CN106535322B - A kind of indoor moving localization method based on WIFI directional aerial - Google Patents
A kind of indoor moving localization method based on WIFI directional aerial Download PDFInfo
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- CN106535322B CN106535322B CN201610928887.XA CN201610928887A CN106535322B CN 106535322 B CN106535322 B CN 106535322B CN 201610928887 A CN201610928887 A CN 201610928887A CN 106535322 B CN106535322 B CN 106535322B
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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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
A kind of indoor moving localization method based on WIFI directional aerial, the steps include: A, the method being averaged in the first measurement point by multiple repairing weld, measures the signal strength indication that directional aerial is received from measured target and establishes coordinate system；B, the signal strength indication that the first measurement point measures is substituted into path loss model and calculates the first measurement point and measured target distance d1；C, from the first measurement point along the angle of arrival with x-axis at the signal strength indication and signal of θ degree direction moving distance d to the second measurement point and then measurement measured target；D, by the signal strength indication that measures of the first two measurement point and angle of arrival substitute into location algorithm and calculate, complete positioning.This method can simply and easily realize that implementing quick, accurate, flexible third party to the mobile terminal user for utilizing WIFI to surf the Internet under indoor environment positions.
Description
Technical field
The present invention relates to indoor moving localization methods, more particularly to the indoor moving positioning side based on WIFI directional aerial
Method.
Background technique
WLAN technologies are a kind of fast wireless network communication technologys to grow up at the end of the 20th century.WIFI network
Have the characteristics that high-speed communication, deployment are convenient, at present many indoor environments and the movable hot zones of people (such as airport, station,
Office building, conference and exhibition center, large hotel) WIFI network is arranged extensively.In complicated indoor environment, as hospital, exhibitions are big
In the environment such as the Room, library, supermarket, coffee shop, it is often necessary to the position of personnel indoors is determined, for indoor wireless location
Technology has sizable demand.
Existing interior WIFI location technology is substantially the positioning of mobile terminal user oneself activly request, and then backstage takes
When the signal strength indication of the multiple WIFI access nodes for the indoor environment distribution that business device is acquired according to terminal to be positioned, signal reach
Between the signal characteristic parameters such as difference, complete the positioning to target terminal using the methods of location fingerprint, triangulation location, and will positioning knot
The intelligent WIFI terminal of fruit return user.The needs of development and network supervision however as society, in some public fields in interior
It closes, the guardian of network supervision side or mobile terminal user need to be not actively engaged in mobile terminal user, propose Location Request
In the case where, to using WIFI surf the Internet mobile terminal locations be accurately positioned.
Third party positions because of its particularity, it is desirable that equipment is small and exquisite portable as far as possible, and staff is facilitated to carry；Simultaneously
It is required that location algorithm refining is efficiently, the real-time of location algorithm was both guaranteed, and also to have guaranteed the positioning performance of location algorithm.
Although rarely WIFI network can provide in its overlay area currently, WIFI indoors largely dispose by environment
The function that mobile terminal is positioned based on certain location technology simultaneously, in face of current all kinds of intelligence numerous and complicated on the market
Energy WIFI terminal, also proposed higher requirement to the universality of location technology and its algorithm, needs location algorithm that can overcome
The difference of the radio frequency parameter of different terminals realizes the accurate positioning to target.For this purpose, the invention proposes a kind of using with fixed
To antenna, mobile WIFI router easy to carry (referred to as mobile AP) is used as third party device, in indoor environment
The mobile intelligent terminal of WIFI online carries out pinpoint method.
Summary of the invention
The object of the present invention is to provide a kind of indoor moving localization methods based on WIFI directional aerial, and this method can be real
Implement fast and accurately third party to the mobile terminal user for utilizing WIFI to surf the Internet under existing indoor environment to position.
