CN107607906B - Tracking method for indoor WiFi fingerprint collecting - Google Patents
Tracking method for indoor WiFi fingerprint collecting Download PDFInfo
- Publication number
- CN107607906B CN107607906B CN201710827724.7A CN201710827724A CN107607906B CN 107607906 B CN107607906 B CN 107607906B CN 201710827724 A CN201710827724 A CN 201710827724A CN 107607906 B CN107607906 B CN 107607906B
- Authority
- CN
- China
- Prior art keywords
- tracking
- subregion
- wifi fingerprint
- fingerprint collecting
- wifi
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of tracking method for indoor WiFi fingerprint collecting, WiFi fingerprint collecting robot, the tracking line being laid on flooring and the servers for being built-in with indoor electronic map；Room area is divided into N number of subregion, for each subregion, one anchor point is set, the scene video that background work personnel are received by watching server, it is run at the anchor point position corresponding to subregion using remote control device control, after WiFi fingerprint collecting robot reaches at anchor point position, voluntarily tracking is moved.The tracking process of WiFi fingerprint collecting robot is controlled in such a way that artificial remote control is combined with automatic tracking operation, collecting efficiency can be improved and by manually studying just to running track.The setting of anchor point is so that the tracking movement in each sub-regions is mutually indepedent, to avoid the occurrence of the accumulated error of whole tracking generation, raising positioning accuracy, so that the matching degree of collected WiFi fingerprint and location information is more accurate.
Description
Technical field
The present invention relates to the data collection systems and acquisition method for acquiring WiFi fingerprint.
Background technique
Since GPS positioning technology is difficult to solve the orientation problem under indoor environment, however Internet technology universal, big portion
All there is wifi under point indoor environment, therefore is a kind of to have very much promising indoor orientation method using wifi positioning.Want benefit
Indoor positioning is carried out with wifi, it is necessary to is acquired to wifi fingerprint, WiFi fingerprint refers to helpful to demarcation of location
Feature, such as whether can be detected on some position detected on access point or base station, some position from base station signal
RSS (received signal strength) etc.；The mode for relying primarily on artificial field exploring in the prior art carries out.The side manually acquired
There is artificial acquisition large labor intensity, at high cost and there is the shortcomings that acquisition blind area in formula.
It, can be according to the path of planning to indoor arrangement although having emerged some WiFi fingerprint collectings robot at present
AP hot spot (such as wireless router, Portable thermal point device) carries out the acquisition of wifi fingerprint, and WiFi fingerprint collecting robot exists
In operational process for various reasons, it is easy to produce accumulated error, so that the physical location of WiFi fingerprint collecting robot and pre-
If acquisition position relatively large deviation occurs, or even operating path pre-planned can be also detached from, in this way, resulting in collection result
It is often barely satisfactory, however using the positioning accuracy that WiFi fingerprint is positioned rely heavily on the quantity of WiFi fingerprint with
And the matching degree of WiFi fingerprint and location information.
Summary of the invention
In view of the above shortcomings of the prior art, the present invention provides a kind of tracking method for WiFi fingerprint collecting, with solution
The certainly WiFi fingerprint collecting robot larger technical problem of accumulated error in the process of running in the prior art, can be improved WiFi
Positioning accuracy of fingerprint collecting robot during tracking corrects running track, improves sampling efficiency, improves WiFi fingerprint number
According to quality.
