CN106886552A - Position fingerprint database updating method and system - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及室内定位技术领域，特别是涉及一种位置指纹数据库更新方法及系统。The invention relates to the technical field of indoor positioning, in particular to a method and system for updating a location fingerprint database.
背景技术Background technique
室内定位技术是指，当人或物在遮蔽的室内环境时，获取其位置的定位技术。由于全球定位系统(GPS，Global Positioning System)的普及，室外定位技术非常成熟。但是，在室内环境中接受的GPS信号非常微弱，甚至接收不到，故室内需要采用新的定位技术。目前，室内定位技术总体分为三类：几何定位方法，临近定位方法，以及指纹匹配定位方法。几何定位法是指利用接入点(AP，Access Point)与待测终端之间的距离，根据几何学的原理估计出待测终端的方法。临近定位方法，也可叫最近AP法，根据待测终端与一个或多个位置已知位置AP的临近关系，将待测终端接收到的信号最强的AP的位置作为该待测终端的位置。位置指纹法，将定位环境进行抽象和形式化、离散化，用声学、光学、无线电等方面的特征的指标参数来描述定位环境中的各个位置。定位时，利用在定位点采集的位置指纹与指纹数据库中的指纹进行匹配，确定待测终端的位置。Indoor positioning technology refers to the positioning technology that obtains the location of people or objects when they are in a sheltered indoor environment. Due to the popularity of the Global Positioning System (GPS, Global Positioning System), the outdoor positioning technology is very mature. However, the GPS signal received in the indoor environment is very weak, and even cannot be received, so a new positioning technology needs to be adopted indoors. At present, indoor positioning technologies are generally divided into three categories: geometric positioning methods, proximity positioning methods, and fingerprint matching positioning methods. The geometric positioning method refers to a method of estimating the terminal to be tested according to the principle of geometry by using the distance between an access point (AP, Access Point) and the terminal to be tested. The proximity positioning method, also called the nearest AP method, uses the position of the AP with the strongest signal received by the terminal under test as the position of the terminal under test according to the proximity relationship between the terminal under test and one or more known APs. . The position fingerprinting method abstracts, formalizes and discretizes the positioning environment, and uses acoustic, optical, radio and other characteristic index parameters to describe each position in the positioning environment. During positioning, the position fingerprint collected at the positioning point is matched with the fingerprint in the fingerprint database to determine the position of the terminal to be tested.
指纹定位法的优势在于不需多边定位法中需要建立信道参数模型来估计收发机之间的距离，不需额外开发硬件平台来估计信道参数而减少了硬件开发的成本，甚至也不需要接入点具体的位置与布局。指纹定位算法包括：确定性算法、非确定性算法以及人工智能算法。确定性算法包括：K临近节点算法(KNN，K-Nearest Node)以及加权的K临近节点算法(WKNN，weighted K-Nearest Node)。非确定性算法包括：柱形图法、基于核函数的最大后验概率法等。人工智能算法包括：人工神经网络、支持向量机以及人工免疫遗传算法的指纹定位算法。The advantage of the fingerprint positioning method is that it does not need to establish a channel parameter model to estimate the distance between transceivers in the multilateral positioning method. Click on the specific location and layout. Fingerprint positioning algorithms include: deterministic algorithms, non-deterministic algorithms and artificial intelligence algorithms. Deterministic algorithms include: K-nearest node algorithm (KNN, K-Nearest Node) and weighted K-nearest node algorithm (WKNN, weighted K-Nearest Node). Non-deterministic algorithms include: histogram method, maximum a posteriori probability method based on kernel function, etc. Artificial intelligence algorithms include: artificial neural network, support vector machine and fingerprint positioning algorithm of artificial immune genetic algorithm.
指纹定位算法的精度取决于指纹信息与位置信息的关联度。若指纹信息与定位区域内的位置信息是一对一的关联关系，且这种关系不随环境的变化的影响，那么，无论采用何种指纹匹配算法都将获得准确估计结果。但实际情况下，即使待定位终端位置不变，终端所接收到的来自AP该的信号强度值也随时间的变化而不同，环境干扰包括多径效应、阴影效应、终端天线方向、室内环境温度、室内布局的变化以及室内人员的走动等。这种的时变特性导致指纹信息与位置信息的关联不唯一性、不确定性，从而产生位置估计误差。The accuracy of fingerprint positioning algorithm depends on the degree of correlation between fingerprint information and location information. If there is a one-to-one relationship between the fingerprint information and the location information in the positioning area, and this relationship is not affected by changes in the environment, then no matter what fingerprint matching algorithm is used, an accurate estimation result will be obtained. But in reality, even if the location of the terminal to be located remains unchanged, the signal strength value received by the terminal from the AP also varies with time. Environmental interference includes multipath effects, shadow effects, terminal antenna directions, and indoor ambient temperature , changes in the indoor layout and the movement of people in the room. This time-varying characteristic leads to non-uniqueness and uncertainty in the association between fingerprint information and location information, resulting in location estimation errors.
