CN107806878A - A kind of method based on smart mobile phone indoor and outdoor integration positioning and navigation - Google Patents
A kind of method based on smart mobile phone indoor and outdoor integration positioning and navigation Download PDFInfo
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- CN107806878A CN107806878A CN201710953198.9A CN201710953198A CN107806878A CN 107806878 A CN107806878 A CN 107806878A CN 201710953198 A CN201710953198 A CN 201710953198A CN 107806878 A CN107806878 A CN 107806878A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of method based on smart mobile phone indoor and outdoor integration positioning and navigation, comprise the following steps：Step 1：Location information obtains and location information pretreatment, extracts information using smart mobile phone build-in function, then pre-processed by algorithm to obtain location identification；Step 2：GPS threshold coefficients are set and judge that present position is indoor or outdoor；Step 3：If such as outdoor, high moral API forms are taken to carry out outdoor precise positioning, if indoor, the indoor integration technology method then developed using mobile phone sensor based on oneself, oneself mobile phone EMS memory map is arbitrarily extracted again, carries out indoor precise positioning, so as to reach indoor and outdoor precise positioning and navigation integration.The achievable indoor and outdoor positioning integration of the present invention and the cartographic information that upgrades in time, improve location information and positioning precision and enhance the convenient degree of positioning and navigation.
Description
Technical field
The present invention relates to indoor and outdoor Orientation on map and field of navigation technology, and in particular to one kind is based on smart mobile phone indoor and outdoor
Integration positioning and the method for navigation.
Background technology
In the life of whole modern humans, the application of location technology has progressively extended from original single positioning function
To numerous application fields such as consumption, amusement, social activities.In the industry cycle interior widely used GPS system can preferably solve outdoor fixed
Position problem, but indoors and under other masking environment, the intensity and quality of gps signal drastically decline, and can not solve interior
Reliable location problem under complex environment is, it is necessary to seek other location technologies to adapt to the demand of indoor positioning.Indoor environment
It is extremely complex, signal propagate often is stopped by barriers such as ceiling, wall, dividing plates, signal occur reflection, refraction,
Diffraction, scattering phenomenon, there are multi-path propagation effects and non line of sight effect so that the great challenge of indoor positioning.It is existing indoor fixed
Position technology includes infrared (IR), ultrasonic wave, radio frequency identification (RFID), WLAN (WLAN), bluetooth (Blue Tooth), super
Broadband (Ultra Wideband) etc..These indoor positioning technologies place one's entire reliance upon the signal characteristic in positioning scene, and these
Signal is easily disturbed by environment, and needs to estimate position by mathematical estimation model, causes location estimation knot
Fruit precision and error are larger.Existing location technology respectively has advantage and disadvantage, at present still without a kind of effective localization method energy
Indoor and outdoor positioning integration and the cartographic information that upgrades in time are realized while the accuracy requirement for enough meeting indoor LBS positioning.
The content of the invention
In view of the shortcomings of the prior art, problem solved by the invention is how to meet that the degree of accuracy of indoor LBS positioning will
Indoor and outdoor positioning integration and the cartographic information problem that upgrades in time are realized while asking.
In order to solve the above technical problems, the technical solution adopted by the present invention is a kind of integrated based on smart mobile phone indoor and outdoor
Positioning and the method for navigation, comprise the following steps：
Step 1：Location information obtains and location information pretreatment, extracts information using smart mobile phone build-in function, then lead to
Algorithm is crossed to be pre-processed to obtain location identification；
Step 2：GPS threshold coefficients are set and judge that present position is indoor or outdoor；
Step 3：If such as outdoor, take high moral API forms to carry out outdoor precise positioning, if indoor, then utilize mobile phone
The indoor integration technology method that sensor is developed based on oneself, then oneself mobile phone EMS memory map is arbitrarily extracted, carry out indoor accurate
Positioning, so as to reach indoor and outdoor precise positioning and navigation integration.
In step 1, the location information, which obtains, includes acceleration, angle, Geomagnetism Information, WiFi signal intensity,
Ibeacon base stations bluetooth signal intensity, and GPS signal strength.
In step 1, the location information pretreatment is the characteristic value of extraction collection positioning signal, changes into location feature number
According to.