The technical scheme adopted by the invention for realizing the object of the invention is a kind of indoor moving based on WIFI directional aerial
Localization method, comprising the following steps:
A, the measurement of the first measurement point: the measurement point to be currently located is oriented for the first measurement point by moving in rotation AP
The angle of antenna, the maximum angle of signal strength indication of measured target can be received by finding out antenna；And the angle is directed toward tested
The direction definition of target is positive direction of the y-axis, using the first measurement point as coordinate origin (0,0), establishes measurement coordinate system；Then it will move
The directional aerial of dynamic AP is maintained at y-axis direction, then measures and record the signal strength indication received from measured target as first
The signal strength indication Pr of measurement point1；
B, distance calculates: by the signal strength indication Pr of the first measurement point1With the signal emissive porwer standard value P of measured targett
It substitutes into path loss model, calculates the estimated distance d between the first measurement point and measured target1；
C, the measurement of the second measurement point: will mobile AP in measurement coordinate system along with x-axis at the direction of traveling angle θ move away from
The second measurement point (x is reached from d2,y2)；In the second measurement point by the angle of the directional aerial of moving in rotation AP, finding out can be received
To measured target signal strength indication maximum when antenna and x-axis angle ψ；Then directional aerial is maintained at angle ψ, then measured
And record signal strength indication Pr of the signal strength indication received from measured target as the second measurement point2；
D, location Calculation:
According to the signal strength indication Pr of the first measurement point1With the signal strength indication Pr of the second measurement point2With the second measurement point
Coordinate (x2,y2), difference in signal strength parameter K is calculated,In formula n be environmental factor, its value range be 1.7-
3.0；And then obtain the abscissa parameter p of double measurement position,With the ordinate parameter q of double measurement position,
It calculates again: one a of location Calculation intermediate parameters,Two b of location Calculation intermediate parameters,Three c of location Calculation intermediate parameters,
The ordinate y of measured target is finally calculated,With the abscissa x of measured target,The coordinate position (x, y) of measured target is obtained, location estimation is completed.
Compared with prior art, the beneficial effects of the present invention are:
One, compared with location fingerprint positioning mode, for the present invention before implementing positioning, the signal for not needing acquisition localization region is strong
Finger print information is spent, finger print information storehouse is established, reduces the cost of manpower early period and time.Meanwhile to the WIFI of localization region heat
Point is distributed no particular/special requirement, as long as target terminal keeps WIFI connection, can be positioned using the present invention to it.
Two, the present invention does not need to be avoided GPS positioning technology using satellite positioning tech such as GPS and existed in position fixing process
There is large error in indoor environment, or even can not be positioned because of the loss of satellite-signal；
Three, use triangulation to target using the router of multiple fixations with based on TOA, TDOA, RSSI ranging etc.
The method positioned is compared, and the present invention without disposing multiple routers in advance, it is easier to implement；And by multipath, the non-view of program request
Influence very little away from propagation positions more acurrate reliable.
Four, the signal strength indication of two measurement points is subtracted each other in positioning calculation part, obtains path-loss difference by the present invention:
The method that the present invention utilizes difference in signal strength, by the intelligent WIFI terminal for the measured target being related in the measurement of two measurement points
Transmission power Pt directly counteract, so as to avoid different intelligent terminal transmitting signal powers difference to this location algorithm
The adverse effect of formation.Secondly, the locator equation in location algorithm is quadratic equation with one unknown, there are specific closed solutions, and count
It is lower to calculate complexity, it is ensured that the real-time of algorithm.
Further, mobile AP equipment of the invention is the WIFI router for having directional aerial and gyroscope.
Further, it in step A of the invention, measures and records the signal strength indication received from measured target as first
The signal strength indication Pr of measurement point1Specific practice be: in 5 second time continuous ten times measure receive measured target transmitting letter
Number signal strength indication, using the average value of ten measured values as the signal strength indication Pr of the first measurement point1；
In the step C, measures and record the signal strength indication received from measured target as the second measurement point
Signal strength indication Pr2Specific practice be: in 5 second time continuous ten times measure receive measured target transmitting signal signal
The average value of ten measured values is the signal strength indication Pr of the second measurement point by intensity value2。
Further, in step B of the invention, the signal emissive porwer standard value P of measured targettFor 80mW.
Due to intelligent WIFI terminal broad categories on the market, physical parameter has some difference, and intelligent WIFI terminal
Equipment state in itself when in use is also more changeable.The WIFI equipment transmission power range that IEEE802.11 is provided be 60mW~
100mW, so the present invention in distance calculates, takes the mean value 80mW of IEEE recommended range as the transmitting function of intelligent WIFI terminal
Rate has universality, has minimized because distance caused by the difference of unknown terminal equipment transmitting signal power calculates error.
Further, the path loss model in step B of the invention are as follows:
ξ is the error factor in path loss, the specific value such as following table of error factor ξ and environmental factor n in model
It is shown.
| Indoor environment type | n | ξ |
| Supermarket | 2.2 | 8.7 |
| Grocery | 1.8 | 5.2 |
| Hard dress working environment | 3.0 | 7 |
| Soft dress working environment | 2.4 | 9.6 |
| Commercial square | 1.7 | 7.9 |
Further, in step C of the invention, the size of traveling angle θ is 80 ° -100 °, and moving distance d is more than or equal to first
Estimated distance d between measurement point and measured target1Half.