In order to solve the above-mentioned technical problem, present invention employs the following technical solutions: one kind being used for interior WiFi fingerprint
The tracking method of acquisition including WiFi fingerprint collecting robot, the tracking line being laid on flooring and is built-in with interior
The server of electronic map；WiFi fingerprint collecting robot includes the main control chip for being connected with wireless data transceiver module；It is described
The signal input part of main control chip is connected separately with tracking module, WiFi finger print acquisition module, video acquisition module and long-range
Remote control module；
The following steps are included:
Step 1: by, to room area progress subregion, being divided into N number of subregion on server indoors electronic map, and
Cook up the running route of WiFi fingerprint collecting robot；
Step 2: corresponding to each subregion in indoor electronic map, corresponding anchor is set in practical indoor scene
Point, and each anchor point is marked；
Step 3: corresponding subregion tracking line, each subregion tracking line are laid on the flooring of each subregion
Tracking starting point using the anchor point of corresponding sub-region as the subregion, and using the outlet of the subregion as the tracking of the subregion
Terminal；Each subregion tracking line is on running route；
Step 4: the position of the total starting point of running route in corresponding indoor electronic map is searched out in actual scene indoors, it will
WiFi fingerprint collecting robot is placed on total start position；
Step 5: starting WiFi fingerprint collecting robot, video acquisition module acquire scene video and in real time by no line numbers
Server is uploaded to according to transceiver module；Loop initialization variable i=1；
Step 6: background work personnel by watching the scene video that receives of server, using remote control device to
WiFi fingerprint collecting robot sends remote control command to control its movement walking, corresponds to i-th of subregion until running to
At i-th of anchor point position；
After step 7:WiFi fingerprint collecting robot reaches at i-th of anchor point position, i-th of son is detected by tracking module
Corresponding i-th of subregion tracking line in region, and tracking signal, master control are sent to the main control chip of WiFi fingerprint collecting robot
Chip is moved according to the tracking signal control WiFi fingerprint collecting robot received along i-th of subregion tracking line, so that
WiFi fingerprint collecting robot runs to the outlet of i-th of subregion from i-th of anchor point of i-th of subregion；
Step 8: whether true judging i=N, if it is not, then enabling i=i+1, return to step 6；If so, tracking terminates, thus complete
At the tracking of entire room area.
Preferably, the anchor point of each subregion is arranged at the central location of subregion, and each subregion tracking line is
Back Word line shape centered on the anchor point of corresponding sub-region.
Preferably, several location tags are arranged at intervals on each subregion tracking line, location tags are for determining
The acquisition position of WiFi fingerprint collecting robot；The main control chip of WiFi fingerprint collecting robot identifies mould configured with location tags
Block.
Compared with prior art, the invention has the following advantages:
1, come pair in such a way that artificial remote control is combined with the operation of WiFi fingerprint collecting robot automatic tracking
The tracking process of WiFi fingerprint collecting robot is controlled, and can improve collecting efficiency in this way and by manually to WiFi
The running track education of fingerprint collecting robot is just.
2, by the way that actual anchor point is arranged, so that background work personnel pass through the scene that WiFi fingerprint collecting robot acquires
Video identification goes out anchor point position, so that remote control WiFi fingerprint collecting robot reaches anchor point, so that WiFi fingerprint collecting machine
Device people can be after reaching subregion using the anchor point position of the subregion as tracking starting point, so that WiFi fingerprint collecting robot
It is mutually indepedent in the tracking movement of each sub-regions, therefore the tracking movement of all subregion will not influence each other, to avoid out
The now accumulated error that whole tracking generates, and then positioning accuracy of WiFi fingerprint collecting robot during tracking is improved,
So that the matching degree of collected WiFi fingerprint and location information is more accurate.
3, subregion tracking line is Back Word line shape, on the one hand can be improved and adopts denseness of set, can in same subregion
Collect more WiFi fingerprints；On the other hand, the WiFi fingerprint covered in entire subregion can be collected；To build
Vertical accurate comprehensive WiFi fingerprint lays the foundation.
4, location tags are set on sub-district tracking line, and WiFi fingerprint collecting robot passes through location tags identification module certainly
It is dynamic to identify location tags, in this way, WiFi fingerprint collecting robot in-position label carries out WiFi fingerprint collecting with regard to automatic, mention
High collecting efficiency.
Detailed description of the invention
Fig. 1 is the circuit structure block diagram of WiFi fingerprint collecting robot in specific embodiment 1；
Fig. 2 is the schematic diagram of indoor tracking line in specific embodiment 1；
Fig. 3 is the set-up mode schematic diagram of location tags in specific embodiment 1；
Fig. 4 is the set-up mode schematic diagram of location tags in specific embodiment 2.
Specific embodiment
The present invention is described in further detail with preferred embodiment with reference to the accompanying drawing.
