodiment according to the present invention determines equipment to be positioned according to current location model
The flow diagram of position；As shown in figure 4, including the following steps:
Step 401, calculate an equipment to be positioned transmitting Bluetooth signal signal strength vector generated with it is each
The distance between current location model of a anchor node.
In one embodiment, the current positioning mould of a signal strength vector and each anchor node is calculated by formula (2)
The distance between type:
Locationk=argmini||Sk-Mi||2Formula (2)
Wherein, k is for indicating equipment to be positioned, SkFor indicating that k sends transmitting Bluetooth signal signal strength generated
Vector, MiFor indicating the current location model of i-th of anchor node.
Step 402, the position of the corresponding anchor node of minimum range is determined as to the position of equipment to be positioned.
In one embodiment, emit Bluetooth signal signal strength vector generated and positioning by calculating equipment to be positioned
The distance between model can further determine that out that equipment to be positioned is nearest apart from which anchor node according to distance.Such as it is to be positioned
Equipment apart from anchor node 1, anchor node 2, anchor node 3, anchor node 4, anchor node 5, anchor node 6 distance be respectively 1m, 2m, 4m,
6m, 7m, 9m, then mark location equipment is nearest at a distance from anchor node 1, the position of anchor node 1 can be determined as equipment to be positioned
Position.
In one embodiment, anchor node can also acquire repeatedly to be positioned in very short time interval, such as in 2 seconds
The Bluetooth signal that equipment is sent, thus location-server can correspond to the multiple bluetooth signal intensity vectors for generating equipment to be positioned,
A reference position is obtained for each bluetooth signal intensity vector, and then obtains multiple reference positions, by multiple references
Position carries out the denoisings such as seeking intermediate value, average, and eliminates positional jitter, obtains the position of equipment to be positioned.Such as: it is to be positioned
Equipment emitted 5 Bluetooth signals, the Bluetooth signal number that location-server can be sent according to 6 anchor nodes within 2 seconds time
According to 5 signal strength vectors for generating equipment to be positioned, for example, respectively < -20dB, -60dB, -50dB, -45dB, -36dB, -
22dB>、<-21dB,-70dB,-58dB,-45dB,-36dB,-17dB>、<-19dB,-50dB,-50dB,-45dB,-30dB,-
30dB>、<-22dB,-66dB,-58dB,-45dB,-36dB,-21dB>、<-18dB,-68dB,-58dB,-45dB,-36dB,-
22dB >, it can calculate with this 5 signal strength vectors apart from the smallest anchor node, to obtain be respectively 1 apart from nearest anchor node,
6,1,6,1.Just due at respectively indoor 5 meters of northeastward of the center in anchor node 1 and the corresponding position of anchor node 6 and indoor center
East is respectively indoor 5 meters of northeastward of center place and interior center according to the reference position of equipment to be positioned at 4 meters
At 4 meters of due east direction, the position of equipment to be positioned is can be obtained in the mean value by calculating each position.
In the present embodiment, by calculating the distance between the dynamic models of equipment and each anchor node to be positioned,
It can determine that the position of equipment to be positioned, and the multiple reference positions estimated can be also filtered, eliminate position
Shake, obtains the accurate location of equipment to be positioned.
Corresponding to above-mentioned indoor orientation method, the application also proposed shown in fig. 5 exemplary according to the one of the application
The schematic configuration diagram of the indoor positioning server of embodiment.Referring to FIG. 5, the indoor positioning server can wrap in hardware view
Processor, internal bus, network interface, memory and nonvolatile memory are included, is also possible that needed for other business certainly
The hardware wanted.Processor is from the then operation into memory of corresponding computer program is read in nonvolatile memory, in logic
Indoor positioning device is generated in level.Certainly, other than software realization mode, other implementations are not precluded in the application,
Such as logical device or the mode of software and hardware combining etc., that is to say, that the executing subject of following process flow is not limited to
Each logic unit is also possible to hardware or logical device.
Fig. 6 shows the structural schematic diagram of the indoor positioning device of an exemplary embodiment according to the present invention；The interior
Positioning device is applied on location-server, may include: to obtain module 610, device type determining module 620, position determination
Module 630.Wherein:
Module 610 is obtained, it is blue for obtaining the Bluetooth signal data of all anchor node acquisitions in current set period of time
Tooth signal data includes device identification and bluetooth signal intensity value；
Device type determining module 620, the corresponding equipment mark of Bluetooth signal data for being obtained according to module 610 is obtained
Know whether the equipment for determining transmitting Bluetooth signal is equipment to be positioned；
Position determination module 630, if for device type determining module 620 determine transmitting Bluetooth signal equipment be to
Positioning device then determines the position of equipment to be positioned according to the current location model of each anchor node, each anchor node
Current location model in previous set period of time by emitting Bluetooth signal signal strength generated to each anchor node
Set of vectors is clustered to obtain.
