CN106941718A - A kind of mixing indoor orientation method based on signal subspace fingerprint base - Google Patents
A kind of mixing indoor orientation method based on signal subspace fingerprint base Download PDFInfo
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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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
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention discloses a kind of mixing indoor orientation method based on signal subspace fingerprint base, including off-line phase and positioning stage；In off-line phase, on the one hand using array antenna received signals, received signal strength is obtained, and set up received signal strength fingerprint base；The array signal of reception is calculated in addition, signal subspace data is obtained, sets up signal subspace fingerprint base.In positioning stage, first according to it is online when the data that measure matched with fingerprint base, and consider the probability distribution of offline coordinate, recycle bayesian theory to carry out information fusion, finally give the accurate elements of a fix.The array antenna technique that the present invention is used, it is one of key technology of following mobile terminal, the fingerprint base set up after Array Signal Processing contains the intensity and angle of arrival information of incoming signal, the influence of channel time-varying caused by multipath transmisstion and environmental change can more effectively be resisted, so as to effectively improve the precision of indoor positioning, reduce position error.
Description
Technical field
It is more particularly to a kind of to be based on signal subspace the invention belongs to signal transacting, information fusion and indoor positioning field
The mixing indoor orientation method of fingerprint base.
Background technology
Indoor positioning technologies refer to realize that position is accurately positioned in environment indoors, main using by wireless telecommunications, base station
A set of indoor location locating system of the multiple technologies such as positioning composition, to realize the position indoors in space such as personnel, object
Service.Common location technology has the positioning skill based on Wi-Fi, bluetooth, infrared ray, ultra wide band, RFID, ZigBee and ultrasonic wave
Art.
Fingerprint base location technology can effectively antagonize indoor multipath propagation, can largely improve indoor positioning essence
Degree.Indoor fingerprint base localization method typical at present is roughly divided into received signal strength (RSSI) fingerprint base location technology, space
Compose fingerprint base location technology and RFID label tag location technology etc..Received signal strength fingerprint base localization method can only provide reception and connect
Signal strength information is received, and signal subspace then stores the main information of signal, therefore signal subspace fingerprint base positioning side
Method can more effectively resist the influence of channel time-varying caused by multipath transmisstion and environmental change.
The 5th Generation Mobile Communication System by core of intelligent antenna technology is in development like a raging fire, grinds
Study carefully and show, most useful informations is all relevant with when and where in communication process, it is anticipated that as 5G communicates wide
General application, various business based on wireless location will also be released, and high-quality positioning service is by as very urgent
Demand.Using array antenna received signals and Array Signal Processing is carried out, required useful signal can be strengthened, suppress useless dry
Disturb and noise, and extract the information that useful signal characteristic and signal are included.Therefore built by array signal process technique
Vertical signal subspace fingerprint base, multipath transmisstion and environmental change can be more effectively resisted relative to received signal strength fingerprint base
The influence of caused channel time-varying.
Knowable to above-mentioned theory analysis, if using the mixing indoor orientation method of two kinds of fingerprint bases, it is possible to which increase can
For the auxiliary information of indoor moving terminal positioning, then the location information of two fingerprint bases is melted using bayesian theory
Conjunction can just improve the precision of indoor positioning, reduce position error.By retrieval, have in the prior art mutually inside the Pass
The disclosure of appearance.
The content of the invention
The technical problems to be solved by the invention are to obtain signal subspace using the array antenna of mobile terminal, and are set up
Signal subspace fingerprint base, obtains a kind of mixing indoor orientation method based on signal subspace fingerprint base.Purpose is carry out two
The mixing indoor positioning of fingerprint base is planted, the auxiliary information that can be used for indoor moving terminal positioning is added, and by based on shellfish
Leaf this theoretical information fusion technology further improves indoor position accuracy, to reduce position error.