指纹定位法易受环境噪声干扰而导致定位精度受限。首先，确定性算法无法有效应对室内信号环境的时变特性，因而定位精度较差。其次，基于贝叶斯准则的非确定性算法可以有效应对室内信号环境的时变特性，但是，指纹数据釆集的时间与人工成本较高。最后，人工智能算法实现离散指纹数据库泛化的问题，但是，同样无法有效应对室内信号环境的时变特性。The fingerprint positioning method is susceptible to environmental noise interference, which leads to limited positioning accuracy. First of all, the deterministic algorithm cannot effectively deal with the time-varying characteristics of the indoor signal environment, so the positioning accuracy is poor. Secondly, the non-deterministic algorithm based on Bayesian criterion can effectively deal with the time-varying characteristics of the indoor signal environment, but the time and labor costs of fingerprint data collection are high. Finally, the artificial intelligence algorithm realizes the problem of generalization of the discrete fingerprint database, but it also cannot effectively deal with the time-varying characteristics of the indoor signal environment.
发明内容Contents of the invention
为了解决现有技术中的上述问题，本发明提供一种位置指纹数据库更新方法及系统，以实现对位置指纹数据库的及时更新，同时通过位置指纹特征数据的主动上报，降低位置指纹数据库的更新成本。In order to solve the above-mentioned problems in the prior art, the present invention provides a method and system for updating the location fingerprint database, so as to realize the timely update of the location fingerprint database, and at the same time reduce the update cost of the location fingerprint database by actively reporting the location fingerprint feature data .
为了达到上述目的，本发明提供一种位置指纹数据库更新方法，所述方法包括：In order to achieve the above object, the present invention provides a method for updating a location fingerprint database, the method comprising:
接收预设时间间隔内上传的移动终端的位置指纹数据，提取所述位置指纹数据中所携带的位置指纹特征数据；receiving the location fingerprint data of the mobile terminal uploaded within a preset time interval, and extracting the location fingerprint feature data carried in the location fingerprint data;
利用所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量并替换，以实现对所述位置指纹数据库的更新。Using the position fingerprint feature data to find and replace the corresponding feature position fingerprint vector in the preset position fingerprint database, so as to update the position fingerprint database.
优选地，所述位置指纹数据中还携带有所述移动终端的网络制式类型，所述利用所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量并替换，具体包括：Preferably, the location fingerprint data also carries the network standard type of the mobile terminal, and using the location fingerprint feature data to search and replace the corresponding feature location fingerprint vector in the preset location fingerprint database specifically includes:
根据所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量；Searching for a corresponding feature location fingerprint vector in a preset location fingerprint database according to the location fingerprint feature data;
根据所述位置指纹特征数据所属的移动终端的网络制式类型查找所述特征位置指纹向量中对应所述移动终端的网络制式类型的特征位置指纹分量；According to the network system type of the mobile terminal to which the position fingerprint feature data belongs, search for the feature position fingerprint component corresponding to the network system type of the mobile terminal in the feature position fingerprint vector;
利用所述特征位置指纹数据替换所述特征位置指纹分量。The feature position fingerprint component is replaced by the feature position fingerprint data.
优选地，所述位置指纹数据中所携带的位置指纹特征数据具体为最小化路测消息，所述最小化路测消息中包含有位置信息和实时特征位置指纹，所述利用所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量并替换，具体包括：Preferably, the location fingerprint feature data carried in the location fingerprint data is specifically a minimized drive test message, the minimized drive test message contains location information and real-time feature location fingerprints, and the use of the location fingerprint feature The data searches for the corresponding feature position fingerprint vector in the preset position fingerprint database and replaces it, specifically including:
根据所述位置信息查找预设位置指纹数据库中对应的栅格；Searching for the corresponding grid in the preset location fingerprint database according to the location information;
利用所述实时特征位置指纹替换所述栅格处对应的特征位置指纹向量。The feature position fingerprint vector corresponding to the grid is replaced by the real-time feature position fingerprint.
优选地，所述位置指纹数据中所携带的位置指纹特征数据具体为测量报告消息，所述测量报告消息中包含有实时特征位置指纹，所述利用所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量并替换，具体包括：Preferably, the position fingerprint feature data carried in the position fingerprint data is specifically a measurement report message, and the measurement report message contains real-time feature position fingerprints, and the use of the position fingerprint feature data to search for a preset position fingerprint database The corresponding feature position fingerprint vector in and replace, specifically include:
根据所述实时特征位置指纹在预设位置指纹数据库中查找与所述实时特征位置指纹最为接近的特征位置指纹向量；Searching for a feature position fingerprint vector closest to the real-time feature position fingerprint in a preset position fingerprint database according to the real-time feature position fingerprint;
定位所述位置指纹数据库中与所述实时特征位置指纹最为接近的特征位置指纹向量所在的栅格；Locating the grid where the feature location fingerprint vector closest to the real-time feature location fingerprint in the location fingerprint database is located;
利用所述实时特征位置指纹替换所述栅格处对应的特征位置指纹向量。The feature position fingerprint vector corresponding to the grid is replaced by the real-time feature position fingerprint.