Below in conjunction with specific embodiment, the present invention is further described in detail.
Specific embodiment
Embodiment
A kind of specific embodiment of the invention is a kind of indoor moving localization method based on WIFI directional aerial, packet
Include following steps:
A, the measurement of the first measurement point: the measurement point to be currently located is oriented for the first measurement point by moving in rotation AP
The angle of antenna, the maximum angle of signal strength indication of measured target can be received by finding out antenna；And the angle is directed toward tested
The direction definition of target is positive direction of the y-axis, using the first measurement point as coordinate origin (0,0), establishes measurement coordinate system；Then it will move
The directional aerial of dynamic AP is maintained at y-axis direction, then measures and record the signal strength indication received from measured target as first
The signal strength indication Pr of measurement point1；
B, distance calculates: by the signal strength indication Pr of the first measurement point1With the signal emissive porwer standard value P of measured targett
It substitutes into path loss model, calculates the estimated distance d between the first measurement point and measured target1；
C, the measurement of the second measurement point: will mobile AP in measurement coordinate system along with x-axis at the direction of traveling angle θ move away from
The second measurement point (x is reached from d2,y2)；In the second measurement point by the angle of the directional aerial of moving in rotation AP, finding out can be received
To measured target signal strength indication maximum when antenna and x-axis angle ψ；Then directional aerial is maintained at angle ψ, then measured
And record signal strength indication Pr of the signal strength indication received from measured target as the second measurement point2；
D, location Calculation:
According to the signal strength indication Pr of the first measurement point1With the signal strength indication Pr of the second measurement point2With the second measurement point
Coordinate (x2,y2), difference in signal strength parameter K is calculated,In formula n be environmental factor, its value range be 1.7-
3.0；And then obtain the abscissa parameter p of double measurement position,With the ordinate parameter q of double measurement position,
It calculates again: one a of location Calculation intermediate parameters,Two b of location Calculation intermediate parameters,Three c of location Calculation intermediate parameters,
The ordinate y of measured target is finally calculated,With the abscissa x of measured target,The coordinate position (x, y) of measured target is obtained, location estimation is completed.
The mobile AP equipment of this example is the WIFI router for having directional aerial and gyroscope.
In the step A of this example, measures and record the signal strength indication received from measured target as the first measurement point
Signal strength indication Pr1Specific practice be: in 5 second time continuous ten times measure receive measured target transmitting signal signal
Intensity value, using the average value of ten measured values as the signal strength indication Pr of the first measurement point1；
In step C, measures and to record the signal strength indication that receives from measured target strong as the signal of the second measurement point
Angle value Pr2Specific practice be: in 5 second time continuous ten times measure receive measured target transmitting signal signal strength
The average value of ten measured values is the signal strength indication Pr of the second measurement point by value2。
In the step B of this example, the signal emissive porwer standard value P of measured targettFor 80mW.
Path loss model in the step B of this example are as follows:
ξ is the error factor in path loss, the specific value such as following table of error factor ξ and environmental factor n in model
It is shown.
| Indoor environment type | n | ξ |
| Supermarket | 2.2 | 8.7 |
| Grocery | 1.8 | 5.2 |
| Hard dress working environment | 3.0 | 7 |
| Soft dress working environment | 2.4 | 9.6 |
| Commercial square | 1.7 | 7.9 |
In the step C of this example, the size of traveling angle θ is 80 ° -100 °, and moving distance d is more than or equal to the first measurement point and quilt
Survey the estimated distance d between target1Half.