To achieve the above object, technical scheme proposed by the present invention is a kind of mixing chamber based on signal subspace fingerprint base
Interior localization method, specifically includes following steps：
Step (1)：In off-line phase, the measurement of received signal strength is carried out, according to regional coordinate (xi,yj), i=
1 ..., m, y=1 ..., n measure corresponding received signal strength Rk(xi,yj), i=1 ..., m, j=1 ..., n, k=1 ...,
L, and set up received signal strength fingerprint base；
Step (2)：Array signal x (t), aerial array output vector x are measured offline using the array antenna of mobile terminal
(t) x (t)=As (t)+n (t), wherein x (t)=[x can be expressed as1(t),x2(t),…,xb(t) ,], A is array direction square
Battle array, s (t) is signal source, and n (t) is noise；
Step (3)：X (t) is obtained into signal subspace U by array signal processing methods=[u1,u2,…,uL], wherein
u1,u2,…,uLFor the corresponding characteristic vector of the larger characteristic values of L of array signal covariance matrix, and then measure all regions
Signal subspace collection { the U of coordinates(xi,yj) | i=1 ..., m, j=1 ..., n }, and set up signal subspace fingerprint base；
Step (4)：Received signal strength vector R'(x at on-line measurement mobile terminali,yj) and signal subspace U 's
(xi,yj), then calculated in fingerprint base Rigen according to related algorithm and obtain matching coordinate；
Step (5)：Fingerprint base matching training is carried out on each area coordinate, the error of two fingerprint bases is respectively obtained
Statistical probability P (dR|(xi,yj)) and P (dU|(xi,yj))；
Step (6)：According to the error statistics probability of above-mentioned two fingerprint base, information fusion is carried out using bayesian theory,
Obtain posterior probability the P ((x on each area coordinatei,yj)|dR,dU)；
Step (7)：Using maximum posteriori criterion, the accurate elements of a fix of mobile terminal are obtained
Further, above-mentioned steps 2 are specifically included：Define even linear array to be made up of b root antennas, array element spacing is d, its array
Direction vector is expressed asWherein select first
Point on the basis of array element, c is signal wavelength, and θ is arrival bearing, and aerial array output x (t) is x (t)=As (t)+n (t), wherein x
(t)=[x1(t),x2(t),…,xb(t)], s (t)=[s1(t),s2(t),…,sL(t)], A is array direction matrix.
Above-mentioned steps 3 are specifically included：Array output signal x (t) covariance matrix is R=E { (x (t)-mx(t))(x
(t)-mx(t))H, wherein mx(t) it is output signal average, because covariance matrix R is square formation, spy directly can be carried out to it
Value indicative is decomposedAnd then obtain signal subspace Us=[u1,u2,…,uL], wherein u1,u2,…,
uLFor the corresponding characteristic vector of the larger characteristic values of L of array signal covariance matrix, and set up signal subspace fingerprint base.
Above-mentioned steps 4 are specifically included：Received signal strength vector R'(x at on-line measurement mobile terminali,yj) and signal
Subspace U 's(xi,yj), in received signal strength fingerprint base and signal subspace fingerprint base, it is utilized respectivelyThe two formula are obtained accordingly
Fingerprint base matching coordinate, wherein D is minimum euclidean distance, and T is the minimum norm of matrix two.
Above-mentioned steps 5 are specifically included：Multiple step (4) is performed on each area coordinate, is calculated using coordinate is matched
Go out matching error, and carry out corresponding probability statistics, respectively obtain the matching error statistical probability P (d of two fingerprint basesR|
(xi,yj)) and P (dU|(xi,yj))。
Posterior probability described in above-mentioned steps (6) is P ((xi,yj)|dR,dU)∝P(dR|(xi,yj))·P(dU|(xi,
yj))·P((xi,yj))。
Beneficial effects of the present invention：
1st, present invention employs received signal strength fingerprint base and the hybrid locating method of signal subspace fingerprint base, fully
Effective location information of mobile terminal is make use of, a variety of errors that single fingerprint base is produced are eliminated.
2nd, the present invention uses the information fusion technology based on bayesian theory, effectively increases what last positioning result judged
The degree of accuracy.