Specific embodiment 1
As shown in Figure 1 to Figure 3, a kind of tracking method for indoor WiFi fingerprint collecting, including WiFi fingerprint collecting machine
Device people, the tracking line being laid on flooring and the server for being built-in with indoor electronic map；WiFi fingerprint collecting machine
People includes the main control chip for being connected with wireless data transceiver module；The signal input part of the main control chip is connected separately with tracking
Module, WiFi finger print acquisition module, video acquisition module and remote control module；
The following steps are included:
Step 1: by, to room area progress subregion, being divided into N number of subregion on server indoors electronic map, and
Cook up the running route of WiFi fingerprint collecting robot；
Step 2: corresponding to each subregion in indoor electronic map, corresponding anchor is set in practical indoor scene
Point, and each anchor point (P1, P2, P3, P4) is marked；
Step 3: corresponding subregion tracking line, each subregion tracking line are laid on the flooring of each subregion
Tracking starting point using the anchor point of corresponding sub-region as the subregion, and using the outlet of the subregion as the tracking of the subregion
Terminal；Each subregion tracking line is on running route；
Step 4: the position of the total starting point of running route in corresponding indoor electronic map is searched out in actual scene indoors, it will
WiFi fingerprint collecting robot is placed on total start position Q；
Step 5: starting WiFi fingerprint collecting robot, video acquisition module acquire scene video and in real time by no line numbers
Server is uploaded to according to transceiver module；Loop initialization variable i=1；
Step 6: background work personnel by watching the scene video that receives of server, using remote control device to
WiFi fingerprint collecting robot sends remote control command to control its movement walking, corresponds to i-th of subregion until running to
At i-th of anchor point position；The path of remote-controlled walking is as shown in phantom in Figure 2.
After step 7:WiFi fingerprint collecting robot reaches at i-th of anchor point position, i-th of son is detected by tracking module
Corresponding i-th of subregion tracking line in region, and tracking signal, master control are sent to the main control chip of WiFi fingerprint collecting robot
Chip is moved according to the tracking signal control WiFi fingerprint collecting robot received along i-th of subregion tracking line, so that
WiFi fingerprint collecting robot runs to the outlet of i-th of subregion from i-th of anchor point of i-th of subregion；
Step 8: whether true judging i=N, if it is not, then enabling i=i+1, return to step 6；If so, tracking terminates, thus complete
At the tracking of entire room area.
By the way that actual anchor point is arranged, so that background work personnel pass through the scene visual that WiFi fingerprint collecting robot acquires
Frequency identifies anchor point position, so that remote control WiFi fingerprint collecting robot reaches anchor point, so that WiFi fingerprint collecting machine
People can be after reaching subregion using the anchor point position of the subregion as tracking starting point, so that the tracking to each sub-regions is transported
It is dynamic mutually indepedent, therefore the tracking movement of all subregion will not influence each other, to avoid the occurrence of the accumulation that whole tracking generates
Error, and then positioning accuracy of WiFi fingerprint collecting robot during tracking is improved, so that collected WiFi fingerprint
It is more accurate with the matching degree of location information.
In present embodiment, the anchor point of each subregion is arranged at the central location of subregion, each subregion
Tracking line is the Back Word line shape centered on the anchor point of corresponding sub-region.Subregion tracking line is Back Word line shape, one side energy
Enough improve adopts denseness of set, and more WiFi fingerprints can be collected in same subregion；On the other hand, it can collect and cover
Cover the WiFi fingerprint in entire subregion；To lay the foundation to establish accurate comprehensive WiFi fingerprint.
In present embodiment, several location tags, location tags are arranged at intervals on each subregion tracking line
For determining the acquisition position of WiFi fingerprint collecting robot；The main control chip of WiFi fingerprint collecting robot is marked configured with position
Sign identification module.Location tags are set on sub-district tracking line, and WiFi fingerprint collecting robot passes through location tags identification module
Location tags are automatically identified, in this way, WiFi fingerprint collecting robot in-position label carries out WiFi fingerprint collecting with regard to automatic,
Improve collecting efficiency.
