CN107484241A - Method and apparatus based on geographical fingerprint location under a kind of millimeter wave channel - Google Patents
Method and apparatus based on geographical fingerprint location under a kind of millimeter wave channel Download PDFInfo
- Publication number
- CN107484241A CN107484241A CN201710757424.6A CN201710757424A CN107484241A CN 107484241 A CN107484241 A CN 107484241A CN 201710757424 A CN201710757424 A CN 201710757424A CN 107484241 A CN107484241 A CN 107484241A
- Authority
- CN
- China
- Prior art keywords
- nights
- stay
- default
- localization region
- fiducial value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Collating Specific Patterns (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The embodiments of the invention provide the method and apparatus based on geographical fingerprint location under a kind of millimeter wave channel, predeterminated position and default offline geographical fingerprint database of this method according to the stay of two nights to be positioned, carry out online stay of two nights location estimation, it is determined that online stay of two nights position, wherein, the offline geographical fingerprint database is the geographical fingerprint for storing access point AP in default localization region, and an AP geographical fingerprint includes：Each reference point RP receives the relative angle between signal intensity, every RP and the AP of the AP signal transmitteds in the default localization region, and the relative angle is：The line of AP and RP and the angle of vertical direction；Utilize online stay of two nights position, the position of the positioning stay of two nights to be positioned.Scheme provided in an embodiment of the present invention has considered feature of both relative angle and signal intensity, and then improve the accuracy of positioning under millimeter wave channel circumstance.
Description
Technical field
The present invention relates to wireless communication technology field, more particularly to being based on geographical fingerprint location under a kind of millimeter wave channel
Method and apparatus.
Background technology
In different geographical environments, the multipath characteristics of channel differ.The wireless communication that the terminal transmission of a certain position goes out
Number in communication process after reflecting, reflect, scatter, the generation multipath signal related and unique to communication environments, these multipaths
Feature is considered as " the geographical fingerprint " of this position.
With based on ranging, based on the localization method of angle measurement compared with, the localization method based on geographical fingerprint is independent of direct projection footpath
Positioned.It combines reception signal feature, channel estimation results and geographical environment information etc., can complete the letter of degree of precision
Su Dingwei.
At present, prior art proposes a kind of method based on geographical fingerprint location under millimeter wave channel, this method be
Under wireless WIFI channel circumstances, the signal intensity that intended sink surveys to obtain will be positioned and referred to as the geography of the goal-selling stay of two nights
Line corresponds to sampled point compared with having previously been stored in the geographical fingerprint in fingerprint database, by the minimum geographical fingerprint of difference
Position as final goal stay of two nights position, wherein, the geographical fingerprint in the fingerprint database is the signal measured in sampled point
Intensity.But this method only relies on what signal intensity was positioned as geographical fingerprint, because WIFI directionality is insufficient and low
Frequency resource-constrained, therefore this method positioning accuracy is poor.
The content of the invention
The purpose of the embodiment of the present invention is to provide method and dress based on geographical fingerprint location under a kind of millimeter wave channel
Put, positioned after feature of both relative angle and signal intensity is considered, with the accuracy of lifting positioning.Specifically
Technical scheme is as follows：
A kind of method based on geographical fingerprint location under millimeter wave channel, methods described include：
According to the predeterminated position of the stay of two nights to be positioned and default offline geographical fingerprint database, carry out online stay of two nights position and estimate
Meter, it is determined that online stay of two nights position, wherein, the offline geographical fingerprint database is to be used to store access point in default localization region
AP geographical fingerprint, an AP geographical fingerprint include：Each reference point RP receives the AP institutes in the default localization region
The relative angle between signal intensity, every RP and the AP of signal is sent, the relative angle is：The company of AP and RP
The angle of line and vertical direction；
Utilize online stay of two nights position, the position of the positioning stay of two nights to be positioned.
Further, the relative angle is：
Using direction of arrival location technology DOA in the default localization region RP carry out relative angle angle estimation and
Obtained angle.
Further, the predeterminated position according to the stay of two nights to be positioned and default offline geographical fingerprint database, are carried out
Online stay of two nights location estimation, it is determined that online stay of two nights position, including：
Obtain the stay of two nights in the predeterminated position and receive each AP signal transmitteds in the default localization region online
Signal intensity Sq；Wherein, q is the sequence number of AP in the default localization region；
According to following expressionCalculate in the default localization region corresponding to every AP first plus
Quan He, wherein, LqTo preset the first weighted sum of serial number q AP in localization region, w1+w2=1, w1、w2For weights,For
The relative angle of the predeterminated position and q-th of AP；
According to following expressionCalculate in the default localization region second corresponding to every AP
Weighted sum, wherein, FwqTo preset the second weighted sum that the RP of serial number w in localization region corresponds to q-th of AP, w is described pre-
If RP sequence number, S in localization regionwqQ-th of AP is received by w-th of the RP recorded in default offline geographical fingerprint database to be sent out
The signal intensity for the number of delivering letters,For w-th of the RP and q-th of AP relative angle recorded in default offline geographical fingerprint database
Degree；
By the first weighted sum of every AP in default localization region respectively with every RP to should AP the second weighted sum enter
Row compares, and obtains fiducial value corresponding to every RP, and the fiducial value to being obtained is ranked up；
The predetermined number fiducial value of minimum is selected from the fiducial value after sequence, and by RP corresponding to selected fiducial value
Position be defined as online stay of two nights position.
