CN106872938A - A kind of indoor locating system - Google Patents
A kind of indoor locating system Download PDFInfo
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- CN106872938A CN106872938A CN201710115132.2A CN201710115132A CN106872938A CN 106872938 A CN106872938 A CN 106872938A CN 201710115132 A CN201710115132 A CN 201710115132A CN 106872938 A CN106872938 A CN 106872938A
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a kind of indoor locating system, including tag location module and positioning evaluation module, the tag location module is used to position unknown position label, obtains positioning result；The positioning evaluation module is estimated for setting up evaluation index to the accuracy of the positioning result；The tag location module completes to position using known location label and reader when unknown position label is positioned to unknown position label, and the tag location module includes that signal intensity calculates unit, tag distances ask for unit and unit is asked in position；The signal intensity calculates unit to be used to calculate the signal intensity that known location label and unknown position label are received on each reader；The tag distances ask for unit for asking for the distance between the signal receiving strength of unknown position label and the signal receiving strength of known location label；Unit is asked for for asking for the position of unknown position label in the position.The present invention can realize more accurate indoor positioning.
Description
Technical field
The present invention relates to indoor positioning technologies field, and in particular to a kind of indoor locating system.
Background technology
Along with the deep development of wireless technology, mobile communication technology and " context-aware services ", people increasingly thirst for
At any time and any place, by any way to environment in any object enter the acquisition of row information with treatment.In situation sense
Know service technology field, the positional information of service object is one of most important ambient parameter, and decide that can situation service
Effectively, accurately implement.Prior art is obtained using satellite-based alignment system with the alignment system based on cellular network mostly
Take the positional information of service object.But for some need situation service indoor PE, such as school, hospital, warehouse,
Supermarket, prison, drive, either satellite-based alignment system and the alignment system based on cellular network, its standard error phase
Larger for less indoor environment, synchronous signal is influenceed to be greatly attenuated very faint stage by building,
Make that as outdoor directly from satellite or base station broadcast navigation data must be extracted and temporal information is substantially impossible, thus it is fixed
Position precision is extremely restricted, it is difficult to directly apply to indoor positioning.
The content of the invention
Regarding to the issue above, the present invention is intended to provide a kind of indoor locating system.
The purpose of the present invention is realized using following technical scheme：
There is provided a kind of indoor locating system, including tag location module and positioning evaluation module, the tag location mould
Block is used to position unknown position label, obtains positioning result；The positioning evaluation module is used to set up evaluation index pair
The accuracy of the positioning result is estimated.
Preferably, the tag location module is to unknown position label when positioning, using known location label and
Reader completes to position to unknown position label, and the tag location module includes that signal intensity calculates unit, tag distances and asks for
Unit is asked in unit and position；The signal intensity calculates unit to be used to calculate known location label and unknown position label each
The signal intensity received on reader；The tag distances ask for unit for asking for the signal receiving strength of unknown position label
The distance between with the signal receiving strength of known location label；Unit is asked for for asking for unknown position label in the position
Position.
Beneficial effects of the present invention are：More accurate indoor positioning can be realized.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but embodiment in accompanying drawing is not constituted to any limit of the invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also obtain according to the following drawings
Other accompanying drawings.
Fig. 1 is structure connection diagram of the invention；
Reference：
Tag location module 10, positioning evaluation module 20, signal intensity calculate unit 100, tag distances and ask for unit
200th, unit 300 is asked in position.
Specific embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of indoor locating system of the present embodiment, including tag location module 10 and positioning evaluation module
20, the tag location module 10 is used to position unknown position label, obtains positioning result；The positioning evaluation module
20 are estimated for setting up evaluation index to the accuracy of the positioning result.
Preferably, the tag location module 10 is to unknown position label when positioning, using known location label
With reader to unknown position label complete position, the tag location module 10 include signal intensity calculate unit 100, label away from
From asking for unit 200 and unit 300 is asked in position；The signal intensity calculate unit 100 be used to calculating known location label and
The signal intensity that unknown position label is received on each reader；The tag distances ask for unit 200 for asking for unknown bits
Put the distance between the signal receiving strength of label and the signal receiving strength of known location label；Ask for unit in the position
300 positions for being used to ask for unknown position label.