优选地，所述方法还包括：Preferably, the method also includes:
构建二维栅格图；Build a 2D raster map;
将所述二维栅格图以预设比例划分为多个相同栅格，以每个栅格的几何中心作为获取特征位置指纹向量的定位参考点；Dividing the two-dimensional grid map into a plurality of identical grids with a preset ratio, using the geometric center of each grid as a positioning reference point for obtaining the feature position fingerprint vector;
获取每个栅格的定位参考点处的特征位置指纹向量；Obtain the feature position fingerprint vector at the positioning reference point of each grid;
所有栅格的定位参考点处的特征位置指纹向量组成位置指纹数据库。The feature location fingerprint vectors at the positioning reference points of all grids constitute the location fingerprint database.
本发明还提供了一种位置指纹数据库更新系统，所述系统应用于室内定位服务器上，包括：The present invention also provides a location fingerprint database update system, the system is applied to an indoor positioning server, including:
接收模块，用于接收预设时间间隔内上传的移动终端的位置指纹数据；The receiving module is used to receive the location fingerprint data of the mobile terminal uploaded within the preset time interval;
提取模块，用于提取所述位置指纹数据中所携带的位置指纹特征数据；An extraction module, configured to extract the location fingerprint feature data carried in the location fingerprint data;
处理模块，用于利用所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量并替换。A processing module, configured to use the position fingerprint feature data to search for a corresponding feature position fingerprint vector in a preset position fingerprint database and replace it.
优选地，所述位置指纹数据中还携带有所述移动终端的网络制式类型，所述处理模块，具体用于根据所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量；根据所述位置指纹特征数据所属的移动终端的网络制式类型查找所述特征位置指纹向量中对应所述移动终端的网络制式类型的特征位置指纹分量；利用所述特征位置指纹数据替换所述特征位置指纹分量。Preferably, the location fingerprint data also carries the network standard type of the mobile terminal, and the processing module is specifically configured to search for a corresponding feature location fingerprint vector in a preset location fingerprint database according to the location fingerprint feature data; According to the network system type of the mobile terminal to which the position fingerprint feature data belongs, search for the feature position fingerprint component corresponding to the network system type of the mobile terminal in the feature position fingerprint vector; replace the feature position with the feature position fingerprint data Fingerprint component.
优选地，所述位置指纹数据中所携带的位置指纹特征数据具体为最小化路测消息，所述最小化路测消息中包含有位置信息和实时特征位置指纹，所述处理模块，具体用于根据所述位置信息查找预设位置指纹数据库中对应的栅格；利用所述实时特征位置指纹替换所述栅格处对应的特征位置指纹向量。Preferably, the location fingerprint feature data carried in the location fingerprint data is specifically a minimized drive test message, and the minimized drive test message contains location information and real-time characteristic location fingerprints, and the processing module is specifically used to Finding the corresponding grid in the preset position fingerprint database according to the position information; using the real-time feature position fingerprint to replace the corresponding feature position fingerprint vector at the grid.
优选地，所述位置指纹数据中所携带的位置指纹特征数据具体为测量报告消息，所述测量报告消息中包含有实时特征位置指纹，所述处理模块，具体用于根据所述实时特征位置指纹在预设位置指纹数据库中查找与所述实时特征位置指纹最为接近的特征位置指纹向量；定位所述位置指纹数据库中与所述实时特征位置指纹最为接近的特征位置指纹向量所在的栅格；利用所述实时特征位置指纹替换所述栅格处对应的特征位置指纹向量。Preferably, the location fingerprint feature data carried in the location fingerprint data is specifically a measurement report message, and the measurement report message includes a real-time feature location fingerprint, and the processing module is specifically configured to, according to the real-time feature location fingerprint Find the feature position fingerprint vector closest to the real-time feature position fingerprint in the preset position fingerprint database; locate the grid where the feature position fingerprint vector closest to the real-time feature position fingerprint is located in the position fingerprint database; use The real-time feature location fingerprint replaces the corresponding feature location fingerprint vector at the grid.
优选地，还包括：Preferably, it also includes:
构建模块，用于构建二维栅格图；将所述二维栅格图以预设比例划分为多个相同栅格，以每个栅格的几何中心作为获取特征位置指纹向量的定位参考点；获取每个栅格的定位参考点处的特征位置指纹向量；所有栅格的定位参考点处的特征位置指纹向量组成位置指纹数据库。A building block for constructing a two-dimensional grid image; dividing the two-dimensional grid image into a plurality of identical grids with a preset ratio, and using the geometric center of each grid as a positioning reference point for obtaining a feature position fingerprint vector ; Obtain the feature position fingerprint vector at the positioning reference point of each grid; The feature position fingerprint vectors at the positioning reference points of all grids form a position fingerprint database.
与现有技术相比，本发明至少具有以下优点：Compared with the prior art, the present invention has at least the following advantages:
通过本发明中的位置指纹数据库更新设计，不仅实现了对位置指纹数据库的及时更新，同时通过位置指纹特征数据的主动上报，降低了位置指纹数据库的更新成本。Through the update design of the location fingerprint database in the present invention, not only the timely updating of the location fingerprint database is realized, but also the update cost of the location fingerprint database is reduced through the active reporting of the location fingerprint feature data.