Claims (6)
1. a kind of indoor moving localization method based on WIFI directional aerial, comprising the following steps:
A, the measurement of the first measurement point: the measurement point to be currently located passes through moving in rotation AP directional aerial for the first measurement point
Angle, the maximum angle of signal strength indication of measured target can be received by finding out antenna；And the angle is directed toward measured target
Direction definition be positive direction of the y-axis, using the first measurement point as coordinate origin (0,0), establish measurement coordinate system；It then will mobile AP
Directional aerial be maintained at y-axis direction, then measure and record the signal strength indication that receives from measured target as the first measurement
The signal strength indication Pr of point1；
B, distance calculates: by the signal strength indication Pr of the first measurement point1With the signal emissive porwer standard value P of measured targettIt substitutes into
In path loss model, the estimated distance d between the first measurement point and measured target is calculated1；
C, the measurement of the second measurement point: will mobile AP in measurement coordinate system along with x-axis at the direction moving distance d of traveling angle θ
Reach the second measurement point (x2,y2)；In the second measurement point by the angle of the directional aerial of moving in rotation AP, finding out can be received
The angle ψ of antenna and x-axis when the signal strength indication maximum of measured target；Then directional aerial is maintained at angle ψ, then measured simultaneously
Record signal strength indication Pr of the signal strength indication received from measured target as the second measurement point2；
D, location Calculation:
According to the signal strength indication Pr of the first measurement point1With the signal strength indication Pr of the second measurement point2With the coordinate of the second measurement point
(x2,y2), difference in signal strength parameter K is calculated,In formula n be environmental factor, its value range be 1.7-3.0；Into
And obtain the abscissa parameter p of double measurement position,With the ordinate parameter q of double measurement position,
It calculates again: one a of location Calculation intermediate parameters,Two b of location Calculation intermediate parameters,Three c of location Calculation intermediate parameters,
The ordinate y of measured target is finally calculated,With the abscissa x of measured target,The coordinate position (x, y) of measured target is obtained, location estimation is completed.
2. a kind of indoor moving localization method based on WIFI directional aerial according to claim 1, it is characterised in that: institute
The mobile AP equipment stated is the WIFI router for having directional aerial and gyroscope.
3. a kind of indoor moving localization method based on WIFI directional aerial according to claim 1, it is characterised in that:
In the step A, measures and record signal of the signal strength indication received from measured target as the first measurement point
Intensity value Pr1Specific practice be: in 5 second time continuous ten times measure receive measured target transmitting signal signal strength
Value, using the average value of ten measured values as the signal strength indication Pr of the first measurement point1；
In the step C, measures and record signal of the signal strength indication received from measured target as the second measurement point
Intensity value Pr2Specific practice be: in 5 second time continuous ten times measure receive measured target transmitting signal signal strength
The average value of ten measured values is the signal strength indication Pr of the second measurement point by value2。
4. a kind of indoor moving localization method based on WIFI directional aerial according to claim 1, it is characterised in that: institute
In the step B stated, the signal emissive porwer standard value P of measured targettFor 80mW.
5. a kind of indoor moving localization method based on WIFI directional aerial according to claim 1, it is characterised in that: institute
The path loss model in step B stated are as follows:
ξ is the error factor in path loss in model, and the specific value of error factor ξ and environmental factor n are as shown in the table:
。
6. a kind of indoor moving localization method based on WIFI directional aerial according to claim 1, it is characterised in that: institute
In the step C stated, the size of traveling angle θ is 80 ° -100 °, and moving distance d is more than or equal between the first measurement point and measured target
Estimated distance d1Half.
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| CA2999095C (en) * | 2017-03-23 | 2022-04-19 | Legic Identsystems Ag | System and method for determining location information for a mobile radio transmitter |
| CN108320526A (en) * | 2017-12-20 | 2018-07-24 | 福建工程学院 | A kind of traffic route overspeed of vehicle monitoring method and terminal |
| CN109982252B (en) * | 2017-12-28 | 2021-10-22 | 北京小米松果电子有限公司 | Wireless positioning method, device and computer readable storage medium |
| CN108521631B (en) * | 2018-04-13 | 2020-05-22 | 重庆邮电大学 | Mobile AP (access point) identification method for indoor positioning |
| CN108684061A (en) * | 2018-04-25 | 2018-10-19 | 北京小米移动软件有限公司 | Paging method, device and computer readable storage medium |
| CN108732560A (en) * | 2018-05-21 | 2018-11-02 | 奕通信息科技（上海）股份有限公司 | The universal turning bench of WiFi localization methods and application this method based on signal launch angle |
| CN111479291B (en) * | 2020-04-13 | 2022-08-16 | 杭州零域信息技术有限公司 | Wi-Fi signal relative height intelligent measurement method |
| CN112327250B (en) * | 2020-10-30 | 2024-05-03 | 杭州海康威视数字技术股份有限公司 | Target positioning method and system and positioning node |
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| CN105247384A (en) * | 2013-04-12 | 2016-01-13 | 惠普发展公司，有限责任合伙企业 | Distance determination of a mobile device |
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