In step 1, the location identification data include：
(1) outdoor data is gps data, makes user's true location coordinate correspond to optimal co-ordinates of satellite for (X, Y, Z) and is
(Xi, Yi, Zi), i=1,2,3,4, cellphone subscriber's clock correction is Δ tj, c is the light velocity, and pseudorange is expressed as ρi；
(2) outdoor data：
Acceleration information, v0, vmT is represented respectively0, tmMoment mobile phone linear velocity, a represent the acceleration in one direction of mobile phone,For t0To tmAverage speed, the relative displacement of Δ s mobile phones；
Earth surface geomagnetic field intensity is different under geomagnetic data, different longitude and latitude and height, so as to constitute different longitudes and latitudes
A kind of vector characteristic under degree and height, main earth's magnetic field M can be obtained by gyroscope built in mobile phonez, earth's crust earth's magnetic field MdWith it is dry
Disturb earth's magnetic field Mg；
WiFi data and bluetooth receive data, when carrying out indoor objects positioning using fingerprint identification method, it is necessary to dispose
The AP nodes that a small amount of position is fixed, receiving node use the multiple AP signal intensities structure RSS vectors received；Assuming that receive section
The RSS vector representations that point observes are s=(s1, s2... si..., sp), wherein si, for the transmitting of the i-th beaconing nodes, receiving node
The RSS values received, p are beaconing nodes sum.
In step 2, the setting GPS threshold coefficients are to calculate weight according to GPS signal strength, then are configured threshold value system
Number, specific practice is as follows,
The gps data collected more than obtains pseudorange：
Wherein, (X0, Y0, Z0) it is user's approximate location co-ordinates,
Order
Then obtaining quality coefficient matrix is：
Then GPS location precision coefficient is：
It is described to judge that present position is indoor or outdoor is survey by indoor and outdoor GPS signal strength in step 2
Try data and calculate weighted value, redesign coefficient gps signal table, judge according to the strong and weak and gps signal coefficient table of gps signal.
It is described to take the outdoor precise positioning of high moral API forms progress to refer to take the positioning of high moral map and lead in step 3
Principle of navigating carries out accurately outdoor positioning and navigation using its API.
In step 3, the indoor integration technology method developed using mobile phone sensor based on oneself refers to take oneself
The algorithm of change, merged PDR, earth magnetism, Wi-Fi and bluetooth technological means can indoor positioning and navigation, specific processing side
Method is as follows：
(1) inertial navigation auxiliary MSD matching algorithms are improved
3 linear acceleration numerical value are obtained according to mobile phone accelerometer, by coordinate transform, navigation calculates, and can obtain mobile phone
The navigation information such as position, speed and posture：
M (r, t)=Mz(r,t)+Md(r)+Mg(r,t)
The horizontal intensity for making magnetic field project is H, and magnetic declination isMagnetic dip angle is φ, then：
(2) decision level multimodality fusion algorithm
Certain mapping relations be present with the position where it and be in the signal intensity that a certain position receives：
L=f (s)
Based on the mapping relations, in off-line training step, each coordinate points gathers multiple AP signal datas in space,
Form multiple RSS vectors r=(r1, r ... ri..., rp)；If each component of all RSS vectors of each coordinate points is distinguished
Average, resulting average RSS vector values can be as the characteristic value of the point
R in formulajkFor rjK-th of component, rikFor riK-th of component and satisfaction, n are the RSS vectors of coordinate points collection
Sum；Each coordinate can obtain such characteristic vector so in scene, and the characteristic vector of all coordinates
To form fingerprint base used hereinSo as to establish corresponding mapping relations；
During AP species more than one, in order to carry out multimodality fusion in decision level, it is also necessary to the positioning knot to each model
Fruit weighted sum；If the i-th class AP positioning result is li=(xi, yi), the positioning result after multimodality fusion is L=(X, Y), then
The fusion of decision level can be carried out according to below equation：
Wherein wiIt is the weights and ∑ w of the i-th class AP positioning resultsi=1, n are multimode AP sum.
In step 3, it is described arbitrarily extract oneself mobile phone EMS memory map refer to oneself can to take pictures manually, download on the net and
The indoor map painted manually, is uploaded in the APP of exploitation, can quickly, expeditiously with reference to the Multi-information acquisition means of exploitation
Enter advance quasi- indoor positioning and navigation.