As shown in figure 3, in present embodiment, subregion tracking line includes straight line path by taking the first subregion as an example
And curved path, corresponding to location tags (S1,S2,…..,Sn) at be set as curved path, remaining is straight line path；Institute
It is tracking recognizing model of movement module that rheme, which sets tag recognition module,.The tracking module of WiFi fingerprint collecting robot being capable of basis
Tracking line generates tracking motor pattern, and tracking motor pattern is sent to controller in real time, location tags identification module according to
Tracking motor pattern just can judge whether WiFi fingerprint collecting robot operates on bent line route, to identify WiFi
Fingerprint collecting robot whether in-position label, after WiFi fingerprint collecting robot in-position label, just start WiFi and refer to
Line acquisition module carries out WiFi fingerprint collecting, can save electric energy, extends the cruise duration of WiFi fingerprint collecting robot.
In addition, WiFi fingerprint collecting robot is by identifying curvilinear motion mode corresponding with tracking line upper curve path
It identifies location tags, since robot does curvilinear motion on location tags, is able to extend robot on location tags
Residence time, realize while movement while acquire, be acquired without pause motion, greatly improve collecting efficiency.
In present embodiment, WiFi fingerprint collecting robot carries out WiFi fingerprint collecting while tracking, wherein
It is as follows in the step of carrying out WiFi fingerprint collecting on i-th of subregion tracking line:
Step 501: the location tags of i-th of subregion being numbered on electronic map indoors, wherein j-th of position
The number of label is Si,j, j ∈ { 1,2 ..., n }, n are the sum of location tags on i-th of subregion tracking line；
After step 502:WiFi fingerprint collecting robot reaches anchor point position, the number k=in operation curve path is initialized
1；
The tracking sensor of step 503:WiFi fingerprint collecting robot detects subregion tracking line, according to subregion tracking
Line generates tracking motor pattern, and tracking motor pattern is sent to controller in real time, and controller is according to tracking motor pattern control
WiFi fingerprint collecting processed robot is moved along tracking line；
Step 504: the location tags identification module in controller judges WiFi fingerprint collecting machine according to tracking motor pattern
Whether device people operates on curved path, arrives if so, the number in operation curve path is assigned to WiFi fingerprint collecting robot
Up to the subscript j of current location tag number, and enter step 505；If it is not, returning to step 503；
Step 505: after identifying current location label, controller sends acquisition to WiFi acquisition module；
Step 506:WiFi acquisition module starts after receiving acquisition and receives WiFi signal at the label of current location；
Meanwhile WiFi fingerprint collecting robot is run along the curved path at the label of current location, has run this section of curved path just
Complete the WiFi fingerprint collecting on the label of current location；
Step 507: whether true judging k=n after the completion of acquisition, if it is not, then enabling k=k+1, return to step 503；If so,
It then completes to the WiFi fingerprint collecting on location tags whole on i-th of subregion tracking line.
Specific embodiment 2
As shown in figure 4, present embodiment and specific embodiment 1 are except that position by taking the first subregion as an example
The set-up mode of label is set, it is specific: location tags, each location tags (S are arranged with the distance apart from anchor point1,
S2,…..,Sn) distance apart from anchor point is unequal；The location tags are distance computing module.Distance computing module can be with
Using odometer in the prior art, pedometer etc., every anchor point position for reaching a sub-regions is just by WiFi fingerprint collecting machine
The distance zero of device people walking, then restarts to calculate from anchor point position, when the road of WiFi fingerprint collecting robot ambulation
Journey is equal to location tags SjWhen distance apart from anchor point P1, WiFi fingerprint collecting robot then takes time out to carry out WiFi fingerprint to adopt
Collection.In this way, the location tags between subregion and subregion are mutually indepedent, avoid calculating using unified starting point as distance is risen
The accumulated error that point generates, improves positioning accuracy of the WiFi fingerprint collecting robot during tag recognition of position, so that
The matching degree of collected WiFi fingerprint and location information is more accurate.
