CN106772232B - A kind of indoor orientation method based on zonal coding - Google Patents
A kind of indoor orientation method based on zonal coding Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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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
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Abstract
The invention discloses a kind of indoor orientation methods based on zonal coding, including localization region are divided into N number of subregion, and encode for all subregion setting area；Each regional code is associated with each with reference to RSS information by the reference RSS information that each reference point is calculated according to predetermined computation rule；The target RSS information of terminal to be measured is calculated according to predetermined computation rule, and is gone out according to regional code preliminary screening to stator region, is matched target RSS information each the refer to RSS information associated with target area coding to obtain positioning result.Since the reference RSS information of the division and reference mode that carry out region is only related with the access node in the subregion of place, then reduces much with reference to the element for including in RSS information, can significantly save memory space.In addition in carrying out target RSS information matching process, it is only necessary to which by regional code determination to match in stator region with reference RSS information, therefore there are many range shorter searched, to save the time of positioning.
Description
Technical field
The present invention relates to indoor positioning technologies fields, more particularly to a kind of indoor orientation method based on zonal coding.
Background technique
Indoor positioning is a kind of based on indoor location service a location technology.Indoor fingerprint is generally divided into two ranks
Section: off-line phase and on-line stage.
It is set indoors first in off-line phase access node (AP, Access Point), each access node can be with
Regard signal emitting-source as, further needs exist for that multiple reference modes (RP, Reference Point), each reference mode is arranged
It can regard that signal receives source as.Each reference mode can receive the signal that a certain range of access node is sent, right
For reference mode, the size of the signal strength received can be passed through with the positional relationship (distance) of each access node
It embodies, this information is exactly RSS (Received Signal Strength, signal receiving strength) information.Due to reference node
The location of point is different, then each reference mode is just different at a distance from each access node, therefore, each reference mode
RSS information has uniqueness, therefore we are also referred to as finger print information.Indoors in positioning, it would be desirable to by each reference mode
RSS information save in the database.
It is random when the position of terminal to be measured in on-line stage, the location of be exactly our targets to be positioned.To
The signal that each access node is sent can be received by surveying terminal, thus according to signal strength (in off-line phase, the calculating of reference point
Mode is identical) it can be obtained by its corresponding RSS information.Pass through each reference mode in obtained RSS information and off-line phase
RSS information is matched, so that it is determined that the position of terminal to be measured, realizes indoor positioning.
In the prior art, it is to save the RSS information of each reference mode, is accurately positioned to realize, is usually joined
It is many to examine node setting, and if access node and reference mode also can be very more, this just makes when indoor spaces area is excessive
It requires to save in the database at the RSS information all referring to node, therefore, required memory space is very big, in addition,
Since RSS information is more, when carrying out RSS information matching, the consumed time also can be very more.
It can be seen that the occupied memory space of the RSS information for how reducing each reference mode and shortening RSS information
It is those skilled in the art's urgent problem to be solved with the consumed time.
Summary of the invention
The object of the present invention is to provide a kind of indoor orientation methods based on zonal coding, for reducing each reference mode
The occupied memory space of RSS information and shortening RSS information match the consumed time.
In order to solve the above technical problems, the present invention provides a kind of indoor orientation method based on zonal coding, comprising:
Localization region is divided into N number of subregion, and is each subregion setting area coding；Wherein, N be not less than
2 integer, the localization region are previously provided with access node and reference mode, and the access node, which is sent, has regional code
Signal；
The reference RSS information that each reference point is calculated according to predetermined computation rule, by each regional code and each ginseng
RSS information association is examined, and is saved in the database；
The target RSS information of terminal to be measured is calculated according to the predetermined computation rule, and is received according to the terminal to be measured
The regional code preliminary screening arrived goes out to stator region, by the associated each ginseng of the target RSS information and target area coding
RSS information is examined to be matched to obtain positioning result；
Wherein, it is described with reference to RSS information according to each access node in the subregion where the reference mode and its
Positional relationship obtains, and the target RSS information is according to each access node in the subregion where the terminal to be measured and its
Positional relationship obtains, and the target area is encoded to described to the corresponding regional code of stator region.
Preferably, described that localization region is divided into N number of subregion and specific for each subregion setting area coding
Are as follows: N number of subregion is divided by the localization region is secondary, and the regional code is by the level-one area of the subregion divided for the first time
The level-2 area of domain coding and second of subregion divided encodes composition.