3rd, the present invention establishes signal subspace fingerprint base, compared to received signal strength fingerprint base, signal subspace storage
The main information of signal, can more effectively resist the influence of channel time-varying caused by multipath transmisstion and environmental change.
4th, the present invention is using array antenna received signals and carries out Array Signal Processing, can strengthen required useful signal,
Suppress useless interference and noise, conveniently extract the information that useful signal characteristic and signal are included.
Brief description of the drawings
Fig. 1 is the schematic diagram of a scenario of the mixing indoor positioning of the present invention.
Fig. 2 is the flow chart that the present invention is set to method.
Fig. 3 is even linear array schematic diagram.
Embodiment
In conjunction with accompanying drawing, the present invention is further detailed explanation.
As shown in figure 1, signal message sampled point when being walked the invention provides indoor plane figure and user, including receive
Signal intensity and signal subspace information, wherein AP1, AP2... ..., APLBase station is set for router access point, i.e. hair, (xi,yj),
I=1 ..., m, y=1 ..., reference point coordinates when n is collection information, i.e. mobile terminal gathers the position of information, according to reference
Location fingerprint information, which is collected, at point sets up received signal strength fingerprint base and signal subspace fingerprint base；
As shown in Fig. 2 the method that is set to of the present invention includes following key step：
Step (1)：In off-line phase, the measurement of received signal strength is carried out, according to regional coordinate (xi,yj), i=
1 ..., m, y=1 ..., n measure corresponding received signal strength Rk(xi,yj), i=1 ..., m, j=1 ..., n, k=1 ...,
L, and set up received signal strength fingerprint base；
Step (2)：Array signal x (t), aerial array output vector x are measured offline using the array antenna of mobile terminal
(t) x (t)=As (t)+n (t), wherein x (t)=[x can be expressed as1(t),x2(t),…,xb(t) ,], A is array direction square
Battle array, s (t) is signal source, and n (t) is noise；
Step (3)：X (t) is obtained into signal subspace U by array signal processing methods=[u1,u2,…,uL], wherein
u1,u2,…,uLFor the corresponding characteristic vector of the larger characteristic values of L of array signal covariance matrix, and then measure all regions
Signal subspace collection { the U of coordinates(xi,yj) | i=1 ..., m, j=1 ..., n }, and set up signal subspace fingerprint base；
Step (4)：Received signal strength vector R'(x at on-line measurement mobile terminali,yj) and signal subspace U 's
(xi,yj), then calculated in fingerprint base Rigen according to related algorithm and obtain matching coordinate；
Step (5)：Fingerprint base matching training is carried out on each area coordinate, the error of two fingerprint bases is respectively obtained
Statistical probability P (dR|(xi,yj)) and P (dU|(xi,yj))；
Step (6)：According to the error statistics probability of two fingerprint bases, information fusion is carried out using bayesian theory, is obtained
Posterior probability P ((x on each area coordinatei,yj)|dR,dU)；
Step (7)：Using maximum posteriori criterion, the accurate elements of a fix of mobile terminal are obtained
Step (1) further comprises：Off-line measurement received signal strength, according to area coordinate { (xi,yj) | i=1 ..., m,
Y=1 ..., n }, measure corresponding received signal strength { Rk(xi,yj) | i=1 ..., m, j=1 ..., n, k=1 ..., L }, and
Received signal strength fingerprint base is set up, it is as shown in the table：
Step (2) includes：One even linear array for being made up of b root antennas, array element spacing is d, with arrival bearing θ incidences b
Root antenna, then the array direction vector of even linear array be:
Point on the basis of first array element is wherein selected, c is signal wavelength.