In present embodiment, WiFi fingerprint collecting robot carries out WiFi fingerprint collecting while tracking, wherein
It is as follows in the step of carrying out WiFi fingerprint collecting on i-th of subregion tracking line:
Step 701: the location tags of i-th of subregion being numbered on electronic map indoors, wherein j-th of position
The number of label is Si,j, j ∈ { 1,2 ..., n }, n are the sum of location tags on i-th of subregion tracking line；Number is Si,j
Distance with anchor point is Li,j；
When step 702:WiFi fingerprint collecting robot reaches anchor point position, by the road of WiFi fingerprint collecting robot operation
Journey zero；Initialize j=1；
The tracking sensor of step 703:WiFi fingerprint collecting robot detects subregion tracking line, according to subregion tracking
Line generates tracking motor pattern, and tracking motor pattern is sent to controller in real time, and controller is according to tracking motor pattern control
WiFi fingerprint collecting processed robot is moved along tracking line；
Step 704: location tags identification module calculates the current distance L of WiFi fingerprint collecting robot, current road in real time
Journey L refers to the distance since anchor point position to current location, and compares L and Li,j, judge whether to reach in n location tags
J-th of location tags；If it is not, then returning to step 703；If so, entering step 705；
Step 705: controller control WiFi fingerprint collecting robot pause motion, and start WiFi finger print acquisition module into
Row acquisition；
Step 706: whether true judging j=n after the completion of acquisition, if it is not, then enabling j=j+1, return to step 703；If so,
It then completes to the WiFi fingerprint collecting on location tags whole on i-th of subregion tracking line.
Claims (5)
1. a kind of tracking method for indoor WiFi fingerprint collecting, it is characterised in that: including WiFi fingerprint collecting robot, paving
The tracking line that is located on flooring and the server for being built-in with indoor electronic map；WiFi fingerprint collecting robot includes connecting
It is connected to the main control chip of wireless data transceiver module；The signal input part of the main control chip be connected separately with tracking module,
WiFi finger print acquisition module, video acquisition module and remote control module；Tracking module can generate tracking according to tracking line
Motor pattern, and tracking motor pattern is sent to controller in real time；The main control chip of WiFi fingerprint collecting robot is configured with
Location tags identification module；
The following steps are included:
Step 1: by carrying out subregion to room area on server indoors electronic map, being divided into N number of subregion, and plan
The running route of WiFi fingerprint collecting robot out；
Step 2: corresponding to each subregion in indoor electronic map, corresponding anchor point is set in practical indoor scene, and
Each anchor point is marked；
Step 3: corresponding subregion tracking line is laid on the flooring of each subregion, each subregion tracking line is with right
Tracking starting point of the anchor point of subregion as the subregion is answered, and the tracking using the outlet of the subregion as the subregion is whole
Point；Each subregion tracking line is on running route；Several location tags, position is arranged in interval on each subregion tracking line
Label is set for determining the position of WiFi fingerprint collecting robot；Subregion tracking line includes straight line path and curved path,
Curved path is set as corresponding at location tags；The location tags identification module is tracking recognizing model of movement module,
Judge whether WiFi fingerprint collecting robot operates on curved path according to tracking motor pattern, to identify WiFi fingerprint
Acquire robot whether in-position label；
Step 4: the position of the total starting point of running route in corresponding indoor electronic map is searched out in actual scene indoors, by WiFi
Fingerprint collecting robot is placed on total start position；
Step 5: starting WiFi fingerprint collecting robot, video acquisition module acquire scene video in real time and are received by wireless data
Hair module is uploaded to server；Loop initialization variable i=1；
Step 6: the scene video that background work personnel are received by watching server is referred to using remote control device to WiFi
Line acquisition machine human hair send remote control command to control its movement walking, and i-th of anchor of i-th of subregion is corresponded to until running to
At point position；
After step 7:WiFi fingerprint collecting robot reaches at i-th of anchor point position, i-th of subregion is detected by tracking module
Corresponding i-th of subregion tracking line, and tracking signal, main control chip are sent to the main control chip of WiFi fingerprint collecting robot
It is moved according to the tracking signal control WiFi fingerprint collecting robot received along i-th of subregion tracking line, so that WiFi
Fingerprint collecting robot runs to the outlet of i-th of subregion from i-th of anchor point of i-th of subregion；And WiFi fingerprint is adopted
After collecting the location tags that robot reaches on tracking line, just starts WiFi finger print acquisition module and carry out WiFi fingerprint collecting；
Step 8: whether true judging i=N, if it is not, then enabling i=i+1, return to step 6；If so, tracking terminates, to complete whole
The tracking of a room area.