Compared with prior art, the present invention Orientation on map and navigation can realize indoor and outdoor positioning integration, positioning and
The precision of navigation is high, and can combine offer map in real time and be navigated and positioned, and room can not be realized by solving existing positioning
Inside and outside positioning integration and can not upgrade in time cartographic information the problem of, while solve that location information is inaccurate and positioning precision
Not high problem, convenient degree, the degree of accuracy and the precision of positioning and navigation are improved, improve the performance of positioning.
Brief description of the drawings
Fig. 1 is the flow chart of the method based on smart mobile phone indoor and outdoor integration positioning and navigation；
Fig. 2 is outdoor positioning effect image of the present invention；
Fig. 3 is the actual effect image of indoor positioning of the present invention and navigation.
Embodiment
The embodiment of the present invention is further described with reference to the accompanying drawings and examples, but is not to this hair
Bright restriction.
Embodiment 1：
Such as accompanying drawing 1, a kind of method based on smart mobile phone indoor and outdoor integration positioning and navigation, comprise the following steps：
Step 1：Location information obtains and location information pretreatment, extracts information using smart mobile phone build-in function, then lead to
Algorithm is crossed to be pre-processed to obtain location identification；
Step 2：GPS threshold coefficients are set and judge that present position is indoor or outdoor；
Step 3：If such as outdoor, take high moral API forms to carry out outdoor precise positioning, if indoor, then utilize mobile phone
The indoor integration technology method that sensor is developed based on oneself, then oneself mobile phone EMS memory map is arbitrarily extracted, carry out indoor accurate
Positioning, so as to reach indoor and outdoor precise positioning and navigation integration.
In step 1, the location information, which obtains, includes acceleration, angle, Geomagnetism Information, WiFi signal intensity,
Ibeacon base stations bluetooth signal intensity, and GPS signal strength.
In step 1, the location information pretreatment is the characteristic value of extraction collection positioning signal, changes into location feature number
According to.
In step 1, the location identification data include：
(1) outdoor data is gps data, makes user's true location coordinate correspond to optimal co-ordinates of satellite for (X, Y, Z) and is
(Xi, Yi, Zi), i=1,2,3,4, cellphone subscriber's clock correction is Δ tj, c is the light velocity, and pseudorange is expressed as ρi；
(2) outdoor data：
Acceleration information, v0, vmT is represented respectively0, tmMoment mobile phone linear velocity, a represent the acceleration in one direction of mobile phone,For t0To tmAverage speed, the relative displacement of Δ s mobile phones；
Earth surface geomagnetic field intensity is different under geomagnetic data, different longitude and latitude and height, so as to constitute different longitudes and latitudes
A kind of vector characteristic under degree and height, main earth's magnetic field M can be obtained by gyroscope built in mobile phonez, earth's crust earth's magnetic field MdWith it is dry
Disturb earth's magnetic field Mg；
WiFi data and bluetooth receive data, when carrying out indoor objects positioning using fingerprint identification method, it is necessary to dispose
The AP nodes that a small amount of position is fixed, receiving node use the multiple AP signal intensities structure RSS vectors received；Assuming that receive section
The RSS vector representations that point observes are s=(s1, s2... si..., sp), wherein si, for the transmitting of the i-th beaconing nodes, receiving node
The RSS values received, p are beaconing nodes sum.
In step 2, the setting GPS threshold coefficients are to calculate weight according to GPS signal strength, then are configured threshold value system
Number, specific practice is as follows,
The gps data collected more than obtains pseudorange：
Wherein, (X0, Y0, Z0) it is user's approximate location co-ordinates,
Order
Then obtaining quality coefficient matrix is：
Then GPS location precision coefficient is：
In the step 2, the judgement present position is that indoor or outdoor is by indoor and outdoor GPS signal strength
Test data calculate weighted value, redesign coefficient gps signal table, the power and gps signal coefficient table according to gps signal are sentenced
It is disconnected.
It is described to take the outdoor precise positioning of high moral API forms progress to refer to take the positioning of high moral map and lead in step 3
Accurately outdoor positioning and navigation, experiment effect are as shown in Figure 2 using its API progress for principle of navigating.