Fig. 7 shows the structural schematic diagram of the another indoor positioning device of an exemplary embodiment according to the present invention, such as
Shown in Fig. 7, on the basis of above-mentioned embodiment illustrated in fig. 6, in one embodiment, device further include:
Statistical module 640 emits Bluetooth signal for counting each anchor node in previous set period of time each time
Signal strength vector generated, obtains the signal strength vector set of each anchor node, and signal strength vector includes n indigo plant
Tooth signal strength indication, n are anchor node number；
Model determining module 650, for counting the signal strength vector of each obtained anchor node to statistical module 640
Set is clustered using default clustering algorithm, obtains the current location model of each anchor node.
In one embodiment, model determining module 650 includes:
First computing unit 651, for calculating the current location model of each anchor node by formula (1):
Wherein, t is for indicating that i-th of anchor node emits Bluetooth signal signal generated in the length of set period of time
The number of strength vector, MiFor indicating the current location model of i-th of anchor node, SiFor indicating what i-th of anchor node was sent
The signal strength vector that Bluetooth signal generates.
In one embodiment, device further include:
Strength vector determining module 660, if the equipment for determining transmitting Bluetooth signal for device type determining module 620
It is anchor node, according to the device identification that Bluetooth signal data include, generates signal strength vector Si=< si1,si2,si3…sin>,
Signal strength vector generates the location model of the latter set period of time of anchor node for location-server, and signal strength vector is
What the Bluetooth signal that i-th of anchor node is sent generated, sijIndicate the indigo plant that j-th of anchor node detects that i-th of anchor node is emitted
The bluetooth signal intensity value of tooth signal, siiIndicate the indigo plant for the Bluetooth signal that i-th of anchor node detects that i-th of anchor node is emitted
Tooth signal strength indication, siiFor a preset value.
Fig. 8 shows the structural schematic diagram of another indoor positioning device of an exemplary embodiment according to the present invention, such as
Shown in Fig. 8, on the basis of above-mentioned Fig. 6 and/or embodiment illustrated in fig. 7, in one embodiment, position determination module 630 includes:
Second computing unit 631 is strong for calculating an equipment transmitting Bluetooth signal signal generated to be positioned
Spend the distance between the current location model of vector and each anchor node；
First position determination unit 632, for the position of the corresponding anchor node of minimum range to be determined as equipment to be positioned
Position.
In one embodiment, the second computing unit 631 includes:
Apart from computation subunit 6311, for calculating a signal strength vector and each anchor node by formula (2)
The distance between current location model:
Locationk=argmini||Sk-Mi||2Formula (2)
Wherein, k is for identifying equipment to be positioned, SkFor indicating that k sends transmitting Bluetooth signal signal strength generated
Vector, MiFor indicating the current location model of i-th of anchor node.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the application
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the application are by following
Claim is pointed out.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (11)
1. a kind of indoor orientation method, is applied on location-server, which is characterized in that the described method includes:
The Bluetooth signal data of all anchor node acquisitions are obtained in current set period of time, the Bluetooth signal data include setting
Standby mark and bluetooth signal intensity value；
It whether is equipment to be positioned according to the equipment that the device identification determines transmitting Bluetooth signal；
If the equipment for emitting Bluetooth signal is equipment to be positioned, institute is determined according to the current location model of each anchor node
State the position of equipment to be positioned, the current location model of each anchor node by each anchor node in previous setting
Transmitting Bluetooth signal signal strength vector set generated is clustered to obtain in period；
The method also includes:
It counts each anchor node in previous set period of time and emits Bluetooth signal signal strength vector generated each time, obtain
To the signal strength vector set of each anchor node, the signal strength vector includes n bluetooth signal intensity value, the n
For anchor node number；
The signal strength vector set of each anchor node is clustered using default clustering algorithm, is obtained described each
The current location model of a anchor node.
2. the method according to claim 1, wherein the method also includes:
If the equipment for emitting Bluetooth signal is anchor node, according to the device identification that the Bluetooth signal data include, letter is generated
Number strength vector Si=< si1,si2,si3…sin>, the signal strength vector generates the anchor section for the location-server
The location model of the latter set period of time of point, the signal strength vector are that the Bluetooth signal that i-th of anchor node is sent generates
, the sijIndicate the bluetooth signal intensity for the Bluetooth signal that j-th of anchor node detects that i-th of anchor node is emitted
Value, siiIndicate the bluetooth signal intensity for the Bluetooth signal that i-th of anchor node detects that i-th of anchor node is emitted
Value, siiFor a preset value.