2. the tracking method according to claim 1 for interior WiFi fingerprint collecting, it is characterised in that: each subregion
Anchor point be arranged at the central location of subregion, each subregion tracking line is centered on the anchor point of corresponding sub-region
Back Word line shape.
3. the tracking method according to claim 1 for interior WiFi fingerprint collecting, it is characterised in that: WiFi fingerprint is adopted
Collection robot carries out WiFi fingerprint collecting while tracking, wherein carries out WiFi fingerprint on i-th of subregion tracking line and adopts
The step of collection, is as follows:
Step 501: the location tags of i-th of subregion being numbered on electronic map indoors, wherein j-th of location tags
Number be Si,j, j ∈ { 1,2 ..., n }, n are the sum of location tags on i-th of subregion tracking line；
After step 502:WiFi fingerprint collecting robot reaches anchor point position, the number k=1 in operation curve path is initialized；
The tracking sensor of step 503:WiFi fingerprint collecting robot detects subregion tracking line, raw according to subregion tracking line
Tracking motor pattern is sent to controller at tracking motor pattern, and in real time, controller is controlled according to tracking motor pattern
WiFi fingerprint collecting robot is moved along tracking line；
Step 504: the location tags identification module in controller judges WiFi fingerprint collecting robot according to tracking motor pattern
Whether operate on curved path, works as if so, the number in operation curve path is assigned to the arrival of WiFi fingerprint collecting robot
The subscript j of front position tag number, and enter step 505；If it is not, returning to step 503；
Step 505: after identifying current location label, controller sends acquisition to WiFi acquisition module；
Step 506:WiFi acquisition module starts after receiving acquisition and receives WiFi signal at the label of current location；Together
When, WiFi fingerprint collecting robot is run along the curved path at the label of current location, and it is just complete to have run this section of curved path
At the WiFi fingerprint collecting on the label of current location；
Step 507: whether true judging k=n after the completion of acquisition, if it is not, then enabling k=k+1, return to step 503；If so, complete
WiFi fingerprint collecting on pairs of i-th of subregion tracking line on whole location tags.
4. the tracking method according to claim 1 for interior WiFi fingerprint collecting, it is characterised in that: apart from anchor point
Distance location tags are set, distance of each location tags apart from anchor point be unequal；The location tags identification module
For distance computing module.
5. the tracking method according to claim 4 for interior WiFi fingerprint collecting, it is characterised in that: WiFi fingerprint is adopted
Collection robot carries out WiFi fingerprint collecting while tracking, wherein carries out WiFi fingerprint on i-th of subregion tracking line and adopts
The step of collection, is as follows:
Step 701: the location tags of i-th of subregion being numbered on electronic map indoors, wherein j-th of location tags
Number be Si,j, j ∈ { 1,2 ..., n }, n are the sum of location tags on i-th of subregion tracking line；Number is Si,jWith anchor
The distance of point is Li,j；
When step 702:WiFi fingerprint collecting robot reaches anchor point position, the distance that WiFi fingerprint collecting robot is run is returned
Zero；Initialize j=1；
The tracking sensor of step 703:WiFi fingerprint collecting robot detects subregion tracking line, raw according to subregion tracking line
Tracking motor pattern is sent to controller at tracking motor pattern, and in real time, controller is controlled according to tracking motor pattern
WiFi fingerprint collecting robot is moved along tracking line；
Step 704: location tags identification module calculates the current distance L of WiFi fingerprint collecting robot in real time, and current distance L is
Refer to since anchor point position to the distance of current location, and compares L and Li,j, judge whether to reach the jth in n location tags
A location tags；If it is not, then returning to step 703；If so, entering step 705；
Step 705: controller controls WiFi fingerprint collecting robot pause motion, and starts WiFi finger print acquisition module and adopted
Collection；
Step 706: whether true judging j=n after the completion of acquisition, if it is not, then enabling j=j+1, return to step 703；If so, complete