附图说明Description of drawings
是图1是本发明提出的一种位置指纹数据库更新方法的流程示意图；1 is a schematic flow diagram of a method for updating a location fingerprint database proposed by the present invention;
图2是本发明提出的位置指纹数据库构建过程的流程示意图；Fig. 2 is a schematic flow chart of the location fingerprint database construction process proposed by the present invention;
图3是本发明所提供的4G移动终端的位置指纹数据库的栅格示意图；Fig. 3 is the grid schematic diagram of the location fingerprint database of the 4G mobile terminal provided by the present invention;
图4是本发明所提供的2G、3G和4G移动终端的位置指纹数据库的栅格示意图。Fig. 4 is a schematic diagram of grids of location fingerprint databases of 2G, 3G and 4G mobile terminals provided by the present invention.
具体实施方式detailed description
下面参照附图来描述本发明的优选实施方式。本领域技术人员应当理解的是，这些实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.
本发明提出一种位置指纹数据库更新方法，该方法应用于室内定位服务器上，下面结合附图，对本发明具体实施方式进行详细说明。The present invention proposes a method for updating a location fingerprint database, which is applied to an indoor positioning server. The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
如图1所示，该位置指纹数据库更新方法具体包括如下步骤：As shown in Figure 1, the method for updating the location fingerprint database specifically includes the following steps:
步骤101，接收预设时间间隔内上传的移动终端的位置指纹数据。Step 101, receiving location fingerprint data of the mobile terminal uploaded within a preset time interval.
其中，在该步骤之前，还包括预设位置指纹数据库的构建过程，如图2所示，具体的：Wherein, before this step, it also includes the construction process of the preset position fingerprint database, as shown in Figure 2, specifically:
步骤201，构建二维栅格图。Step 201, constructing a two-dimensional grid map.
步骤202，将所述二维栅格图以预设比例划分为多个相同栅格，以每个栅格的几何中心作为获取特征位置指纹向量的定位参考点。Step 202: Divide the two-dimensional grid map into multiple identical grids at a preset ratio, and use the geometric center of each grid as a positioning reference point for obtaining feature location fingerprint vectors.
如以1m*1m为精度划分室内区域，得到二维栅格，并以栅格的几何中心作为该栅格的定位参考点。For example, divide the indoor area with the accuracy of 1m*1m to obtain a two-dimensional grid, and use the geometric center of the grid as the positioning reference point of the grid.
步骤203，获取每个栅格的定位参考点处的特征位置指纹向量。Step 203, obtaining the feature position fingerprint vector at the positioning reference point of each grid.
具体的，该特征位置指纹向量可以为定位参考点处的多模信号强度；包括定位参考点处接收到的蜂窝基站的参考信号接收功率(RSRP，Reference Signal ReceivedPower)以及定位参考点处接收到的非蜂窝接入点(AP，Access Point)的接收信号强度指示(RSSI，Received Signal Strength Indication)；其中，蜂窝基站包括，第四代移动通信(4G，Four Generation)基站，第三代移动通信(3G，Three Generation)基站，第二代移动通信(2G，Two Generation)基站，非蜂窝AP指无线保真(WiFi，Wireless Fidelity)AP。Specifically, the characteristic position fingerprint vector can be the multimode signal strength at the positioning reference point; including the reference signal received power (RSRP, Reference Signal Received Power) of the cellular base station received at the positioning reference point and the signal received at the positioning reference point Received Signal Strength Indication (RSSI, Received Signal Strength Indication) of a non-cellular access point (AP, Access Point); wherein, the cellular base station includes a fourth generation mobile communication (4G, Four Generation) base station, a third generation mobile communication ( 3G, Three Generation) base station, second generation mobile communication (2G, Two Generation) base station, non-cellular AP refers to Wireless Fidelity (WiFi, Wireless Fidelity) AP.
步骤204，所有栅格的定位参考点处的特征位置指纹向量组成位置指纹数据库。In step 204, the feature location fingerprint vectors at the positioning reference points of all grids form a location fingerprint database.
其中，每一个栅格对应的特征位置指纹向量中均包含有2G、3G、4G和WiFi所分别对应的信号强度之一或多种，将定位参考点处的多模信号强度作为该栅格的特征位置指纹向量，所有定位栅格的特征位置指纹向量组成定位位置指纹数据库。Among them, the feature position fingerprint vector corresponding to each grid contains one or more signal strengths corresponding to 2G, 3G, 4G and WiFi respectively, and the multi-mode signal strength at the positioning reference point is used as the The feature location fingerprint vector, the feature location fingerprint vectors of all positioning grids form the location location fingerprint database.
其中，特征位置指纹向量，包括，2G基站的信号强度，3G基站的信号强度，4G基站的信号强度以及WiFi AP的信号强度。Wherein, the feature location fingerprint vector includes signal strength of 2G base station, signal strength of 3G base station, signal strength of 4G base station and signal strength of WiFi AP.
步骤102，提取所述位置指纹数据中所携带的位置指纹特征数据。Step 102, extracting location fingerprint feature data carried in the location fingerprint data.