Defining array direction matrix is：
So aerial array output vector x (t) can be represented with below equation
X (t)=As (t)+n (t)
Wherein x (t)=[x1(t),x2(t),…,xb(t)], s (t)=[s1(t),s2(t),…,sL(t)], n (t) is to make an uproar
Sound；
Step (3) includes：Array output signal x (t) covariance matrix is
R=E { (x (t)-mx(t))(x(t)-mx(t))H}
Wherein, mx(t)=E [x (t)] is output signal average, and mx(t)=0.Then have
R=E { x (t) x (t)H}=E { (Ax (t)+n (t)) (Ax (t)+n (t))H}
Because covariance matrix R is square formation, then Eigenvalues Decomposition directly can be carried out to it and obtained：
The eigenvalue λ tried to achieve is ranked up, λ can be obtained1≥···≥λL＞ λL+1==λb=σ2, wherein σ2
Noise power is represented, i.e., preceding L value is related to signal, and its numerical value is more than σ2, ask and obtain signal subspace Us=[u1,u2,...,
uL], wherein u1,u2,...,uLFor the corresponding characteristic vector of the larger characteristic values of L of array signal covariance matrix, and then set up
Signal subspace fingerprint base, it is as shown in the table：
Step (4) includes：Received signal strength vector R' and signal subspace U at on-line measurement mobile terminals', root
According to KNN algorithms, R' and each R (x in received signal strength fingerprint base are calculatedi,yj) Euclidean distance：
D(xi,yj)=| | R'-R (xi,yj)||2
The minimum corresponding coordinate of received signal strength vector of K Euclidean distance is chosen, calculating is averagely worth to reception letter
The matching coordinate of number intensity fingerprint base.Further according to the minimum norm criterion of matrix two, U ' is calculatedsWith it is every in signal subspace fingerprint base
One Us(xi,yj) difference the norm of matrix two：
Calculating makes the norm T (x of matrix twoi,yj) coordinate when taking minimum value, the as matching of signal subspace fingerprint base sits
Mark.
Step (5) includes：Multiple step (4) is performed on each area coordinate, matching is calculated using coordinate is matched
Error, and corresponding probability statistics are carried out, the matching error statistical probability for respectively obtaining two fingerprint bases is P (dR|(xi,
yj)) and P (dU|(xi,yj)), i.e., the probability distribution of matching error under conditions of known coordinate.
Step (6) includes：According to the matching error statistical probability from two fingerprint bases reported, Bayesian Information is utilized
Integration technology, calculates the posterior probability on each area coordinate：
Step (7) includes：According to maximum posteriori criterion,
Try to achieve the elements of a fix of final mobile terminal
Claims (6)
1. a kind of mixing indoor orientation method based on signal subspace fingerprint base, it is characterised in that methods described includes as follows
Step：
Step (1)：In off-line phase, the measurement of received signal strength is carried out, according to regional coordinate (xi,yj), i=1 ...,
M, y=1 ..., n measure corresponding received signal strength Rk(xi,yj), i=1 ..., m, j=1 ..., n, k=1 ..., L, and build
Vertical received signal strength fingerprint base；
Step (2)：Array signal x (t) is measured offline using the array antenna of mobile terminal, and aerial array output vector x (t) can
To be expressed as x (t)=As (t)+n (t), wherein x (t)=[x1(t),x2(t),…,xb(t) ,], A is array direction matrix, s
(t) it is signal source, n (t) is noise；
Step (3)：X (t) is obtained into signal subspace U by array signal processing methods=[u1,u2,…,uL], wherein u1,
u2,…,uLFor the corresponding characteristic vector of the larger characteristic values of L of array signal covariance matrix, and then measure all area coordinates
Signal subspace collection { Us(xi,yj) | i=1 ..., m, j=1 ..., n }, and set up signal subspace fingerprint base；
Step (4)：Received signal strength vector R'(x at on-line measurement mobile terminali,yj) and signal subspace Us'(xi,
yj), then calculated in fingerprint base Rigen according to related algorithm and obtain matching coordinate；
Step (5)：Fingerprint base matching training is carried out on each area coordinate, the error statistics of two fingerprint bases are respectively obtained
Probability P (dR|(xi,yj)) and P (dU|(xi,yj))；
Step (6)：According to the error statistics probability of above-mentioned two fingerprint base, information fusion is carried out using bayesian theory, is obtained
Posterior probability P ((x on each area coordinatei,yj)|dR,dU)；
Step (7)：Using maximum posteriori criterion, the accurate elements of a fix of mobile terminal are obtained
2. a kind of mixing indoor orientation method based on signal subspace fingerprint base according to right 1, it is characterised in that：Institute
The method and step 2 stated includes：Define even linear array to be made up of b root antennas, array element spacing is d, its array direction vector representation isWherein select point, c on the basis of first array element
For signal wavelength, θ is arrival bearing, and aerial array output x (t) is x (t)=As (t)+n (t), wherein x (t)=[x1(t),x2
(t),…,xb(t)], s (t)=[s1(t),s2(t),…,sL(t)], A is array direction matrix.