WiFi fingerprint collecting on pairs of i-th of subregion tracking line on whole location tags.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710827724.7A CN107607906B (en) | 2017-09-14 | 2017-09-14 | Tracking method for indoor WiFi fingerprint collecting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710827724.7A CN107607906B (en) | 2017-09-14 | 2017-09-14 | Tracking method for indoor WiFi fingerprint collecting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107607906A CN107607906A (en) | 2018-01-19 |
| CN107607906B true CN107607906B (en) | 2019-06-07 |
Family
ID=61062654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710827724.7A Active CN107607906B (en) | 2017-09-14 | 2017-09-14 | Tracking method for indoor WiFi fingerprint collecting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107607906B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103402256A (en) * | 2013-07-11 | 2013-11-20 | 武汉大学 | Indoor positioning method based on WiFi (Wireless Fidelity) fingerprints |
| CN103442335A (en) * | 2013-08-30 | 2013-12-11 | 中国科学院信息工程研究所 | Privacy protection method and device for Wifi fingerprint positioning |
| CN104297729A (en) * | 2014-09-28 | 2015-01-21 | 联想(北京)有限公司 | Information processing method and electronic device |
| CN204303054U (en) * | 2014-11-21 | 2015-04-29 | 深圳市嘉泰科电子科技有限公司 | A kind of fingerprint identification door lock system be combined with embedded intelligence high-definition camera |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9084217B2 (en) * | 2012-01-03 | 2015-07-14 | Wavion Ltd. | Single-site localization via multipath fingerprinting |
-
2017
- 2017-09-14 CN CN201710827724.7A patent/CN107607906B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103402256A (en) * | 2013-07-11 | 2013-11-20 | 武汉大学 | Indoor positioning method based on WiFi (Wireless Fidelity) fingerprints |
| CN103442335A (en) * | 2013-08-30 | 2013-12-11 | 中国科学院信息工程研究所 | Privacy protection method and device for Wifi fingerprint positioning |
| CN104297729A (en) * | 2014-09-28 | 2015-01-21 | 联想(北京)有限公司 | Information processing method and electronic device |
| CN204303054U (en) * | 2014-11-21 | 2015-04-29 | 深圳市嘉泰科电子科技有限公司 | A kind of fingerprint identification door lock system be combined with embedded intelligence high-definition camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107607906A (en) | 2018-01-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109947119A (en) | A kind of autonomous system for tracking of mobile robot based on Multi-sensor Fusion and method | |
| CN109599945A (en) | A kind of autonomous crusing robot cruising inspection system of wisdom power plant and method | |
| CN108875647A (en) | A kind of motion track monitoring method and system based on livestock identity | |
| CN109901590B (en) | Recharging control method of desktop robot | |
| CN112165684B (en) | High-precision indoor positioning method based on joint vision and wireless signal characteristics | |
| CN109298389A (en) | Indoor pedestrian based on multiparticle group optimization combines position and orientation estimation method | |
| CN107562058B (en) | WiFi fingerprint acquisition system and acquisition method based on position tag identification | |
| CN104091465A (en) | Parking space inquiring and navigation system and method | |
| CN107356256A (en) | A kind of indoor high-accuracy position system and method for multi-source data mixing | |
| CN110969644B (en) | Personnel track tracking method, device and system | |
| CN104133192A (en) | Agricultural machine navigation system and method applied to small and medium-sized farmland | |
| CN104113912B (en) | A kind of indoor orientation method of mobile equipment | |
| CN104981820A (en) | Method, system and processor for instantly recognizing and positioning object | |
| CN105307115A (en) | Distributed vision positioning system and method based on action robot | |
| CN104089649A (en) | System and method for collecting indoor environment data | |
| Nguyen et al. | Low speed vehicle localization using wifi fingerprinting | |
| CN108007459A (en) | Navigation implementation method and device in building | |
| CN115346256A (en) | Robot searching method and system | |
| CN107256034B (en) | Change distribution room multiple spot environmental data collection system based on unmanned aerial vehicle | |
| CN113256866B (en) | Urban rail transit barrier-free passing system and implementation method thereof | |
| CN107607906B (en) | Tracking method for indoor WiFi fingerprint collecting | |
| CN208351330U (en) | A kind of indoor AGV robot based on WiFi navigation | |
| CN114325573A (en) | Method for rapidly detecting identity and position information of operation and maintenance personnel of transformer substation | |
| US11729372B2 (en) | Drone-assisted sensor mapping | |
| CN115586748B (en) | Mobile intelligent flexible motion control system and method thereof |
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 |