Further, the position for utilizing online stay of two nights position, positioning the stay of two nights to be positioned, including：
The position of RP corresponding to selected fiducial value is weighted according to preset weights, obtains the letter to be positioned
The position of place.
Further, first weighted sum by every AP in default localization region is respectively with every RP to should AP
Second weighted sum is compared, and obtains fiducial value corresponding to every RP, and the fiducial value to being obtained is ranked up, including：
By the first weighted sum of every AP in default localization region respectively with every RP to should AP the second weighted sum enter
Row compares, and obtains fiducial value corresponding to every RP according to following expression, and the fiducial value to being obtained is ranked up；
Expression formula：Wherein, BwFiducial value corresponding to w-th of RP is represented, Q represents to be positioned
AP sum in region, a are any arithmetic number.
Further, the position for utilizing online stay of two nights position, positioning the stay of two nights to be positioned, including：
Using selected fiducial value as weights, the position of RP corresponding to selected fiducial value is carried out according to following expression
Weighted calculation, obtain the position of the stay of two nights to be positioned；
Expression formula：Wherein,Stay of two nights x in rectangular coordinate system respectively to be positioned
Position corresponding to axle and y-axis, xw、ywFor w-th of RP in rectangular coordinate system position corresponding to x-axis and y-axis, K for it is selected relatively
The corresponding RP of value sum,For prevent denominator be zero setting level off to zero number.
Device based on geographical fingerprint location under a kind of millimeter wave channel, described device include：
Online stay of two nights position determination module, for the predeterminated position according to the stay of two nights to be positioned and default offline geographical fingerprint
Database, online stay of two nights location estimation is carried out, it is determined that online stay of two nights position, wherein, the offline geographical fingerprint database is to use
In the geographical fingerprint of access point AP in the default localization region of storage, an AP geographical fingerprint includes：The default localization region
Interior each reference point RP receives the relative angle between signal intensity, every RP and the AP of the AP signal transmitteds, described
Relative angle is：The line of AP and RP and the angle of vertical direction；
Stay of two nights position determination module to be positioned, for utilizing online stay of two nights position, position the position of the stay of two nights to be positioned.
Further, the online stay of two nights position determination module includes：
First signal intensity determination sub-module, described preset is received online for obtaining the stay of two nights in the predeterminated position
The signal intensity S of each AP signal transmitteds in localization regionq；Wherein, q is the sequence number of AP in the default localization region；
First weighted calculation submodule, for according to following expressionCalculate the default positioning
First weighted sum corresponding to every AP in region, wherein, LqTo preset the first weighted sum of serial number q AP in localization region, w1
+w2=1, w1、w2For weights,For the predeterminated position and q-th of AP relative angle；
Second weighted calculation submodule, for according to following expressionCalculate described presetting
Second weighted sum corresponding to every AP in the region of position, wherein, FwqCorrespond to q-th to preset the RP of serial number w in localization region
AP the second weighted sum, w be the default localization region in RP sequence number, SwqTo be recorded in default offline geographical fingerprint database
W-th of RP receive q-th of AP signal transmitted signal intensity,Recorded in default offline geographical fingerprint database
W-th of RP and q-th of AP relative angle；
Comparison sub-module, for by the first weighted sum of every AP in default localization region respectively with every RP to should AP
The second weighted sum be compared, obtain fiducial value corresponding to every RP, and the fiducial value to being obtained is ranked up；
Second online stay of two nights determination sub-module, for selecting the predetermined number of minimum from the fiducial value after sequence relatively
Value, and the position of RP corresponding to selected fiducial value is defined as online stay of two nights position.
At the another aspect that the present invention is implemented, a kind of computer-readable recording medium is additionally provided, it is described computer-readable
Instruction is stored with storage medium, when run on a computer so that computer performs a kind of any of the above-described described milli
Method based on geographical fingerprint location under metric wave channel.
At the another aspect that the present invention is implemented, the embodiment of the present invention additionally provides a kind of computer program production comprising instruction
Product, when run on a computer so that computer is performed under a kind of any of the above-described described millimeter wave channel based on geography
The method of fingerprint location.
Method and apparatus based on geographical fingerprint location under a kind of millimeter wave channel provided in an embodiment of the present invention, Ke Yigen
Predeterminated position and default offline geographical fingerprint database according to the stay of two nights to be positioned, carry out online stay of two nights location estimation, it is determined that
Line stay of two nights position, using online stay of two nights position, determine the position of intended sink.This method is comprehensive under millimeter wave channel circumstance
Feature of both angle and signal intensity is considered, and then improves the accuracy of positioning.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the signal of the method based on geographical fingerprint location under the first millimeter wave channel provided in an embodiment of the present invention
Figure；
Fig. 2 is the displaying figure of relative angle provided in an embodiment of the present invention；
Fig. 3 is the signal of the method based on geographical fingerprint location under second of millimeter wave channel provided in an embodiment of the present invention
Figure；
Fig. 4 is the signal of the method based on geographical fingerprint location under the third millimeter wave channel provided in an embodiment of the present invention
Figure；
Fig. 5 is the signal of the device based on geographical fingerprint location under a kind of millimeter wave channel provided in an embodiment of the present invention
Figure；
Fig. 6 provides the structural representation of a kind of electronic equipment for the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The feature and exemplary embodiment of various aspects of the invention is described more fully below.It should be noted that under
In the detailed description in face, it is proposed that many details, to carry out comprehensive understanding to the present invention.But for this area people
For member, the present invention can be implemented in the case of some details in not needing these details.