Preferably, the signal intensity calculates unit 100 and is respectively being read in calculating known location label and unknown position label
Read device on receive signal intensity when, using path loss model reflection transmitting interrogation signals collection of letters field intensity indoors channel pass
Strength Changes during broadcasting, the computing formula of the signal receiving strength S of reader is：
In formula, PfIt is the signal transmission power of label, d is reader and tag distances, PL (d0) for reader in reference point
d0Place receives the signal receiving strength attenuation of signal, PL (d0') for reader in reference point d0The signal that ' place receives signal connects
Strength retrogression's amount is received, σ represents the standard deviation of ambient noise, and unit is dB；
Before actual location, several test position labels are chosen, record the test position label and connect on each reader
The signal intensity for receiving, sets up the discrete relationship database with signal intensity on each test position label, will be by the reading
In the signal intensity and discrete relationship database of the test position label that the computing formula of the signal receiving strength S of device is obtained
Based on signal intensity, signal intensity correction factor is calculated, if each test position label in discrete relationship database
CSρThe standard deviation of the signal intensity on each reader is σ (CSρ), ρ=1 ..., m, m are the quantity of test position label, by institute
State the test position label C S that the computing formula of the signal receiving strength S of reader is obtainedρSignal intensity on each reader
Standard deviation be σ*(CSρ), then the signal intensity correction factor is：
During actual location, the computing formula of the signal receiving strength of the reader after the optimization for using for：
S '=Γ × S
The then computing formula of the signal receiving strength according to the reader after optimization, certain the unknown position label for calculating
WZiThe signal intensity vector of the reception on each readerFor：
In formula,The WZ that expression is calculatediIn reader RlOn signal receiving strength, l=1,2 ..., L；
The computing formula of the signal receiving strength according to the reader after optimization, certain the known location label YZ for calculatingj
The signal intensity vector of the reception on each readerFor：
In formula,The YZ that expression is calculatedjIn reader RlOn signal receiving strength, l=1,2 ..., L.
This preferred embodiment has taken into full account electromagnetism in environment indoors in the calculating process for carrying out signal receiving strength
The transmission environment complexity of ripple, and calculated with reference to 2 reference points, more can accurately reduce transmission signal；Carry out
When the signal intensity of unknown position label and known location label is calculated, signal intensity correction factor is introduced so that signal intensity
Calculating it is more accurate.
The distance between the signal receiving strength of the unknown position label and the signal receiving strength of known location label
Calculated according to the following formula：
In formula,Represent unknown position label WZiSignal receiving strength and known location label YZjSignal receive
The distance between intensity, M represents known location label YZjQuantity.
This preferred embodiment has taken into full account the distance of reader and label during signal receiving strength distance is calculated
Influence to signal receiving strength confidence level, the tag distances reliability of acquisition is higher.
The position for asking for unknown position label, specifically includes：
(1) by the distance between signal receiving strength of the signal receiving strength of unknown position label and known location label
It is expressed as vector form：
(2) calculateMiddle k minimum element, as with unknown position label WZiThe label of arest neighbors, by each distance
It is expressed as vector form：
(3) known location label difference weight is assigned according to proximity, so as to estimate WZiCoordinate
In formula,It is known location label YZjCoordinate；
This preferred embodiment has taken into full account known location label and unknown position during unknown position label is asked for
Tag distances, the position asked for is more accurate.
Preferably, the evaluation index of setting up is estimated to the accuracy of the positioning result, specially：Periodically using system
System evaluated error WC is estimated to positioning precision,
In formula,It is WZiEstimated position,It is WZiActual position, E is desired value.
This preferred embodiment is estimated to positioning precision, it is ensured that the long-term reliability of system, and contributes to being
System is improved, and obtains relatively reliable alignment system.