Preferably, the calculation with reference to RSS information specifically:
The signal strength of each access node received in subregion according to each reference mode obtains RSS vector；
Wherein, RSS vector is [ri,w_L1,ri,2_Lw,ri,3_Lw,...,ri,j_Lw], each element is ri,j_AwIt indicates i-th
Reference mode receives the signal receiving strength of j-th of access node in Lw sub-regions, and L is the sub-district divided for the first time
The serial number in domain, w are the serial number of second of subregion divided；
Calculate mean vector of each access node in subregion；
Wherein, mean vector isEach element
Calculate the equispaced of each RSS vector；
Wherein, equispaced is [gap1_Lw,gap2_Lw,gap3_Lw,...,gapj_Lw], each element in equispaced
Differential vector is obtained as calculus of differences with corresponding mean vector to each RSS vector；Wherein, differential vector is
By each element in each differential vector divided by corresponding equispaced, an integer is obtained after rounding up
ki,j_Lw, and seek ki,j_Lw2 complement on n n obtain the RSS code set [code of i-th of reference mode in Lw sub-regionsi1,
codei2,codei3,…,codeij], RSS code set is described with reference to RSS information；
Wherein,
Preferably, localization region is averagely divided into N number of subregion.
Preferably, the regional code preliminary screening received according to the terminal to be measured goes out specifically to wrap to stator region
It includes:
The regional code selection region coding that the signal of each access node received according to the terminal to be measured is included
Most subregions is as described to stator region.
Preferably, if the quantity to stator region is 2 or 2 or more, further include:
The terminal to be measured is calculated in each average value to the RSS vector in stator region；
Using the maximum subregion of average value as described to stator region；
Wherein, RSS vector of the terminal to be measured in each the RSS vector in stator region and the reference mode
Calculation is identical.
Indoor orientation method provided by the present invention based on zonal coding, including localization region is divided into N number of sub-district
Domain, and encoded for all subregion setting area；The reference RSS information of each reference point, Jiang Gequ are calculated according to predetermined computation rule
Domain coding is associated with each with reference to RSS information, and is saved in the database；The target of terminal to be measured is calculated according to predetermined computation rule
RSS information, and the regional code preliminary screening received according to terminal to be measured goes out to stator region, by target RSS information and mesh
It is each associated by mark regional code to be matched to obtain positioning result with reference to RSS information.Due to the division for carrying out localization region
And the reference RSS information of reference mode is only related with the access node in the subregion of place, therefore, with reference to the packet in RSS information
The element contained can be much less, therefore can significantly save memory space.In addition target RSS information is being carried out
With in the process, it is only necessary to be determined by regional code to stator region, be matched i.e. in stator region with reference RSS information
Can, therefore there are many range shorter searched, so as to saving the time of positioning.
Detailed description of the invention
In order to illustrate the embodiments of the present invention more clearly, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill people
For member, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the indoor orientation method based on zonal coding provided in an embodiment of the present invention；
Fig. 2 is a kind of division schematic diagram of localization region provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole embodiments.Based on this
Embodiment in invention, those of ordinary skill in the art are without making creative work, obtained every other
Embodiment belongs to the scope of the present invention.
Core of the invention is to provide a kind of indoor orientation method based on zonal coding, for reducing each reference mode
The occupied memory space of RSS information and shortening RSS information match the consumed time.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
Fig. 1 is a kind of flow chart of the indoor orientation method based on zonal coding provided in an embodiment of the present invention.Such as Fig. 1 institute
Show, this method comprises:
S10: localization region is divided into N number of subregion, and is encoded for all subregion setting area.Wherein, N be not less than
2 integer, localization region are previously provided with access node and reference mode, and access node sends the signal for having regional code.
S11: calculating the reference RSS information of each reference point according to predetermined computation rule, by each regional code and it is each refer to RSS
Information association, and save in the database.
S12: calculating the target RSS information of terminal to be measured according to predetermined computation rule, and received according to terminal to be measured
Regional code preliminary screening goes out to stator region, refers to RSS information for each associated by target RSS information and target area coding
It is matched to obtain positioning result.
Wherein, the positional relationship with reference to RSS information according to each access node in the subregion where reference mode and its
It obtains, target RSS information is obtained according to the positional relationship of terminal to be measured and each access node in the subregion where it, target
Regional code is to the corresponding regional code of stator region.
It is understood that step S10 and step S11 are needed to be implemented for positioning for the first time, but if not
It is to position for the first time, then step S10 and step S11 do not need to repeat, it is only necessary to execute step S12.