In the following description, there is provided many details fully understand so as to provide to embodiments of the invention.So
And it will be appreciated by persons skilled in the art that in some cases, goods being not shown in detail and describes known features, unit or operating procedure
To avoid obscuring the major technique intention of the present invention.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can change
Become annexation, change sequence of steps, or mutually carry out different combinations.It is below with reference to the accompanying drawings and in conjunction with the embodiments detailed
Illustrate the application.
Fig. 1 is the signal of the method based on geographical fingerprint location under the first millimeter wave channel provided in an embodiment of the present invention
Figure, methods described include：
S101, according to the predeterminated position of the stay of two nights to be positioned and default offline geographical fingerprint database, carry out the online stay of two nights
Location estimation, it is determined that online stay of two nights position, wherein, the offline geographical fingerprint database is to be used to store in default localization region
Access point AP geographical fingerprint, an AP geographical fingerprint include：Each reference point RP is received in the default localization region
Relative angle between the signal intensity of the AP signal transmitteds, every RP and the AP, the relative angle are：This AP and one
RP line and the angle of vertical direction；
Wherein, the stay of two nights can be understood as the object of reception signal；
In order to more clearly describe relative angle, now relative angle is shown using figure, θ in Fig. 21For access point
1 relative angle formed in vertical direction with reference point 1, θ2The phase formed in vertical direction with reference point 1 for access point 2
To angle, θ3The relative angle formed in vertical direction for access point 3 and reference point 1.
It should be noted that offline geographical fingerprint database is made up of geographical fingerprint, a geographical fingerprint includes pre-
If in localization region each reference point RP receive the signal intensity of an AP signal transmitted, the AP and the predeterminated position it
Between relative angle, that is to say, that the corresponding signal intensity of AP and a relative angle.
In order to clearly describe to manage fingerprint database, now lift example and illustrate, example：Assuming that default localization region
Inside there are 2 RP, 3 AP, wherein, 2 RP are designated as RP1, RP2, and 3 AP are respectively AP1, AP2 and AP3, then offline database is then
There are six geographical fingerprints, be respectively：
First geographical fingerprint：RP1 is received between signal intensity, AP1 and the RP1 of an AP1 signal transmitted
Relative angle；
Second geographical fingerprint：RP1 is received between signal intensity, AP2 and the RP1 of an AP2 signal transmitted
Relative angle；
3rd geographical fingerprint：RP1 is received between signal intensity, AP3 and the RP1 of an AP3 signal transmitted
Relative angle；
4th geographical fingerprint：RP2 is received between signal intensity, AP1 and the RP2 of an AP1 signal transmitted
Relative angle；
5th geographical fingerprint：RP2 is received between signal intensity, AP2 and the RP2 of an AP2 signal transmitted
Relative angle；
6th geographical fingerprint：RP2 is received between signal intensity, AP3 and the RP2 of an AP3 signal transmitted
Relative angle；
It is noted that for compared with the prior art, a geographical fingerprint provided in an embodiment of the present invention includes AP
Corresponding signal intensity includes relative angle corresponding to the AP again, therefore geographical fingerprint provided in an embodiment of the present invention is relative to existing
There is the geographical fingerprint of technology, when being positioned, the degree of accuracy is higher.
Relative angle carries out relative angle using direction of arrival location technology DOA to RP in the default localization region
Angle obtained from angle estimation.
Specifically,
The first embodiment is：The stay of two nights in the predeterminated position is obtained to receive online in the default localization region
The signal intensity S of each AP signal transmittedsq；Wherein, q is the sequence number of AP in the default localization region；
According to following expressionCalculate in the default localization region corresponding to every AP first plus
Quan He, wherein, LqTo preset the first weighted sum of serial number q AP in localization region, w1+w2=1, w1、w2For weights,For
The relative angle of the predeterminated position and q-th of AP；
According to following expressionCalculate in the default localization region second corresponding to every AP
Weighted sum, wherein, FwqTo preset the second weighted sum that the RP of serial number w in localization region corresponds to q-th of AP, w is described pre-
If RP sequence number, S in localization regionwqQ-th of AP is received by w-th of the RP recorded in default offline geographical fingerprint database to be sent out
The signal intensity for the number of delivering letters,For w-th of the RP and q-th of AP relative angle recorded in default offline geographical fingerprint database
Degree；
By the first weighted sum of every AP in default localization region respectively with every RP to should AP the second weighted sum enter
Row compares, and obtains fiducial value corresponding to every RP, and the fiducial value to being obtained is ranked up；
The predetermined number fiducial value of minimum is selected from the fiducial value after sequence, and by RP corresponding to selected fiducial value
Position be defined as online stay of two nights position.