Preferably, the positioning evaluation module 20 is additionally provided with positioning fault alarm mechanism, and the positioning fault alarm mechanism is：
The allowed error threshold of setting positioning, the system estimation error WC that record a period of time is periodically calculated, tires out
Quantity β of the product record more than the system estimation error WC of the error threshold, if certain system estimation error being once calculated is
WCλ, η is satisfactionSystem estimation error quantity, whereinWCmax、WCminRespectively
It is the average value of system estimation error WC, maximum and minimum value in a period of time periodic logging, then when meeting following judge
During formula, judge that positioning failure occurs in indoor locating system, and carry out corresponding alarm：
In formula, ξ is the quantity of the system estimation error WC of a period of time periodic logging, λ=1 ..., ξ.
This preferred embodiment sets positioning fault alarm mechanism so that the indoor locating system can be estimated according to legacy system
The accuracy of meter error information prompting positioning, the improvement to indoor locating system provides the foundation of more science.
Indoor positioning is carried out using the present invention, and positioning scenarios to L difference values have carried out statistical analysis, compared to tradition
Indoor orientation method, generation has the beneficial effect that shown in table：
| L | Indoor position accuracy is improved | The indoor positioning time shortens |
| 15 | 30% | 25% |
| 16 | 32% | 24% |
| 17 | 33% | 23% |
| 18 | 35% | 22% |
| 19 | 36% | 20% |
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of scope is protected, although being explained to the present invention with reference to preferred embodiment, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent, without deviating from the reality of technical solution of the present invention
Matter and scope.
Claims (4)
1. a kind of indoor locating system, it is characterized in that：Including tag location module and positioning evaluation module, the tag location mould
Block is used to position unknown position label, obtains positioning result；The positioning evaluation module is used to set up evaluation index pair
The accuracy of the positioning result is estimated.
2. a kind of indoor locating system according to claim 1, it is characterized in that：The tag location module is to unknown bits
When putting label and being positioned, unknown position label is completed to position using known location label and reader, the tag location mould
Block includes that signal intensity calculates unit, tag distances ask for unit and unit is asked in position；The signal intensity calculates unit and uses
In the signal intensity that calculating known location label and unknown position label are received on each reader；The tag distances ask for list
Unit is for asking for the distance between the signal receiving strength of unknown position label and the signal receiving strength of known location label；Institute
Rheme puts the position for asking for unit for asking for unknown position label.
3. a kind of indoor locating system according to claim 2, it is characterized in that：The signal intensity calculates unit and is calculating
During the signal intensity that known location label and unknown position label are received on each reader, reflected using path loss model and marked
Sign the collection of letters field intensity of transmission signal Strength Changes indoors during dissemination channel, the meter of the signal receiving strength S of reader
Calculating formula is：
In formula, PfIt is the signal transmission power of label, d is reader and tag distances, PL (d0) for reader in reference point d0Place
Receive the signal receiving strength attenuation of signal, PL (d0') for reader in reference point d0The signal that ' place receives signal receives strong
Degree attenuation, σ represents the standard deviation of ambient noise, and unit is dB.
4. a kind of indoor locating system according to claim 3, it is characterized in that：The signal of the unknown position label is received
The distance between signal receiving strength of intensity and known location label is calculated according to the following formula：
In formula,Represent unknown position label WZiSignal receiving strength and known location label YZjSignal receiving strength it
Between distance, M represents known location label YZjQuantity.
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| CN105652239A (en) * | 2015-12-23 | 2016-06-08 | 深圳市国华光电研究院 | Self-adaptive high-precision indoor positioning method and system |
| WO2016206340A1 (en) * | 2015-06-26 | 2016-12-29 | 中国矿业大学 | Method of double-tag high-precision positioning moving object facing mine |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102928813A (en) * | 2012-10-19 | 2013-02-13 | 南京大学 | RSSI (Received Signal Strength Indicator) weighted centroid algorithm-based passive RFID (Radio Frequency Identification Device) label locating method |
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| WO2016206340A1 (en) * | 2015-06-26 | 2016-12-29 | 中国矿业大学 | Method of double-tag high-precision positioning moving object facing mine |
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Denomination of invention: Indoor positioning system and method Effective date of registration: 20191112 Granted publication date: 20181207 Pledgee: Nanjing Bank Co., Ltd. Chengnan Branch Pledgor: NANJING CHIEBOT TECHNOLOGIES CO., LTD. Registration number: Y2019320000272 |
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