步骤103，利用所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量并替换，以实现对所述位置指纹数据库的更新。Step 103, using the position fingerprint feature data to find and replace the corresponding feature position fingerprint vector in the preset position fingerprint database, so as to update the position fingerprint database.
其中，所述位置指纹特征数据中携带有所述移动终端的网络制式类型，该网络制式类型包括4G、3G、2G和WiFi，所述利用所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量并替换，具体包括：Wherein, the location fingerprint feature data carries the network standard type of the mobile terminal, and the network standard type includes 4G, 3G, 2G and WiFi, and the use of the location fingerprint feature data to search for the corresponding The feature position fingerprint vector and replace, specifically include:
根据所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量；Searching for a corresponding feature location fingerprint vector in a preset location fingerprint database according to the location fingerprint feature data;
根据所述位置指纹特征数据所属的移动终端的网络制式类型查找所述特征位置指纹向量中对应所述移动终端的网络制式类型的特征位置指纹分量；According to the network system type of the mobile terminal to which the position fingerprint feature data belongs, search for the feature position fingerprint component corresponding to the network system type of the mobile terminal in the feature position fingerprint vector;
利用所述特征位置指纹数据替换所述特征位置指纹分量。The feature position fingerprint component is replaced by the feature position fingerprint data.
具体的，根据该位置指纹特征数据的具体类型不同，可以包括如下两种方式：Specifically, according to the specific type of the location fingerprint feature data, the following two methods may be included:
方式一method one
所述位置指纹数据中所携带的位置指纹特征数据具体为最小化路测消息，所述最小化路测消息中包含有位置信息和实时特征位置指纹，所述利用所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量并替换，具体包括：The location fingerprint feature data carried in the location fingerprint data is specifically a minimized drive test message, and the minimized drive test message includes location information and real-time feature location fingerprints, and the use of the location fingerprint feature data to find the pre-set Set the corresponding feature position fingerprint vector in the position fingerprint database and replace it, specifically including:
根据所述位置信息查找预设位置指纹数据库中对应的栅格；Searching for the corresponding grid in the preset location fingerprint database according to the location information;
利用所述实时特征位置指纹替换所述栅格处对应的特征位置指纹向量。The feature position fingerprint vector corresponding to the grid is replaced by the real-time feature position fingerprint.
方式二way two
所述位置指纹数据中所携带的位置指纹特征数据具体为测量报告消息，所述测量报告消息中包含有实时特征位置指纹，所述利用所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量并替换，具体包括：The position fingerprint feature data carried in the position fingerprint data is specifically a measurement report message, and the measurement report message contains real-time feature position fingerprints, and the use of the position fingerprint feature data to search for the corresponding position in the preset position fingerprint database Feature position fingerprint vector and replacement, including:
根据所述实时特征位置指纹在预设位置指纹数据库中查找与所述实时特征位置指纹最为接近的特征位置指纹向量；Searching for a feature position fingerprint vector closest to the real-time feature position fingerprint in a preset position fingerprint database according to the real-time feature position fingerprint;
定位所述位置指纹数据库中与所述实时特征位置指纹最为接近的特征位置指纹向量所在的栅格；Locating the grid where the feature location fingerprint vector closest to the real-time feature location fingerprint in the location fingerprint database is located;
利用所述实时特征位置指纹替换所述栅格处对应的特征位置指纹向量。The feature position fingerprint vector corresponding to the grid is replaced by the real-time feature position fingerprint.
下面以两个具体实施方式分别就上述所提及的两种方式做具体阐述。The above-mentioned two manners are described in detail below in two specific implementation manners.
具体实施方式一Specific implementation mode one
运营商在有路测需求时，根据某些特定条件选择蜂窝移动终端执行最小化路测(MDT,Minimization of Drive Tests)上报，为运营商提供实时的网络质量评估数据，用以及时发现网络覆盖问题，进行网络优化等工作。其中，该最小化路测MDT包括瞬时型最小化路测(Immediate MDT)和日志型最小化路测(Logged MDT)；对于连接状态蜂窝移动终端的测量配置称为瞬时型最小化路测(Immediate MDT)，蜂窝移动终端在连接状态时进行测量，路测信息可以及时反馈给核心网。对于空闲状态蜂窝移动终端的测量配置称为日志型最小化路测(Logged MDT)，蜂窝移动终端在空闲状态时进行测量，路测信息需要等到下一次处于连接状态时才能反馈给核心网。When operators have drive test requirements, they select cellular mobile terminals to perform Minimization of Drive Tests (MDT, Minimization of Drive Tests) reporting according to certain specific conditions, providing operators with real-time network quality evaluation data for timely discovery of network coverage Problems, network optimization and other work. Wherein, the minimized drive test MDT includes an instantaneous minimized drive test (Immediate MDT) and a log type minimized drive test (Logged MDT); the measurement configuration for a connected state cellular mobile terminal is called an instantaneous minimized drive test (Immediate MDT). MDT), the cellular mobile terminal performs measurement when it is connected, and the drive test information can be fed back to the core network in time. The measurement configuration for cellular mobile terminals in the idle state is called Logged Minimized Drive Test (Logged MDT). The cellular mobile terminal performs measurements in the idle state, and the drive test information cannot be fed back to the core network until the next time it is in the connected state.