Second of embodiment be：
According to following expressionCalculate in the default localization region corresponding to every AP first plus
Quan He, wherein, LqTo preset the first weighted sum of serial number q AP in localization region, w1+w2=1, w1、w2For weights,For
The relative angle of the predeterminated position and q-th of AP；
According to following expressionCalculate in the default localization region second corresponding to every AP
Weighted sum, wherein, FwqTo preset the second weighted sum that the RP of serial number w in localization region corresponds to q-th of AP, w is described pre-
If RP sequence number, S in localization regionwqQ-th of AP is received by w-th of the RP recorded in default offline geographical fingerprint database to be sent out
The signal intensity for the number of delivering letters,For w-th of the RP and q-th of AP relative angle recorded in default offline geographical fingerprint database
Degree；
By the first weighted sum of every AP in default localization region respectively with every RP to should AP the second weighted sum enter
Row compares, and obtains fiducial value corresponding to every RP according to following expression, and the fiducial value to being obtained is ranked up；
Expression formula：Wherein, BwFiducial value corresponding to w-th of RP is represented, Q represents to be positioned
AP sum in region, a are any arithmetic number；
It is corresponding with every RP respectively in order to more clearly describe above-mentioned the first weighted sum by every AP in default localization region
The second weighted sum of the AP is compared, and is now illustrated an example, example：Assuming that have 2 RP in default localization region, 3
AP, wherein, 2 RP are designated as RP1, RP2, and 3 AP are respectively AP1, AP2 and AP3, then the first power corresponding to every AP and are respectively
L(AP1)、L(AP2)And L(AP3), the second power corresponding to every RP and it is respectively：
WithThen preset localization region in every AP the first weighted sum respectively with every RP to should AP the second weighted sum carry out
Compare, fiducial value is corresponding to RP1
Fiducial value is corresponding to RP2a
Any arithmetic number can be taken, general value is 1 or 0.5, L(AP1)、L(AP2)And L(AP3)Respectively corresponding to AP1, AP2 and AP3
One power and,WithRespectively RP1, RP2 with AP1, AP2 and AP3
With corresponding second power and.
The predetermined number fiducial value of minimum is selected from the fiducial value after sequence, and by RP corresponding to selected fiducial value
Position be defined as online stay of two nights position.
Wherein, above-mentioned be ranked up to the fiducial value that is obtained can be to the size of the fiducial value from greatly to small mode
Be ranked up, can also the size of the fiducial value be ranked up from small to big mode.
Based on the above situation, when to the size of the fiducial value from being ranked up to small mode greatly, after sequence
RP position corresponding to the fiducial value of predetermined number is defined as online stay of two nights position below, similarly, when to the big of the fiducial value
It is small from it is small to big mode be ranked up when, the position of RP corresponding to the fiducial value of the predetermined number after sequence is defined as online
Stay of two nights position.
S102, utilize online stay of two nights position, the position of the positioning stay of two nights to be positioned.
Specifically,
The first embodiment：The position of RP corresponding to selected fiducial value is weighted according to preset weights, obtained
The position of the stay of two nights to be positioned.
Second of embodiment：Using online stay of two nights position, the stay of two nights to be positioned is positioned by weighting k-nearest neighbor WKNN
Position.
The third embodiment：Using selected fiducial value as weights, the position of RP corresponding to selected fiducial value is pressed
It is weighted according to following expression, obtains the position of the stay of two nights to be positioned；
Expression formula：Wherein,Stay of two nights x in rectangular coordinate system respectively to be positioned
Position corresponding to axle and y-axis, xw、ywFor w-th of RP in rectangular coordinate system position corresponding to x-axis and y-axis, K for it is selected relatively
The corresponding RP of value sum,For prevent denominator be zero setting level off to zero number.
As can be seen here, this method is under millimeter wave channel circumstance, considered an AP corresponding to geographical fingerprint include
Feature of both relative angle and signal intensity, and then improve the accuracy of positioning.
Fig. 3 is the signal of the method based on geographical fingerprint location under second of millimeter wave channel provided in an embodiment of the present invention
Figure, methods described include：
S201, obtain the stay of two nights in the predeterminated position and receive online in the default localization region transmitted by each AP
The signal intensity S of signalq；Wherein, q is the sequence number of AP in the default localization region；
S202, according to following expressionCalculate in the default localization region corresponding to every AP
First weighted sum, wherein, LqTo preset the first weighted sum of serial number q AP in localization region, w1+w2=1, w1、w2For weights,For the predeterminated position and q-th of AP relative angle；
S203, according to following expressionIt is corresponding to calculate every AP in the default localization region
The second weighted sum, wherein, FwqTo preset the second weighted sum that the RP of serial number w in localization region corresponds to q-th of AP, w is
RP sequence number, S in the default localization regionwqW-th of RP to be recorded in default offline geographical fingerprint database is received q-th
The signal intensity of AP signal transmitteds,For w-th of RP's being recorded in default offline geographical fingerprint database and q-th AP
Relative angle；
S204, by the first weighted sum of every AP in default localization region respectively with every RP to should AP second weighting
Be compared, obtain fiducial value corresponding to every RP, and the fiducial value to being obtained is ranked up；
S205, the predetermined number fiducial value of minimum is selected from the fiducial value after sequence, and by selected fiducial value pair
The RP answered position is defined as online stay of two nights position；
S206, utilize online stay of two nights position, the position of the positioning stay of two nights to be positioned.
As can be seen here, this method is under millimeter wave channel circumstance, considered an AP corresponding to geographical fingerprint include
Feature of both relative angle and signal intensity, by the geographical fingerprint obtained online and the ground in offline geographical fingerprint database
Reason fingerprint is compared processing, obtains the position for positioning the stay of two nights to be positioned, and then improve the accuracy of positioning.