3. a kind of mixing indoor orientation method based on signal subspace fingerprint base according to right 1, it is characterised in that：Institute
The method and step 3 stated includes：Array output signal x (t) covariance matrix is R=E { (x (t)-mx(t))(x(t)-mx(t)
)H, wherein mx(t) it is output signal average, because covariance matrix R is square formation, Eigenvalues Decomposition directly can be carried out to itAnd then obtain signal subspace Us=[u1,u2,…,uL], wherein u1,u2,…,uLFor array
The corresponding characteristic vector of the L of signal covariance matrix larger characteristic values, and set up signal subspace fingerprint base.
4. a kind of mixing indoor orientation method based on signal subspace fingerprint base according to right 1, it is characterised in that：Institute
The method and step 4 stated includes：Received signal strength vector R'(x at on-line measurement mobile terminali,yj) and signal subspace Us'
(xi,yj), in received signal strength fingerprint base and signal subspace fingerprint base, it is utilized respectivelyWithThe two formula are obtained accordingly
Fingerprint base matching coordinate, wherein D is minimum euclidean distance, and T is the minimum norm of matrix two.
5. a kind of mixing indoor orientation method based on signal subspace fingerprint base according to right 1, it is characterised in that：Institute
The method and step 5 stated includes：Multiple step (4) is performed on each area coordinate, matching mistake is calculated using coordinate is matched
Difference, and corresponding probability statistics are carried out, respectively obtain the matching error statistical probability P (d of two fingerprint basesR|(xi,yj)) and P
(dU|(xi,yj))。
6. a kind of mixing indoor orientation method based on signal subspace fingerprint base according to right 1, it is characterised in that：Institute
Posterior probability described in the method and step 6 stated is P ((xi,yj)|dR,dU)∝P(dR|(xi,yj))·P(dU|(xi,yj))·P
((xi,yj))。
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| CN111856527B (en) * | 2020-08-07 | 2023-06-20 | 中国电子科技集团公司第五十四研究所 | Indoor positioning method based on pseudolite space signal spectrum |
| CN112584311A (en) * | 2020-12-15 | 2021-03-30 | 西北工业大学 | Indoor three-dimensional space fingerprint positioning method based on WKNN fusion |
| CN113556674A (en) * | 2021-04-01 | 2021-10-26 | 珠海极海半导体有限公司 | Indoor positioning method and system based on Bluetooth communication and BLE chip |
| CN113556674B (en) * | 2021-04-01 | 2022-11-15 | 珠海极海半导体有限公司 | Indoor positioning method and system based on Bluetooth communication and BLE chip |
| CN113115224A (en) * | 2021-04-06 | 2021-07-13 | 中移(上海)信息通信科技有限公司 | Indoor positioning method and indoor positioning device |
| CN113115224B (en) * | 2021-04-06 | 2021-11-09 | 中移(上海)信息通信科技有限公司 | Indoor positioning method and indoor positioning device |
| CN113259837A (en) * | 2021-04-29 | 2021-08-13 | 西安电子科技大学 | Indoor positioning method based on angle estimation and fingerprint positioning algorithm |
| CN115113135A (en) * | 2022-06-21 | 2022-09-27 | Oppo广东移动通信有限公司 | Method for determining angle of arrival and related device |
| CN115113135B (en) * | 2022-06-21 | 2024-05-28 | Oppo广东移动通信有限公司 | Arrival angle determining method and related device |
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