In step 3, the indoor integration technology method developed using mobile phone sensor based on oneself refers to take oneself
The algorithm of change, merged PDR, earth magnetism, Wi-Fi and bluetooth technological means can indoor positioning and navigation, specific processing side
Method is as follows：
(3) inertial navigation auxiliary MSD matching algorithms are improved
3 linear acceleration numerical value are obtained according to mobile phone accelerometer, by coordinate transform, navigation calculates, and can obtain mobile phone
The navigation information such as position, speed and posture：
M (r, t)=Mz(r, t)+Md(r)+Mg(r, t)
The horizontal intensity for making magnetic field project is H, and magnetic declination isMagnetic dip angle is φ, then：
(4) decision level multimodality fusion algorithm
Certain mapping relations be present with the position where it and be in the signal intensity that a certain position receives：
L=f (s)
Based on the mapping relations, in off-line training step, each coordinate points gathers multiple AP signal datas in space,
Form multiple RSS vectors r=(r1, r ... ri..., rp)；If each component of all RSS vectors of each coordinate points is distinguished
Average, resulting average RSS vector values can be as the characteristic value of the point
R in formulajkFor rjK-th of component, rikFor riK-th of component and satisfaction, n are the RSS vectors of coordinate points collection
Sum；Each coordinate can obtain such characteristic vector so in scene, and the characteristic vector of all coordinates
To form fingerprint base used hereinSo as to establish corresponding mapping relations；
During AP species more than one, in order to carry out multimodality fusion in decision level, it is also necessary to the positioning knot to each model
Fruit weighted sum；If the i-th class AP positioning result is li=(xi, yi), the positioning result after multimodality fusion is L=(X, Y), then
The fusion of decision level can be carried out according to below equation：
Wherein wiIt is the weights and ∑ w of the i-th class AP positioning resultsi=1, n are multimode AP sum.
In step 3, it is described arbitrarily extract oneself mobile phone EMS memory map refer to oneself can to take pictures manually, download on the net and
The indoor map painted manually, is uploaded in the APP of exploitation, can quickly, expeditiously with reference to the Multi-information acquisition means of exploitation
Enter advance quasi- indoor positioning and navigation, experiment effect is as shown in Figure 3.
Embodiment 2：
According to Fig. 2 experiment effects, by the Orientation on map in embodiment 1 and navigation Processing Algorithm, extraction location information is special
Sign, by data analysis statistical and fusion means, has formulated the method for positioning and the navigation of map.
Overall procedure illustrates that the information of localization process realizes that indoor and outdoor positions by the way that pretreatment from level to level and analysis are final
With the effect of navigation integration.GPS information is pre-processed first, and judgement is indoor or outdoor, if outdoor, is then believed according to GPS
Number carry out high accurancy and precision positioning and navigation.If indoor, then information in further process chamber, and being merged, in conjunction with mobile phone
The map of offer carries out real-time update indoor map information, carries out indoor positioning and navigation, finally realizes indoor and outdoor positioning one
Change.
Compared with prior art, the present invention Orientation on map and navigation can realize indoor and outdoor positioning integration, positioning and
The precision of navigation is high, and can combine offer map in real time and be navigated and positioned, and room can not be realized by solving existing positioning
Inside and outside positioning integration and can not upgrade in time cartographic information the problem of, while solve that location information is inaccurate and positioning precision
Not high problem, convenient degree, the degree of accuracy and the precision of positioning and navigation are improved, improve the performance of positioning.
Embodiments of the present invention are made that with detailed description above in association with accompanying drawing, but the present invention be not limited to it is described
Embodiment.To those skilled in the art, without departing from the principles and spirit of the present invention, these are implemented
Mode carries out various change, modification, replacement and modification and still fallen within protection scope of the present invention.
Claims (9)
1. a kind of method based on smart mobile phone indoor and outdoor integration positioning and navigation, comprises the following steps：
Step 1：Location information obtains and location information pretreatment, extracts information using smart mobile phone build-in function, then pass through calculation
Method is pre-processed to obtain location identification；
Step 2：GPS threshold coefficients are set and judge that present position is indoor or outdoor；
Step 3：If such as outdoor, take high moral API forms to carry out outdoor precise positioning, if indoor, then sensed using mobile phone
The indoor integration technology method that device is developed based on oneself, then oneself mobile phone EMS memory map is arbitrarily extracted, indoor precise positioning is carried out,
So as to reach indoor and outdoor precise positioning and navigation integration.
2. the method according to claim 1 based on smart mobile phone indoor and outdoor integration positioning and navigation, it is characterised in that：
In step 1, the location information, which obtains, includes acceleration, angle, Geomagnetism Information, WiFi signal intensity, and ibeacon base stations are blue
Tooth signal intensity, and GPS signal strength.