Fig. 4 is the signal of the method based on geographical fingerprint location under the third millimeter wave channel provided in an embodiment of the present invention
Figure, methods described include：
S301, obtain the stay of two nights in the predeterminated position and receive online in the default localization region transmitted by each AP
The signal intensity S of signalq；Wherein, q is the sequence number of AP in the default localization region；
S302, according to following expressionCalculate in the default localization region corresponding to every AP
First weighted sum, wherein, LqTo preset the first weighted sum of serial number q AP in localization region, w1+w2=1, w1、w2For weights,For the predeterminated position and q-th of AP relative angle；
S303, according to following expressionIt is corresponding to calculate every AP in the default localization region
The second weighted sum, wherein, FwqTo preset the second weighted sum that the RP of serial number w in localization region corresponds to q-th of AP, w is
RP sequence number, S in the default localization regionwqW-th of RP to be recorded in default offline geographical fingerprint database is received q-th
The signal intensity of AP signal transmitteds,For w-th of RP's being recorded in default offline geographical fingerprint database and q-th AP
Relative angle；
S304, by the first weighted sum of every AP in default localization region respectively with every RP to should AP second weighting
Be compared, obtain fiducial value corresponding to every RP according to following expression, and the fiducial value to being obtained is ranked up；
Expression formula：Wherein, BwFiducial value corresponding to w-th of RP is represented, Q represents to be positioned
AP sum in region, a are any arithmetic number；
S305, the predetermined number fiducial value of minimum is selected from the fiducial value after sequence, and by selected fiducial value pair
The RP answered position is defined as online stay of two nights position；
S306, using selected fiducial value as weights, to the position of RP corresponding to selected fiducial value according to being expressed as below
Formula is weighted, and obtains the position of the stay of two nights to be positioned；
Expression formula：Wherein,Stay of two nights x in rectangular coordinate system respectively to be positioned
Position corresponding to axle and y-axis, xw、ywFor w-th of RP in rectangular coordinate system position corresponding to x-axis and y-axis, K for it is selected relatively
The corresponding RP of value sum,For prevent denominator be zero setting level off to zero number.
As can be seen here, this method is under millimeter wave channel circumstance, considered an AP corresponding to geographical fingerprint include
Feature of both relative angle and signal intensity, by the geographical fingerprint obtained online and the ground in offline geographical fingerprint database
Reason fingerprint obtains fiducial value after being compared, and by being weighted to the fiducial value of selection, obtains and positions the stay of two nights to be positioned
Position, improve the accuracy of positioning.
Fig. 5 is the signal of the device based on geographical fingerprint location under a kind of millimeter wave channel provided in an embodiment of the present invention
Figure, described device include：
Online stay of two nights position determination module 401, for the predeterminated position according to the stay of two nights to be positioned and default offline geography
Fingerprint database, online stay of two nights location estimation is carried out, it is determined that online stay of two nights position, wherein, the offline geographical fingerprint database
It is the geographical fingerprint for storing access point AP in default localization region, an AP geographical fingerprint includes：The default positioning
Each reference point RP receives the relative angle between signal intensity, every RP and the AP of the AP signal transmitteds in region,
The relative angle is：The line of AP and RP and the angle of vertical direction；
Stay of two nights position determination module 402 to be positioned, for utilizing online stay of two nights position, position the position of the stay of two nights to be positioned
Put.
Specifically,
The relative angle is：
Using direction of arrival location technology DOA in the default localization region RP carry out relative angle angle estimation and
Obtained angle.
The online stay of two nights position determination module 401 includes：
First signal intensity determination sub-module, described preset is received online for obtaining the stay of two nights in the predeterminated position
The signal intensity S of each AP signal transmitteds in localization regionq；Wherein, q is the sequence number of AP in the default localization region；
First weighted calculation submodule, for according to following expressionCalculate the default positioning
First weighted sum corresponding to every AP in region, wherein, LqTo preset the first weighted sum of serial number q AP in localization region, w1
+w2=1, w1、w2For weights,For the predeterminated position and q-th of AP relative angle；
Second weighted calculation submodule, for according to following expressionCalculate described presetting
Second weighted sum corresponding to every AP in the region of position, wherein, FwqCorrespond to q-th to preset the RP of serial number w in localization region
AP the second weighted sum, w be the default localization region in RP sequence number, SwqTo be recorded in default offline geographical fingerprint database
W-th of RP receive q-th of AP signal transmitted signal intensity,Recorded in default offline geographical fingerprint database
W-th of RP and q-th of AP relative angle；
Comparison sub-module, for by the first weighted sum of every AP in default localization region respectively with every RP to should AP
The second weighted sum be compared, obtain fiducial value corresponding to every RP, and the fiducial value to being obtained is ranked up；
Second online stay of two nights determination sub-module, for selecting the predetermined number of minimum from the fiducial value after sequence relatively
Value, and the position of RP corresponding to selected fiducial value is defined as online stay of two nights position.
The comparison sub-module includes：
Sort subelement, for by the first weighted sum of every AP in default localization region respectively with every RP to should AP
The second weighted sum be compared, obtain fiducial value corresponding to every RP, and the fiducial value to being obtained according to following expression
It is ranked up；
Expression formula：Wherein, BwFiducial value corresponding to w-th of RP is represented, Q represents to be positioned
AP sum in region, a are any arithmetic number.
The stay of two nights position determination module 402 to be positioned includes：
The position of first stay of two nights to be positioned obtains submodule, for based on online stay of two nights position, to selected fiducial value pair
The RP answered position is weighted according to preset weights, obtains the position of the stay of two nights to be positioned.
The stay of two nights position determination module 402 to be positioned includes：
The position of second stay of two nights to be positioned obtains submodule, for using selected fiducial value as weights, to selected ratio
Position compared with RP corresponding to value is weighted according to following expression, obtains the position of the stay of two nights to be positioned；
Expression formula：Wherein,Stay of two nights x in rectangular coordinate system respectively to be positioned
Position corresponding to axle and y-axis, xw、ywFor w-th of RP in rectangular coordinate system position corresponding to x-axis and y-axis, K for it is selected relatively
The corresponding RP of value sum,For prevent denominator be zero setting level off to zero number.