In step S10, the division of localization region can be divided arbitrarily, but most preferred mode is average division.It can be with
Understand, localization region is divided into several regions, how to divide and all needs depending on practical application scene, all may be used
It is not to have fixed mode with flexible choice.Under normal conditions, the number of institute's molecular domains according to the size of localization region come
It divides, and related with the communication distance of used access node, if subregion is rectangle, takes rectangular edges a length of
1.2 times of communication distance, and should have in each subregion 3 to 6 access nodes (number of access node be greater than etc.
In 3, accurate positioning of the terminal to be measured in subregion can be completed).
Due to pre-setting access node and reference mode, the RSS of each reference mode is calculated according to pre-defined rule
Information, it should be noted that reference RSS information here is saved according to each access in the subregion where reference mode and its
The positional relationship of point obtains, in other words, access section of the RSS information of each reference mode with the subregion where the node
Point has relationship.Here reference RSS information is to distinguish with target RSS information, and the two is all RSS information, is only joined
The information that RSS information is reference mode is examined, and target RSS information is the information of terminal to be measured.Since RSS information is present node
The embodiment of signal strength corresponding to positional relationship with each access node, therefore, if not according to mode in the prior art
If carrying out subregion division to localization region, then the position comprising present node and whole access nodes is just needed in RSS information
Signal strength corresponding to relationship, i.e., the element for including in RSS information is just very more, and it is empty to will lead to required storage in this way
Between it is very big, and in the present embodiment, RSS information is right for present node and the positional relationship of the access node in the subregion of place
The signal strength answered, therefore, the element for including in RSS information is with regard to fewer, it is clear that such RSS information is stored in data
Less memory space will be occupied in library.After dividing subregion, the RSS information of the reference mode in different subregions has
May be identical, it would therefore be desirable to add a regional code, region each in this way to the RSS information in same sub-regions
After coding is associated with corresponding RSS information, so that it may overcome the above problem.
Positioning for each terminal to be measured, it is only necessary to repeat step S12.Terminal to be measured enters positioning area
Behind domain, so that it may the signal for receiving each access node within the scope of certain distance, while sending signal due to access node
The regional code where this node is also carried, then terminal to be measured will receive the signal with regional code, it is possible to understand that
If the coded number comprising A subregion inside the signal that terminal to be measured in A subregion, receives will compare
It is more, then it is exactly a-quadrant to stator region, therefore only need to calculate the target RSS information of terminal to be measured according to predetermined computation rule
, it should be noted that target RSS information is the position according to each access node in the subregion where terminal to be measured and its
Set relationship (positional relationship influence signal strength) to obtain, i.e. position relationship affect signal strength, although positional relationship be it is unknown,
But signal strength be it is known, positional relationship can be determined by signal strength.For example, if it is determined that A subregion be to
Stator region then only needs to search in the corresponding regional code of A subregion matched with reference to RSS information with target RSS information
, the position with reference to the corresponding reference point of RSS information be it is known, therefore, we can be obtained by the position of terminal to be measured,
Realize positioning.
It should be noted that the signal that each access node of the present embodiment is sent can be believed with various wireless signals, such as WIFI
Number, Bluetooth signal or radiofrequency signal.Can be with flexible choice according to application difference, such as can choose WIFI inside market
Signal, then the equipment of access node is exactly WIFI transmitting equipment, and received terminal to be measured is exactly WIFI signal；Inside parking lot
It can choose radiofrequency signal, then the equipment of access node is exactly radio frequency emitting devices, and received terminal to be measured is exactly radiofrequency signal.
Based on the indoor orientation method of zonal coding in the present embodiment, including localization region is divided into N number of subregion, and
For all subregion setting area coding；The reference RSS information that each reference point is calculated according to predetermined computation rule, by each regional code
It is associated with, and saves in the database with reference to RSS information with each；The target RSS letter of terminal to be measured is calculated according to predetermined computation rule
Breath, and the regional code preliminary screening received according to terminal to be measured goes out to stator region, by target RSS information and target area
The associated each RSS information that refers to of coding is matched to obtain positioning result.Due to the division and reference for carrying out localization region
The reference RSS information of node is only related with the access node in the subregion of place, therefore, with reference to the member for including in RSS information
Element can be much less, therefore can significantly save memory space.In addition target RSS information matching process is being carried out
In, it is only necessary to it is determined by regional code to stator region, is matched in stator region with reference RSS information, therefore
There are many range shorter of lookup, so as to saving the time of positioning.
On the basis of the above embodiments, preferably embodiment, step S10 specifically: localization region is secondary
It is divided into N number of subregion, the sub-district that regional code is divided by the level-1 area coding of the subregion divided for the first time with second
The level-2 area in domain encodes composition.