3. the method according to claim 1, wherein the signal strength vector to each anchor node
Set is clustered using default clustering algorithm, obtains the current location model of each anchor node, comprising:
The current location model of each anchor node is calculated by formula (1):
Wherein, the t is for indicating that i-th of anchor node emits Bluetooth signal signal generated in the length of set period of time
The number of strength vector, MiFor indicating the current location model of i-th of anchor node, SiFor indicating to be sent out according to i-th of anchor node
The signal strength vector that the Bluetooth signal sent generates.
4. the method according to claim 1, wherein described true according to the current location model of each anchor node
The position of the fixed equipment to be positioned, comprising:
Calculate an equipment transmitting Bluetooth signal signal strength vector generated to be positioned and each anchor node
The distance between current location model；
The position of the corresponding anchor node of minimum range is determined as to the position of the equipment to be positioned.
5. according to the method described in claim 4, it is characterized in that, described calculate a signal strength vector and each anchor section
The distance between the current location model of point, comprising:
The distance between the current location model of a signal strength vector and each anchor node is calculated by formula (2):
Locationk=argmini||Sk-Mi||2Formula (2)
Wherein, the k is for indicating the equipment to be positioned, the SkFor indicating that k sends transmitting Bluetooth signal letter generated
Number strength vector, the MiFor indicating the current location model of i-th of anchor node.
6. a kind of indoor positioning device, is applied on location-server, which is characterized in that described device includes:
Module is obtained, for obtaining the Bluetooth signal data of all anchor node acquisitions, the bluetooth in current set period of time
Signal data includes device identification and bluetooth signal intensity value；
Device type determining module, the corresponding device identification of the Bluetooth signal data for being obtained according to the acquisition module
Whether the equipment for determining transmitting Bluetooth signal is equipment to be positioned；
Position determination module, if the equipment for device type determining module to determine transmitting Bluetooth signal is equipment to be positioned,
The position of the equipment to be positioned is then determined according to the current location model of each anchor node, each anchor node is worked as
Prelocalization model is sweared by emitting each anchor node Bluetooth signal signal strength generated in previous set period of time
Duration set is clustered to obtain；
Described device further include:
Statistical module emits Bluetooth signal letter generated for counting each anchor node in previous set period of time each time
Number strength vector, obtains the signal strength vector set of each anchor node, the signal strength vector includes n Bluetooth signal
Intensity value, the n are anchor node number；
Model determining module, the signal strength vector collection for each anchor node described in being obtained to the statistical module counts
It closes and is clustered using default clustering algorithm, obtain the current location model of each anchor node.
7. device according to claim 6, which is characterized in that described device further include:
Strength vector determining module, if the equipment for the device type determining module to determine transmitting Bluetooth signal is anchor section
Point generates signal strength vector S according to the device identification that the Bluetooth signal data includei=< si1,si2,si3…sin>, institute
The location model that signal strength vector generates the latter set period of time of the anchor node for the location-server is stated, it is described
Signal strength vector is that the Bluetooth signal that i-th of anchor node is sent generates, the sijIt is described to indicate that j-th of anchor node detects
The bluetooth signal intensity value for the Bluetooth signal that i-th of anchor node is emitted, siiIndicate that i-th of anchor node detects described
The bluetooth signal intensity value for the Bluetooth signal that i anchor node is emitted, siiFor a preset value.
8. device according to claim 6, which is characterized in that the model determining module includes:
First computing unit, for calculating the current location model of each anchor node by formula (1):
Wherein, the t is for indicating that i-th of anchor node emits Bluetooth signal signal generated in the length of set period of time
The number of strength vector, MiFor indicating the current location model of i-th of anchor node, SiFor indicating what i-th of anchor node was sent
The signal strength vector that Bluetooth signal generates.
9. device according to claim 6, which is characterized in that the position determination module includes:
Second computing unit emits Bluetooth signal signal strength arrow generated for calculating the equipment to be positioned
The distance between the current location model of amount and each anchor node；
First position determination unit, for the position of the corresponding anchor node of minimum range to be determined as to the position of the equipment to be positioned
It sets.
10. device according to claim 9, which is characterized in that second computing unit includes:
Apart from computation subunit, work as prelocalization for calculate a signal strength vector and each anchor node by formula (2)
The distance between model:
Locationk=argmini||Sk-Mi||2Formula (2)
Wherein, the k is for indicating the equipment to be positioned, the SkFor indicating that k sends transmitting Bluetooth signal letter generated
Number strength vector, the MiFor indicating the current location model of i-th of anchor node.
11. a kind of location-server, which is characterized in that the server includes:
Processor；For storing the memory of the processor-executable instruction；
Wherein, the processor is configured as executing any indoor orientation method of the claims 1-5.
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| CN110726970B (en) * | 2018-07-17 | 2021-12-24 | Tcl科技集团股份有限公司 | Target positioning method and terminal equipment |
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