As can be seen here, under millimeter wave channel circumstance, feature of both relative angle and signal intensity has been considered
Positioned, and then improve the accuracy and precision of positioning.
The embodiment of the present invention additionally provides a kind of electronic equipment, as shown in fig. 6, including processor 501, communication interface 502,
Memory 503 and communication bus 504, wherein, processor 501, communication interface 502, memory 503 is complete by communication bus 504
Into mutual communication,
Memory 503, for depositing computer program；
Processor 501, during for performing the program deposited on memory 503, realize base provided in an embodiment of the present invention
In the localization method of geographical fingerprint.
Specifically, the above-mentioned localization method based on geographical fingerprint, including：
According to the predeterminated position of the stay of two nights to be positioned and default offline geographical fingerprint database, carry out online stay of two nights position and estimate
Meter, it is determined that online stay of two nights position, wherein, the offline geographical fingerprint database is to be used to store access point in default localization region
AP geographical fingerprint, an AP geographical fingerprint include：Each reference point RP receives the AP institutes in the default localization region
The relative angle between signal intensity, every RP and the AP of signal is sent, the relative angle is：The company of AP and RP
The angle of line and vertical direction；Utilize online stay of two nights position, the position of the positioning stay of two nights to be positioned.
Therefore the electronic equipment that the present embodiment provides is performed, under millimeter wave channel circumstance, consider relative
Feature of both angle and signal intensity is positioned, and then improves the accuracy of positioning.
The embodiment of localization method of the above-mentioned related content based on geographical fingerprint carries with preceding method embodiment part
The positioning method of the localization method based on geographical fingerprint supplied is identical, repeats no more here.
The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component
Interconnect, PCI) bus or EISA (Extended Industry Standard
Architecture, EISA) bus etc..The communication bus can be divided into address bus, data/address bus, controlling bus etc..For just
Only represented in expression, figure with a thick line, it is not intended that an only bus or a type of bus.
The communication that communication interface is used between above-mentioned electronic equipment and other equipment.
Memory can include random access memory (Random Access Memory, RAM), can also include non-easy
The property lost memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory may be used also
To be at least one storage device for being located remotely from aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital Signal
Processing, DSP), it is application specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing
It is field programmable gate array (Field-Programmable Gate Array, FPGA) or other PLDs, discrete
Door or transistor logic, discrete hardware components.
A kind of computer-readable recording medium, the computer-readable recording medium internal memory contains computer program, described
The localization method provided in an embodiment of the present invention based on geographical fingerprint is realized when computer program is executed by processor.
Specifically, the above-mentioned localization method based on geographical fingerprint, including：
According to the predeterminated position of the stay of two nights to be positioned and default offline geographical fingerprint database, carry out online stay of two nights position and estimate
Meter, it is determined that online stay of two nights position, wherein, the offline geographical fingerprint database is to be used to store access point in default localization region
AP geographical fingerprint, an AP geographical fingerprint include：Each reference point RP receives the AP institutes in the default localization region
The relative angle between signal intensity, every RP and the AP of signal is sent, the relative angle is：The company of AP and RP
The angle of line and vertical direction；Utilize online stay of two nights position, the position of the positioning stay of two nights to be positioned.
Therefore when performing the application program stored in the computer-readable recording medium that the present embodiment provides, in milli
Under metric wave channel circumstance, relative angle is considered and signal intensity both sides feature is positioned, and then improved and determine
The accuracy of position.
The embodiment of localization method of the above-mentioned related content based on geographical fingerprint carries with preceding method embodiment part
The positioning method of the localization method based on geographical fingerprint supplied is identical, repeats no more here.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or its any combination real
It is existing.When implemented in software, can realize in the form of a computer program product whole or in part.The computer program
Product includes one or more computer instructions.When loading on computers and performing the computer program instructions, all or
Partly produce according to the flow or function described in the embodiment of the present invention.The computer can be all-purpose computer, special meter
Calculation machine, computer network or other programmable devices.The computer instruction can be stored in computer-readable recording medium
In, or the transmission from a computer-readable recording medium to another computer-readable recording medium, for example, the computer
Instruction can pass through wired (such as coaxial cable, optical fiber, numeral from a web-site, computer, server or data center
User's line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or
Data center is transmitted.The computer-readable recording medium can be any usable medium that computer can access or
It is the data storage devices such as server, the data center integrated comprising one or more usable mediums.The usable medium can be with
It is magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disc
Solid State Disk (SSD)) etc..
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
Each embodiment in this specification is described by the way of related, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.Especially for method,
For device, electronic equipment, computer-readable recording medium embodiment, because it is substantially similar to embodiment of the method, so retouching
That states is fairly simple, and the relevent part can refer to the partial explaination of embodiments of method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of method based on geographical fingerprint location under millimeter wave channel, it is characterised in that methods described includes：
According to the predeterminated position of the stay of two nights to be positioned and default offline geographical fingerprint database, online stay of two nights location estimation is carried out,
It is determined that online stay of two nights position, wherein, the offline geographical fingerprint database is to be used to store access point AP in default localization region
Geographical fingerprint, an AP geographical fingerprint includes：Each reference point RP receives the AP and sent out in the default localization region
Relative angle between the signal intensity for the number of delivering letters, every RP and the AP, the relative angle are：The line of AP and RP
With the angle of vertical direction；
Utilize online stay of two nights position, the position of the positioning stay of two nights to be positioned.