下面分别就Immediate MDT和Logged MDT做具体说明。The following describes Immediate MDT and Logged MDT respectively.
步骤1：蜂窝基站配置蜂窝移动终端执行Immediate MDT测量。Step 1: The cellular base station configures the cellular mobile terminal to perform Immediate MDT measurement.
蜂窝基站挑选特定的处于连接状态的蜂窝移动终端，并向该蜂窝移动终端下发有关Immediate MDT测量的配置命令。蜂窝基站包括，4G基站，3G基站，2G基站；处于连接状态的蜂窝移动终端执行Immediate MDT测量。蜂窝移动终端记录RSRP测量结果，测量数据获得的绝对时间戳，以及所在的地理信息(包括经度、纬度、高度)，最终向蜂窝基站汇报Immediate MDT测量。蜂窝移动终端，包括：4G移动终端，3G移动终端，2G移动终端。The cellular base station selects a specific cellular mobile terminal in a connected state, and issues configuration commands related to Immediate MDT measurement to the cellular mobile terminal. Cellular base stations include 4G base stations, 3G base stations, and 2G base stations; cellular mobile terminals in the connected state perform Immediate MDT measurements. The cellular mobile terminal records the RSRP measurement result, the absolute time stamp obtained from the measurement data, and the geographical information (including longitude, latitude, and altitude) where it is located, and finally reports the Immediate MDT measurement to the cellular base station. Cellular mobile terminals, including: 4G mobile terminals, 3G mobile terminals, and 2G mobile terminals.
步骤2，众包更新多模定位位置指纹库。Step 2: Crowdsourcing to update the multi-mode positioning location fingerprint database.
提取Immediate MDT测量中的实时位置指纹以及经纬度信息，依据经纬度信息将Immediate MDT测量中的实时位置指纹映射到相应栅格，并更新相应栅格的特征位置指纹向量中的相应分量。所述实时位置指纹具体指Immediate MDT测量中服务小区RSRP信息。Extract the real-time location fingerprint and longitude and latitude information in the Immediate MDT measurement, map the real-time location fingerprint in the Immediate MDT measurement to the corresponding grid according to the longitude and latitude information, and update the corresponding components in the characteristic location fingerprint vector of the corresponding grid. The real-time location fingerprint specifically refers to the serving cell RSRP information in the Immediate MDT measurement.
具体的，从2G Immediate MDT测量中提取实时位置指纹并更新相应栅格的特征位置指纹向量中2G基站的信号强度分量，从3G Immediate MDT测量中提取实时位置指纹并更新相应栅格的特征位置指纹向量中3G基站的信号强度分量，从4G Immediate MDT测量中提取实时位置指纹并更新相应栅格的特征位置指纹向量中4G基站的信号强度分量。Specifically, extract the real-time location fingerprint from the 2G Immediate MDT measurement and update the signal strength component of the 2G base station in the characteristic location fingerprint vector of the corresponding grid, extract the real-time location fingerprint from the 3G Immediate MDT measurement and update the characteristic location fingerprint of the corresponding grid The signal strength component of the 3G base station in the vector, extract the real-time location fingerprint from the 4G Immediate MDT measurement and update the signal strength component of the 4G base station in the characteristic location fingerprint vector of the corresponding grid.
步骤1：蜂窝基站配置蜂窝移动终端执行Logged MDT测量。Step 1: The cellular base station configures the cellular mobile terminal to perform Logged MDT measurement.
蜂窝基站挑选特定的处于连接状态的蜂窝移动终端，并向该蜂窝移动终端下发有关Logged MDT测量的配置命令。蜂窝基站包括，4G基站，3G基站，2G基站；蜂窝移动终端由连接状态转换到空闲状态后执行Logged MDT测量。蜂窝移动终端记录RSRP测量结果，测量数据获得的绝对时间戳，以及所在的地理信息(包括经度、纬度)，在下一次处于连接状态时向蜂窝基站上报Logged MDT测量结果。蜂窝移动终端，包括：4G移动终端，3G移动终端，2G移动终端。The cellular base station selects a specific cellular mobile terminal in a connected state, and issues configuration commands related to Logged MDT measurement to the cellular mobile terminal. Cellular base stations include 4G base stations, 3G base stations, and 2G base stations; cellular mobile terminals perform Logged MDT measurement after switching from connected state to idle state. The cellular mobile terminal records the RSRP measurement result, the absolute time stamp obtained from the measurement data, and the geographic information (including longitude and latitude), and reports the Logged MDT measurement result to the cellular base station when it is connected next time. Cellular mobile terminals, including: 4G mobile terminals, 3G mobile terminals, and 2G mobile terminals.
步骤2，众包更新多模定位位置指纹库。Step 2: Crowdsourcing to update the multi-mode positioning location fingerprint database.