3. the method according to claim 1 based on smart mobile phone indoor and outdoor integration positioning and navigation, it is characterised in that：
In step 1, the location information pretreatment is the characteristic value of extraction collection positioning signal, changes into location feature data.
4. the method according to claim 1 based on smart mobile phone indoor and outdoor integration positioning and navigation, it is characterised in that：
In step 1, the location identification data include：
(1) outdoor data is gps data, and it is that (X, Y, Z) corresponding optimal co-ordinates of satellite is (X to make user's true location coordinatei, Yi,
Zi), i=1,2,3,4, cellphone subscriber's clock correction is Δ tj, c is the light velocity, and pseudorange is expressed as ρi；
(2) outdoor data：
Acceleration information, v0, vmT is represented respectively0, tmMoment mobile phone linear velocity, a represent the acceleration in one direction of mobile phone,
For t0To tmAverage speed, the relative displacement of Δ s mobile phones；
Earth surface geomagnetic field intensity is different under geomagnetic data, different longitude and latitude and height, so as to constitute different longitude and latitude and
A kind of vector characteristic under height, main earth's magnetic field M can be obtained by gyroscope built in mobile phonez, earth's crust earth's magnetic field MdIntrusively
Magnetic field Mg；
WiFi data and bluetooth receive data, when carrying out indoor objects positioning using fingerprint identification method, it is necessary to dispose a small amount of
The AP nodes that position is fixed, receiving node use the multiple AP signal intensities structure RSS vectors received；Assuming that receiving node is seen
The RSS vector representations measured are s=(s1, s2... si..., sp), wherein siReceived for the transmitting of the i-th beaconing nodes, receiving node
RSS values, p be beaconing nodes sum.
5. the method according to claim 1 based on smart mobile phone indoor and outdoor integration positioning and navigation, it is characterised in that：
In step 2, the setting GPS threshold coefficients are to calculate weight according to GPS signal strength, then are configured threshold coefficient, specifically
Way is as follows：
The gps data collected more than obtains pseudorange：
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<mn>11</mn>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>q</mi>
<mn>22</mn>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>q</mi>
<mn>33</mn>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>q</mi>
<mn>44</mn>
</msub>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>.</mo>
</mrow>
6. the method according to claim 1 based on smart mobile phone indoor and outdoor integration positioning and navigation, it is characterised in that：
It is described to judge that present position is indoor or outdoor is test data meter by indoor and outdoor GPS signal strength in step 2
Weighted value is calculated, redesigns coefficient gps signal table, is judged according to the power of gps signal with gps signal coefficient table.
7. the method according to claim 1 based on smart mobile phone indoor and outdoor integration positioning and navigation, it is characterised in that：
It is described to take high moral API forms to carry out positioning and navigation principle profit that outdoor precise positioning refers to take high moral map in step 3
Accurately outdoor positioning and navigation are carried out with its API.
8. the method according to claim 1 based on smart mobile phone indoor and outdoor integration positioning and navigation, it is characterised in that：
In step 3, the indoor integration technology method developed using mobile phone sensor based on oneself refers to the calculation for taking oneself to change
Method, merged PDR, earth magnetism, Wi-Fi and bluetooth technological means can indoor positioning and navigation, specific processing method is as follows：
(1) inertial navigation auxiliary MSD matching algorithms are improved
3 linear acceleration numerical value are obtained according to mobile phone accelerometer, by coordinate transform, navigation calculates, and can obtain the position of mobile phone
Put, the navigation information such as speed and posture：
M (r, t)=Mz(r,t)+Md(r)+Mg(r,t)
The horizontal intensity for making magnetic field project is H, and magnetic declination isMagnetic dip angle is φ, then：
<mrow>
<mi>M</mi>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<msub>
<mi>M</mi>
<mi>x</mi>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>M</mi>
<mi>y</mi>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>M</mi>
<mi>z</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
<mrow>
<mi>H</mi>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<msub>
<mi>M</mi>
<mi>x</mi>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>M</mi>
<mi>y</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
<mrow>
<mi>&phi;</mi>
<mo>=</mo>
<mi>a</mi>
<mi>c</mi>
<mi>tan</mi>
<mfrac>
<msub>
<mi>M</mi>
<mi>z</mi>
</msub>
<mi>H</mi>
</mfrac>
<mo>;</mo>
</mrow>
(2) decision level multimodality fusion algorithm
Certain mapping relations be present with the position where it and be in the signal intensity that a certain position receives：
L=f (s)
Based on the mapping relations, in off-line training step, the multiple AP signal datas of each coordinate points collection, are formed in space
Multiple RSS vectors r=(r1, r ... ri..., rp)；If flat is asked respectively to each component of all RSS vectors of each coordinate points
Average, resulting average RSS vector values can be as the characteristic value of the point
R in formulajkFor rjK-th of component, rikFor riK-th of component and satisfaction, n are the RSS vector sums of coordinate points collection；
Each coordinate can obtain such characteristic vector so in scene, and the characteristic vector of all coordinates just may be constructed
Fingerprint base used hereinSo as to establish corresponding mapping relations；
During AP species more than one, in order to carry out multimodality fusion in decision level, it is also necessary to which the positioning result of each model is added
Power summation；If the i-th class AP positioning result is li=(xi, yi), the positioning result after multimodality fusion is L=(X, Y), then can be with
The fusion of decision level is carried out according to below equation：
<mrow>
<mi>X</mi>
<mo>=</mo>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>w</mi>
<mi>i</mi>
</msub>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<mi>Y</mi>
<mo>=</mo>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>w</mi>
<mi>i</mi>
</msub>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
</mrow>
Wherein wiIt is the weights and Σ w of the i-th class AP positioning resultsi=1, n are multimode AP sum.
9. the method according to claim 1 based on smart mobile phone indoor and outdoor integration positioning and navigation, it is characterised in that：
In step 3, oneself mobile phone EMS memory map that arbitrarily extracts refers to oneself to take pictures manually, downloads and paint manually on the net
Indoor map, be uploaded in the APP of exploitation, with reference to the Multi-information acquisition means of exploitation, can quickly, expeditiously enter to advance accurate
Indoor positioning and navigation.
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| CN109031202A (en) * | 2018-06-03 | 2018-12-18 | 桂林电子科技大学 | indoor environment area positioning system and method based on auditory scene analysis |
| CN109031202B (en) * | 2018-06-03 | 2022-10-04 | 桂林电子科技大学 | Indoor environment area positioning system and method based on auditory scene analysis |
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| CN109000654A (en) * | 2018-06-07 | 2018-12-14 | 全图通位置网络有限公司 | Localization method, device, equipment and storage medium |
| CN108919328A (en) * | 2018-07-13 | 2018-11-30 | 桂林电子科技大学 | A kind of indoor and outdoor seamless positioning system and localization method |
| CN108983272A (en) * | 2018-08-03 | 2018-12-11 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging Beidou or GPS and sensor |
| CN109459770A (en) * | 2018-09-14 | 2019-03-12 | 咪咕互动娱乐有限公司 | A kind of generation method of motion profile, device and storage medium |
| CN109951830A (en) * | 2019-02-01 | 2019-06-28 | 湖南格纳微信息科技有限公司 | A kind of indoor and outdoor seamless positioning method of multi-information fusion |
| CN109951830B (en) * | 2019-02-01 | 2023-05-02 | 湖南云箭格纳微信息科技有限公司 | Indoor and outdoor seamless positioning method based on multi-information fusion |
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| CN110062326A (en) * | 2019-04-08 | 2019-07-26 | 上海交通大学 | A kind of positioning of automobile-used blue-tooth intelligence key and inside and outside discrimination method |
| CN111065045A (en) * | 2019-11-04 | 2020-04-24 | 广东博智林机器人有限公司 | Matching positioning method and device, electronic equipment and computer readable medium |
| CN111811505A (en) * | 2020-08-27 | 2020-10-23 | 中国人民解放军国防科技大学 | Pedestrian seamless navigation positioning method and system based on intelligent device and MIMU |
| CN112433242A (en) * | 2020-09-23 | 2021-03-02 | 广州启盟信息科技有限公司 | High-precision property positioning method, device and system |
| WO2022127573A1 (en) * | 2020-12-17 | 2022-06-23 | 中兴通讯股份有限公司 | User trajectory positioning method, electronic device and computer storage medium |
| CN115201873A (en) * | 2022-09-06 | 2022-10-18 | 中冶智诚(武汉)工程技术有限公司 | Multi-system collaborative indoor and outdoor precise positioning system architecture and operation method thereof |
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