2. the method as described in claim 1, it is characterised in that the relative angle is：
The angle estimation of relative angle is carried out to RP in the default localization region using direction of arrival location technology DOA and obtained
Angle.
3. the method as described in any in claim 1-2, it is characterised in that the predeterminated position according to the stay of two nights to be positioned and
Default offline geographical fingerprint database, carries out online stay of two nights location estimation, it is determined that online stay of two nights position, including：
Obtain the letter that the stay of two nights in the predeterminated position receives each AP signal transmitteds in the default localization region online
Number strength Sq；Wherein, q is the sequence number of AP in the default localization region；
According to following expressionCalculate the first weighting corresponding to every AP in the default localization region
With, wherein, LqTo preset the first weighted sum of serial number q AP in localization region, w1+w2=1, w1、w2For weights,For institute
State predeterminated position and q-th of AP relative angle；
According to following expressionCalculate the second weighting corresponding to every AP in the default localization region
With, wherein, FwqTo preset the second weighted sum that the RP of serial number w in localization region corresponds to q-th of AP, w is described presetting
RP sequence number, S in the region of positionwqW-th of RP to be recorded in default offline geographical fingerprint database receives letter transmitted by q-th of AP
Number signal intensity,For w-th of the RP and q-th of AP relative angle recorded in default offline geographical fingerprint database；
By the first weighted sum of every AP in default localization region respectively with every RP to should AP the second weighted sum compare
Compared with, fiducial value corresponding to the every RP of acquisition, and the fiducial value to being obtained is ranked up；
The predetermined number fiducial value of minimum is selected from the fiducial value after sequence, and by the position of RP corresponding to selected fiducial value
Put and be defined as online stay of two nights position.
4. method as claimed in claim 3, it is characterised in that it is described to utilize online stay of two nights position, position the letter to be positioned
The position of place, including：
The position of RP corresponding to selected fiducial value is weighted according to preset weights, obtains the stay of two nights to be positioned
Position.
5. method as claimed in claim 3, it is characterised in that first weighted sum by every AP in default localization region
Respectively with every RP to fiducial value corresponding to every RP should be obtained compared with AP the second weighted sum, and to being obtained
Fiducial value is ranked up, including：
By the first weighted sum of every AP in default localization region respectively with every RP to should AP the second weighted sum compare
Compared with according to fiducial value corresponding to the every RP of following expression acquisition, and the fiducial value to being obtained is ranked up；
Expression formula：Wherein, BwFiducial value corresponding to w-th of RP is represented, Q represents area to be targeted
Interior AP sum, a are any arithmetic number.
6. method as claimed in claim 5, it is characterised in that it is described to utilize online stay of two nights position, position the letter to be positioned
The position of place, including：
Using selected fiducial value as weights, the position of RP corresponding to selected fiducial value is weighted according to following expression
Calculate, obtain the position of the stay of two nights to be positioned；
Expression formula：Wherein,The stay of two nights respectively to be positioned x-axis and y in rectangular coordinate system
Position corresponding to axle, xw、ywFor w-th of RP, position corresponding to x-axis and y-axis, K are selected fiducial value pair in rectangular coordinate system
RP sum is answered,For prevent denominator be zero setting level off to zero number.
7. the device based on geographical fingerprint location under a kind of millimeter wave channel, it is characterised in that described device includes：
Online stay of two nights position determination module, for the predeterminated position according to the stay of two nights to be positioned and default offline geographical finger print data
Storehouse, online stay of two nights location estimation is carried out, it is determined that online stay of two nights position, wherein, the offline geographical fingerprint database is to be used to deposit
Access point AP geographical fingerprint, an AP geographical fingerprint include in the default localization region of storage：It is every in the default localization region
One reference point RP receives the relative angle between signal intensity, every RP and the AP of the AP signal transmitteds, described relative
Angle is：The line of AP and RP and the angle of vertical direction；
Stay of two nights position determination module to be positioned, for utilizing online stay of two nights position, position the position of the stay of two nights to be positioned.
8. device as claimed in claim 7, it is characterised in that the online stay of two nights position determination module includes：
First signal intensity determination sub-module, the default positioning is received online for obtaining the stay of two nights in the predeterminated position
The signal intensity S of each AP signal transmitteds in regionq；Wherein, q is the sequence number of AP in the default localization region；
First weighted calculation submodule, for according to following expressionCalculate the default localization region
First weighted sum corresponding to interior every AP, wherein, LqTo preset the first weighted sum of serial number q AP in localization region, w1+w2
=1, w1、w2For weights,For the predeterminated position and q-th of AP relative angle；
Second weighted calculation submodule, for according to following expressionCalculate the default positioning area
Second weighted sum corresponding to every AP in domain, wherein, FwqCorrespond to q-th AP's to preset the RP of serial number w in localization region
Second weighted sum, w be the default localization region in RP sequence number, SwqFor recorded in default offline geographical fingerprint database the
W RP receives the signal intensity of q-th of AP signal transmitted,For w-th recorded in default offline geographical fingerprint database
RP and q-th of AP relative angle；
Comparison sub-module, for by the first weighted sum of every AP in default localization region respectively with every RP to should AP
Two weighted sums are compared, and obtain fiducial value corresponding to every RP, and the fiducial value to being obtained is ranked up；
Second online stay of two nights determination sub-module, for selecting the predetermined number fiducial value of minimum from the fiducial value after sequence,
And the position of RP corresponding to selected fiducial value is defined as online stay of two nights position.