It is understood that localization region is divided, number is more, access node and reference mode setting it is more, then it is fixed
Position is more accurate, but calculation amount is also larger simultaneously.In the present embodiment, the division of localization region is divided into and is carried out twice.Fig. 2 is this
A kind of division schematic diagram for localization region that inventive embodiments provide.As shown in Fig. 2, be classified as by taking a market as an example A, B,
C, tetra- regions D, corresponding level-1 area coding is respectively 00,01,10,01, is then subdivided into each subregion smaller
Subregion be divided into A1, A2, A3, A4 by taking the A of region as an example, corresponding level-2 area coding is respectively 0000,0001,
0010、0011。
It will be apparent that localization region is subjected to secondary division, the element that can be further reduced in RSS information, thus into one
Step saves memory space.
As preferred embodiment, with reference to the calculation of RSS information specifically:
1) signal strength of each access node received in subregion according to each reference mode obtains RSS vector.
Wherein, RSS vector is [ri,w_L1,ri,2_Lw,ri,3_Lw,…,ri,j_Lw], each element is ri,j_AwIndicate i-th of ginseng
The signal receiving strength for j-th of access node that node receives in Lw sub-regions is examined, L is the subregion divided for the first time
Serial number, w is the serial number of second subregion divided.
For Fig. 2, by taking the region A1 as an example, then A means that the serial number of the subregion divided for the first time, and 1 indicates second
The serial number of the subregion of secondary division, i.e., for the region A1, the Lw in formula is exactly A1, for the region B1, in formula
Lw be exactly B1.The quantity of the region A1 access node is 4, then j=1,2,3,4.According to above-mentioned formula, in the region A1
The RSS vector of i reference mode is [ri,1_A1,ri,2_A1,ri,3_A1,ri,4_A1]。
2) mean vector of each access node in subregion is calculated.
Wherein, mean vector isEach element
For the region A1, the mean vector of each access node is
3) equispaced of each RSS vector is calculated.
Wherein, equispaced is [gap1_Lw,gap2_Lw,gap3_Lw,...,gapj_Lw], each element in equispaced
For the region A1, the equispaced of each RSS vector is indicated are as follows:
4) differential vector is obtained as calculus of differences with corresponding mean vector to each RSS vector.Wherein, differential vector is
For the region A1,
By each element in each differential vector divided by corresponding equispaced, an integer is obtained after rounding up
ki,j_Lw, and seek ki,j_Lw2 complement on n n obtain the RSS code set [code of i-th of reference mode in Lw sub-regionsi1,
codei2,codei3,...,codeij], RSS code set is described with reference to RSS information；
Wherein,
For the region A1,The RSS code set of so i-th reference mode is
[codei1,codei2,codei3,codei4]。
In specific implementation, by encoded information and physical location coordinate after each reference mode finds out RSS code set
It corresponds, to form mapping relations, and is deposited into database, to constitute indoor positioning electromagnetism coding map.
It should be noted that the reference RSS information of terminal to be measured is identical as above-mentioned calculating process, the present embodiment is no longer superfluous
It states.
On the basis of the above embodiments, as preferred embodiment, the regional code received according to terminal to be measured
Preliminary screening goes out to specifically include to stator region:
The regional code selection region coding that the signal of each access node received according to terminal to be measured is included is most
Subregion be used as to stator region.
It is understood that regional code is contained in the signal that terminal to be measured receives, for example, if terminal energy to be measured
Whole signals of access node and the signal of 1 access node in the region A2 in the region A1 are enough received, then can be determined
The coding in 4 regions A1 and the coding in 1 region A2 are contained in the signal received, therefore illustrate terminal to be measured in the area A1
Domain is exactly A1 to stator region.
But in some cases, more special, such as position where terminal to be measured is critical localisation, also by taking Fig. 2 as an example,
If terminal to be measured can receive in the region A1 the signal of 3 access nodes and the letter of 3 access nodes in the region A2
Number, then can determine the coding of coding and 3 regions A2 that 3 regions A1 are contained in the signal received, therefore illustrate to
Terminal is surveyed in the region A1 or the region A2, i.e., is exactly A1 and A2 to stator region.At this point, be 2 to stator region, then above-mentioned judgement
Method, which just fails, to be needed at this time with a kind of following method.
As preferred embodiment, if the quantity to stator region is 2 or 2 or more, further include:
Terminal to be measured is calculated in the average value respectively to the RSS vector in stator region.
Using the maximum subregion of average value as to stator region.
Wherein, terminal to be measured is in the RSS vector calculation phase respectively to RSS vector and reference mode in stator region
Together.
It is [r by the RSS vector of above i-th of reference modei,1_A1,ri,2_A1,ri,3_A1,ri,4_A1], then for be measured
For terminal, corresponding RSS vector is exactly [ri,1_A1,ri,2_A1,ri,3_A1], [ri,1_A2,ri,2_A2,ri,3_A2], i here is solid
It is fixed, be exactly terminal to be measured, wherein each element in this vector be terminal to be measured receive each access node signal it is strong
Degree.Here average value is exactly the number after being added the element in each RSS vector divided by element.After calculating average value,
Select the maximum subregion of average value as to stator region.The description that other embodiment is seen above, the present embodiment is no longer
It repeats.
The indoor orientation method provided by the present invention based on zonal coding is described in detail above.In specification
Each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments,
The same or similar parts in each embodiment may refer to each other.For the device disclosed in the embodiment, due to itself and implementation
Method disclosed in example is corresponding, so being described relatively simple, reference may be made to the description of the method.It should be pointed out that
For those skilled in the art, without departing from the principle of the present invention, can also to the present invention into
Row some improvements and modifications, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
Claims (4)
1. a kind of indoor orientation method based on zonal coding characterized by comprising
Localization region is divided into N number of subregion, and is each subregion setting area coding；Wherein, N is not less than 2
Integer, the localization region are previously provided with access node and reference mode, and the access node is sent with regional code
Signal；
The reference RSS information that each reference mode is calculated according to predetermined computation rule, by each regional code and each reference
RSS information association, and save in the database；
The target RSS information of terminal to be measured is calculated according to the predetermined computation rule, and received according to the terminal to be measured
Regional code preliminary screening goes out to stator region, refers to RSS for each associated by the target RSS information and target area coding
Information is matched to obtain positioning result；
Wherein, the position with reference to RSS information according to each access node in the subregion where the reference mode and its
Relationship obtains, position of the target RSS information according to each access node in the subregion where the terminal to be measured and its
Relationship obtains, and the target area is encoded to described to the corresponding regional code of stator region；
Wherein, described that localization region is divided into N number of subregion, and be each subregion setting area coding specifically: it will
The localization region is secondary to be divided into N number of subregion, and the regional code is compiled by the level-1 area of the subregion divided for the first time
The level-2 area of code and second of subregion divided encodes composition；
Wherein, the calculation with reference to RSS information specifically:
The signal receiving strength of each access node received in subregion according to each reference mode obtains RSS vector；
Wherein, RSS vector is [ri,j_Lw], ri,j_LwIt indicates to connect for j-th that i-th of reference mode receives in Lw sub-regions
The signal receiving strength of ingress, L are the serial number of the subregion divided for the first time, and w is the serial number of second of subregion divided；
Calculate mean vector of each access node in subregion；
Wherein, mean vector is
Calculate the equispaced of each RSS vector；
Wherein, equispaced is [gapj_Lw],
Differential vector is obtained as calculus of differences with corresponding mean vector to each RSS vector；Wherein, differential vector
By each element in each differential vector divided by corresponding equispaced, an integer k is obtained after rounding upi,j_Lw, and
Seek ki,j_Lw2 complement on n n obtain the RSS code set [code of i-th of reference mode in Lw sub-regionsij], RSS coding
Group is described with reference to RSS information；
Wherein,
2. the indoor orientation method according to claim 1 based on zonal coding, which is characterized in that localization region is averaged
It is divided into N number of subregion.
3. the indoor orientation method according to claim 1 based on zonal coding, which is characterized in that described in the foundation to
The regional code preliminary screening that terminal receives is surveyed to go out to specifically include to stator region:
The regional code selection region coding that the signal of each access node received according to the terminal to be measured is included is most
Subregion as described to stator region.
4. the indoor orientation method according to claim 3 based on zonal coding, which is characterized in that if described to stator region
The quantity in domain is 2 or 2 or more, then further include:
The terminal to be measured is calculated in each average value to the RSS vector in stator region；
Using the maximum subregion of average value as described to stator region；
Wherein, the terminal to be measured is calculated in the RSS vector of each RSS vector in stator region and the reference mode
Mode is identical.
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| CN109490824B (en) * | 2018-10-23 | 2020-12-22 | 普联技术有限公司 | Position fingerprint information matching method and device, storage medium and terminal equipment |
| GB201901066D0 (en) * | 2019-01-25 | 2019-03-13 | Nicoventures Trading Ltd | Aerosol generating apparatus, aerosol generating article and method of determining data associated with an aerosol generating article |
| CN111343714B (en) * | 2020-02-09 | 2021-06-04 | 北京小米移动软件有限公司 | Terminal positioning method and device, electronic equipment and storage medium |
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