提取Logged MDT测量中的实时位置指纹，依据经纬度信息将Logged MDT消息中映射到相应栅格，并更新相应栅格的特征位置指纹向量中相应分量。所述实时位置指纹指，Logged MDT测量中服务小区RSRP信息以及地理信息。Extract the real-time location fingerprint in the Logged MDT measurement, map the Logged MDT message to the corresponding grid according to the latitude and longitude information, and update the corresponding component in the feature location fingerprint vector of the corresponding grid. The real-time location fingerprint refers to RSRP information and geographical information of the serving cell in the Logged MDT measurement.
具体的，从2G Logged MDT测量中提取实时位置指纹并更新相应栅格的特征位置指纹向量中2G基站的信号强度分量，从3G Logged MDT测量中提取实时位置指纹并更新相应栅格的特征位置指纹向量中3G基站的信号强度分量，从4G Logged MDT测量中提取实时位置指纹并更新相应栅格的特征位置指纹向量中4G基站的信号强度分量。Specifically, extract the real-time location fingerprint from the 2G Logged MDT measurement and update the signal strength component of the 2G base station in the characteristic location fingerprint vector of the corresponding grid, extract the real-time location fingerprint from the 3G Logged MDT measurement and update the characteristic location fingerprint of the corresponding grid The signal strength component of the 3G base station in the vector, the real-time location fingerprint is extracted from the 4G Logged MDT measurement and the signal strength component of the 4G base station in the characteristic location fingerprint vector of the corresponding grid is updated.
具体实施方式二Specific implementation mode two
蜂窝基站配置处于连接状态的蜂窝移动终端进行周期性测量汇报MR(Measurement Report)。处于连接状态的蜂窝移动终端一定时间间隔周期性地向蜂窝基站上报下行参考信号接收强度等信息。蜂窝基站包括，4G基站，3G基站，2G基站。蜂窝移动终端，包括：4G移动终端，3G移动终端，2G移动终端。The cellular base station configures the cellular mobile terminal in the connected state to perform periodic measurement report MR (Measurement Report). The cellular mobile terminal in the connected state periodically reports information such as the received strength of the downlink reference signal to the cellular base station at a certain time interval. Cellular base stations include 4G base stations, 3G base stations, and 2G base stations. Cellular mobile terminals, including: 4G mobile terminals, 3G mobile terminals, and 2G mobile terminals.
蜂窝基站将蜂窝移动终端上报的MR消息转发给室内定位服务器；室内定位服务器提取MR消息中的服务小区RSRP信息，查找与实时位置指纹最接近的特征位置指纹向量所在的栅格，最终以此栅格的参考点坐标作为该MR消息的坐标。The cellular base station forwards the MR message reported by the cellular mobile terminal to the indoor positioning server; the indoor positioning server extracts the RSRP information of the serving cell in the MR message, searches for the grid where the feature location fingerprint vector closest to the real-time location fingerprint is located, and finally uses the grid The coordinates of the reference point of the grid are used as the coordinates of the MR message.
提取MR消息中的实时位置指纹，并更新相应栅格的特征位置指纹向量中相应分量。所述实时位置指纹具体指MR消息中服务小区RSRP信息。Extract the real-time location fingerprint in the MR message, and update the corresponding component in the feature location fingerprint vector of the corresponding grid. The real-time location fingerprint specifically refers to the serving cell RSRP information in the MR message.
具体的，根据该移动终端的网络制式类型不同，在进行相应栅格的特征位置指纹向量中相应分量更新时，进行对应的更新；从2G MR消息中提取实时位置指纹并更新相应栅格的特征位置指纹向量中2G基站的信号强度分量，从3G MR消息中提取实时位置指纹并更新相应栅格的特征位置指纹向量中3G基站的信号强度分量，从4G MR消息中提取实时位置指纹并更新相应栅格的特征位置指纹向量中4G基站的信号强度分量。Specifically, according to the different network standard types of the mobile terminal, when updating the corresponding component in the feature location fingerprint vector of the corresponding grid, perform corresponding update; extract the real-time location fingerprint from the 2G MR message and update the feature of the corresponding grid The signal strength component of the 2G base station in the location fingerprint vector, extract the real-time location fingerprint from the 3G MR message and update the corresponding raster. The signal strength component of the 3G base station in the location fingerprint vector, extract the real-time location fingerprint from the 4G MR message and update the corresponding The signal strength component of the 4G base station in the feature location fingerprint vector of the raster.
其中，如表1所示统计结果，全北京共有600万4G移动终端，全北京市范围内4G移动终端每天上报约26亿条MR消息，室内MR占16亿条。进一步，根据表2统计结果，在五环内室内，4G移动终端每天上报约14亿条MR消息，室内MR占10亿条；依据表1和表2统计结果，在室内平均25m2范围，每天可以收集到11条4G MR消息，如图3所示。考虑到4G、3G、2G移动终端的渗透率，25m2区域内的每一个栅格都可以收集到MR消息，如图4所示。因此，每个定位栅格的更新频率可以为一天。Among them, as shown in Table 1, there are 6 million 4G mobile terminals in Beijing. 4G mobile terminals in Beijing report about 2.6 billion MR messages every day, and indoor MR messages account for 1.6 billion. Further, according to the statistical results in Table 2 , 4G mobile terminals report about 1.4 billion MR messages every day indoors within the Fifth Ring Road, and indoor MRs account for 1 billion; Eleven 4G MR messages can be collected, as shown in Figure 3. Considering the penetration rate of 4G, 3G, and 2G mobile terminals, each grid in the 25m2 area can collect MR messages, as shown in Figure 4. Therefore, the update frequency for each location grid can be one day.
表1全北京市MR统计数目Table 1 Statistics of MR in Beijing
表2五环内MR统计数目Table 2 Statistical Number of MRs within the Fifth Ring Road
基于与上述方法同样的发明构思，本发明还提供了一种位置指纹数据库更新系统，所述系统应用于室内定位服务器上，包括：Based on the same inventive concept as the above method, the present invention also provides a location fingerprint database update system, the system is applied to an indoor positioning server, including:
接收模块，用于接收基站预设时间间隔内上传的移动终端的位置指纹数据；The receiving module is used to receive the location fingerprint data of the mobile terminal uploaded by the base station within a preset time interval;
提取模块，用于提取所述位置指纹数据中所携带的位置指纹特征数据；An extraction module, configured to extract the location fingerprint feature data carried in the location fingerprint data;
处理模块，用于利用所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量并替换。A processing module, configured to use the position fingerprint feature data to search for a corresponding feature position fingerprint vector in a preset position fingerprint database and replace it.
优选地，所述位置指纹数据中还携带有所述移动终端的网络制式类型，所述处理模块，具体用于根据所述位置指纹特征数据查找预设位置指纹数据库中对应的特征位置指纹向量；根据所述位置指纹特征数据所属的移动终端的网络制式类型查找所述特征位置指纹向量中对应所述移动终端的网络制式类型的特征位置指纹分量；利用所述特征位置指纹数据替换所述特征位置指纹分量。Preferably, the location fingerprint data also carries the network standard type of the mobile terminal, and the processing module is specifically configured to search for a corresponding feature location fingerprint vector in a preset location fingerprint database according to the location fingerprint feature data; According to the network system type of the mobile terminal to which the position fingerprint feature data belongs, search for the feature position fingerprint component corresponding to the network system type of the mobile terminal in the feature position fingerprint vector; replace the feature position with the feature position fingerprint data Fingerprint component.
优选地，所述位置指纹数据中所携带的位置指纹特征数据具体为最小化路测消息，所述最小化路测消息中包含有位置信息和实时特征位置指纹，所述处理模块，具体用于根据所述位置信息查找预设位置指纹数据库中对应的栅格；利用所述实时特征位置指纹替换所述栅格处对应的特征位置指纹向量。Preferably, the location fingerprint feature data carried in the location fingerprint data is specifically a minimized drive test message, and the minimized drive test message contains location information and real-time characteristic location fingerprints, and the processing module is specifically used to Finding the corresponding grid in the preset position fingerprint database according to the position information; using the real-time feature position fingerprint to replace the corresponding feature position fingerprint vector at the grid.
优选地，所述位置指纹数据中所携带的位置指纹特征数据具体为测量报告消息，所述测量报告消息中包含有实时特征位置指纹，所述处理模块，具体用于根据所述实时特征位置指纹在预设位置指纹数据库中查找与所述实时特征位置指纹最为接近的特征位置指纹向量；定位所述位置指纹数据库中与所述实时特征位置指纹最为接近的特征位置指纹向量所在的栅格；利用所述实时特征位置指纹替换所述栅格处对应的特征位置指纹向量。Preferably, the location fingerprint feature data carried in the location fingerprint data is specifically a measurement report message, and the measurement report message includes a real-time feature location fingerprint, and the processing module is specifically configured to, according to the real-time feature location fingerprint Find the feature position fingerprint vector closest to the real-time feature position fingerprint in the preset position fingerprint database; locate the grid where the feature position fingerprint vector closest to the real-time feature position fingerprint is located in the position fingerprint database; use The real-time feature location fingerprint replaces the corresponding feature location fingerprint vector at the grid.
优选地，还包括：Preferably, it also includes:
构建模块，用于构建二维栅格图；将所述二维栅格图以预设比例划分为多个相同栅格，以每个栅格的几何中心作为获取特征位置指纹向量的定位参考点；获取每个栅格的定位参考点处的特征位置指纹向量；所有栅格的定位参考点处的特征位置指纹向量组成位置指纹数据库。A building block for constructing a two-dimensional grid image; dividing the two-dimensional grid image into a plurality of identical grids with a preset ratio, and using the geometric center of each grid as a positioning reference point for obtaining a feature position fingerprint vector ; Obtain the feature position fingerprint vector at the positioning reference point of each grid; The feature position fingerprint vectors at the positioning reference points of all grids form a position fingerprint database.
本领域技术人员应该能够意识到，结合本文中所公开的实施例描述的各示例的模块、及方法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明电子硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以电子硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。本领域技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。Those skilled in the art should be able to realize that the modules and method steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the electronic hardware and Interchangeability of software. In the above description, the components and steps of each example have been generally described according to their functions. Whether these functions are performed by electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may implement the described functionality using different methods for each particular application, but such implementation should not be considered as exceeding the scope of the present invention.
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings, but those skilled in the art will easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.
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