9. a kind of electronic equipment, it is characterised in that including processor, communication interface, memory and communication bus, wherein, processing
Device, communication interface, memory complete mutual communication by bus,
Memory, for depositing computer program；
Processor, during for performing the program deposited on memory, realize any described method and steps of claim 1-6.
10. a kind of computer-readable recording medium, it is characterised in that the computer-readable recording medium internal memory contains computer
Program, the computer program realize claim 1-6 any described method and steps when being executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710757424.6A CN107484241B (en) | 2017-08-29 | 2017-08-29 | Method and apparatus based on geographical fingerprint location under a kind of millimeter wave channel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710757424.6A CN107484241B (en) | 2017-08-29 | 2017-08-29 | Method and apparatus based on geographical fingerprint location under a kind of millimeter wave channel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107484241A true CN107484241A (en) | 2017-12-15 |
| CN107484241B CN107484241B (en) | 2019-09-27 |
Family
ID=60603099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710757424.6A Active CN107484241B (en) | 2017-08-29 | 2017-08-29 | Method and apparatus based on geographical fingerprint location under a kind of millimeter wave channel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107484241B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111065158A (en) * | 2019-12-25 | 2020-04-24 | 大连理工大学 | Fingerprint positioning method based on fusion of angle and intensity of cellular network signal |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230171561A1 (en) * | 2021-11-30 | 2023-06-01 | Juniper Networks, Inc. | Determining orientation of deployed access points |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103199923A (en) * | 2013-04-22 | 2013-07-10 | 中国矿业大学 | Underground moving target optical fingerprint positioning and tracking method based on visible light communication |
| CN103389488A (en) * | 2013-07-30 | 2013-11-13 | 中国科学院深圳先进技术研究院 | Multi-source indoor positioning device and method based on light intensity |
| US20130303185A1 (en) * | 2012-05-11 | 2013-11-14 | Samsung Electroncs Co., Ltd. | Method and apparatus for obtaining location of user |
| CN105866729A (en) * | 2016-03-25 | 2016-08-17 | 北京智慧图科技有限责任公司 | Method and apparatus for indoor positioning based on user behavior features |
-
2017
- 2017-08-29 CN CN201710757424.6A patent/CN107484241B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130303185A1 (en) * | 2012-05-11 | 2013-11-14 | Samsung Electroncs Co., Ltd. | Method and apparatus for obtaining location of user |
| CN103199923A (en) * | 2013-04-22 | 2013-07-10 | 中国矿业大学 | Underground moving target optical fingerprint positioning and tracking method based on visible light communication |
| CN103389488A (en) * | 2013-07-30 | 2013-11-13 | 中国科学院深圳先进技术研究院 | Multi-source indoor positioning device and method based on light intensity |
| CN105866729A (en) * | 2016-03-25 | 2016-08-17 | 北京智慧图科技有限责任公司 | Method and apparatus for indoor positioning based on user behavior features |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111065158A (en) * | 2019-12-25 | 2020-04-24 | 大连理工大学 | Fingerprint positioning method based on fusion of angle and intensity of cellular network signal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107484241B (en) | 2019-09-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Fang et al. | Optimal weighted K‐nearest neighbour algorithm for wireless sensor network fingerprint localisation in noisy environment | |
| Shang et al. | A location estimation algorithm based on RSSI vector similarity degree | |
| WO2015184961A1 (en) | Mitigating signal noise for fingerprint-based indoor localization | |
| Yan et al. | An improved NLOS identification and mitigation approach for target tracking in wireless sensor networks | |
| CN107484123B (en) | WiFi indoor positioning method based on integrated HWKNN | |
| CN109959894B (en) | Positioning method and terminal equipment | |
| CN107484118A (en) | A kind of indoor scene localization method and system based on building WiFi fingerprints | |
| WO2018000881A1 (en) | Positioning method, server and terminal | |
| CN112731274A (en) | Angle determination method and device, electronic equipment and storage medium | |
| CN107079412A (en) | Assistance data cell selection based on the Interference Estimation in wireless communication system | |
| CN109493592A (en) | Path recommended method and device | |
| Zhu et al. | Review of RFID-based indoor positioning technology | |
| Fang et al. | Fingerprint localisation algorithm for noisy wireless sensor network based on multi‐objective evolutionary model | |
| Arsan et al. | A Clustering‐Based Approach for Improving the Accuracy of UWB Sensor‐Based Indoor Positioning System | |
| CN111505570A (en) | Ultra-wideband two-dimensional positioning method based on linear search | |
| CN107484241A (en) | Method and apparatus based on geographical fingerprint location under a kind of millimeter wave channel | |
| Machaj et al. | Impact of optimization algorithms on hybrid indoor positioning based on GSM and Wi‐Fi signals | |
| Ghafourian et al. | Wireless localization with diffusion maps | |
| Hui | RFID-based location tracking system using a peer-to-peer network architecture | |
| CN107526058A (en) | Indoor orientation method, apparatus and system | |
| Munadhil et al. | Distance estimation-based PSO between patient with Alzheimer’s disease and beacon node in wireless sensor networks | |
| Jiang et al. | Localization algorithm based on iterative centroid estimation for wireless sensor networks | |
| CN107708203A (en) | A kind of localization method and device based on geographical fingerprint | |
| Oh et al. | C‐CNNLoc: Constrained CNN for robust indoor localization with building boundary | |
| Lim et al. | Robust methods for AOA geo-location in a real-time indoor WiFi system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |