CN107860358B - Floor positioning method and system, readable storage medium and intelligent terminal - Google Patents

Floor positioning method and system, readable storage medium and intelligent terminal Download PDF

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CN107860358B
CN107860358B CN201711078446.6A CN201711078446A CN107860358B CN 107860358 B CN107860358 B CN 107860358B CN 201711078446 A CN201711078446 A CN 201711078446A CN 107860358 B CN107860358 B CN 107860358B
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air pressure
floor
pressure value
value
signal strength
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CN107860358A (en
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余敏
阮超
郭杭
宋斌斌
何肖娜
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Jiangxi Normal University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning

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Abstract

The invention provides a floor positioning method, a floor positioning system, a readable storage medium and an intelligent terminal, wherein the method comprises the following steps: the method comprises the steps of receiving observed quantity data collected by data collection equipment, and preprocessing the observed quantity data, wherein the observed quantity data comprise a plurality of air pressure values and a plurality of WIFI signal strength indication vectors; calculating the similarity of the indication vectors between any two WIFI signal strength indication vectors, and when the similarity of the indication vectors is judged to be larger than a preset similarity threshold value, respectively carrying out air pressure calibration on each air pressure value to obtain a plurality of first air pressure values, wherein at least one of the first air pressure values is the air pressure value of the floor to be positioned; and calculating to obtain a relative altitude according to the atmospheric pressure value of the floor to be positioned and a reference surface atmospheric pressure value, and calculating to obtain a corresponding floor number according to the relative altitude. The floor positioning method provided by the invention improves the floor positioning precision and meets the actual application requirements.

Description

Floor positioning method and system, readable storage medium and intelligent terminal
Technical Field
The invention relates to the technical field of positioning, in particular to a floor positioning method, a floor positioning system, a readable storage medium and an intelligent terminal.
Background
In modern life, positioning technology is an extremely important application, is widely applied to military and civil aspects, and plays an extremely important role in the development of modern society. The current positioning technologies are generally classified into outdoor positioning and indoor positioning, wherein the outdoor positioning technology has been developed to a very mature degree and has a very high accuracy. Indoor positioning is still subject to improved positioning accuracy due to interference from many factors.
As is well known, when positioning outdoors, elevation measurement and laser height measurement are mainly performed by using GPS. However, in an indoor environment, the following limitations exist: (1) the shielding of the building on the satellite signal makes the signal of the indoor GPS weak, so that the indoor GPS is difficult to be used for the elevation measurement; (2) the laser height measurement needs special equipment and is too high in manufacturing cost. Based on the problem, in the prior art, according to obvious correlation between air pressure and altitude, the air pressure sensor carried by the smart phone is used for measuring elevation so as to meet the requirement of indoor floor positioning.
However, since the air pressure sensors mounted on different types of smart phones have different hardware structures, a large difference exists between the air pressure data collected at the same time and the same position, which undoubtedly reduces the accuracy of floor positioning and causes misjudgment of the floor.
Disclosure of Invention
In view of the above situation, it is necessary to solve the problem in the prior art that the air pressure sensors mounted on different types of smart phones have different hardware structures, so that the air pressure data collected at the same time and the same position have a large difference, and further the floor positioning accuracy is reduced.
The embodiment of the invention provides a floor positioning method, which is applied to an intelligent terminal for positioning floors, and the intelligent terminal and a plurality of data acquisition devices carry out data transmission, wherein the method comprises the following steps:
the method comprises the steps of receiving observed quantity data collected by the data collection equipment, and preprocessing the observed quantity data, wherein the observed quantity data comprises a plurality of air pressure values and a plurality of WIFI signal strength indication vectors;
calculating the similarity of indication vectors between any two WIFI signal strength indication vectors, and when the similarity of the indication vectors is judged to be larger than a preset similarity threshold value, respectively carrying out air pressure calibration on each air pressure value to obtain a plurality of first air pressure values, wherein at least one of the first air pressure values is a floor air pressure value to be positioned;
and calculating to obtain a relative altitude according to the atmospheric pressure value of the floor to be positioned and a reference surface atmospheric pressure value, and calculating to obtain a corresponding floor number according to the relative altitude.
The invention provides a floor positioning method, firstly receiving observed quantity data collected by data collecting equipment, including air pressure value and WIFI signal strength indication vector, then calculating indication vector similarity between any two WIFI signal strength indication vectors, when the indication vector similarity is larger than a preset similarity threshold value, at the moment, judging that the data collecting equipment corresponding to the two WIFI signal strength indication vectors is on the same floor and the positions are adjacent, because the models of the two data collecting equipment are possibly different, the correspondingly collected air pressure values are possibly different (the air pressure values of the adjacent positions are theoretically the same), at the moment, calibrating and correcting the air pressure values collected by the two data collecting equipment to obtain a first air pressure value, then after obtaining the corresponding altitude according to the air pressure value of the floor to be positioned and the air pressure value of the reference surface, and then calculating and determining the corresponding floor number. The floor positioning method provided by the invention can effectively solve the problem that the floor positioning precision is influenced by different collected air pressure data due to different hardware structures of air pressure sensors carried by different types of smart phones, improves the floor positioning precision and meets the actual application requirements.
In addition, the method for positioning a floor according to the above embodiment of the present invention may further have the following additional technical features:
the floor positioning method, wherein the step of preprocessing the observation data comprises:
according to the formula
Figure BDA0001458439240000021
Carrying out averaging processing on the plurality of air pressure values to obtain an air pressure average value;
according to the formula
Figure BDA0001458439240000022
Carrying out mean value processing on the WIFI signal strength indication vectors to obtain a WIFI signal strength mean value;
wherein Pre is the average value of the air pressure, PreiIs the air pressure value, (RSSI)1，RSSI2，...，RSSIn) Is the average value of the WIFI signal strength, RSSIinFor a single WIFI signal intensity indication, m is the air pressure value or the number of WIFI signal intensity indication vectors acquired by one of the data acquisition devices, and i is selfAnd the variable n is the number of the set wireless routers.
The positioning method of the floor, wherein the step of calculating the indication vector similarity between any two WIFI signal strength indication vectors comprises:
according to the formula
Figure BDA0001458439240000031
Calculating the Euclidean distance between any two WIFI signal strength indication vectors;
according to the formula
Figure BDA0001458439240000032
Calculating to obtain the similarity of the indication vectors;
wherein d isABIs the Euclidean distance, θABFor the indicated vector similarity, RSSInAAnd receiving a WIFI signal strength indication sent by the wireless router with the number of n for the data acquisition equipment A.
The floor positioning method, wherein the data acquisition device comprises a plurality of different types, and the step of performing air pressure calibration on each air pressure value to obtain a plurality of first air pressure values comprises the following steps:
selecting one type of data acquisition equipment as standard type equipment, taking the air pressure value acquired by the standard type equipment as a standard air pressure value, and calculating the air pressure difference value between the acquired air pressure value and the standard air pressure value;
and according to the air pressure difference value, carrying out air pressure correction on the air pressure value acquired by the data acquisition equipment except the standard type equipment to obtain the first air pressure value.
The method for positioning the floor comprises the following steps of:
according to the formula
Figure BDA0001458439240000033
Calculating to obtain the said relationAltitude;
wherein,. DELTA.h01Is the relative altitude, P'0Is the reference face air pressure value, P'1For the air pressure value of the floor to be positioned,. epsilon.is the coefficient of thermal expansion of air, T01Is the average temperature of the atmosphere between the reference surface and the floor to be located.
The method for positioning the floor, wherein the method for calculating the corresponding floor number according to the relative altitude comprises the following steps:
according to the formula x ═ Δ h01/h0+1, calculating to obtain the floor number;
wherein h is0The height of each floor of the building is shown, and x is the number of the floors.
The invention also provides a floor positioning system, which is applied to an intelligent terminal to position floors, and the intelligent terminal and a plurality of data acquisition devices transmit data, wherein the system comprises:
the data receiving module is used for receiving observed quantity data acquired by the data acquisition equipment and preprocessing the observed quantity data, wherein the observed quantity data comprises a plurality of air pressure values and a plurality of WIFI signal strength indication vectors;
the data calibration module is used for calculating the similarity of the indication vectors between any two WIFI signal strength indication vectors, and when the similarity of the indication vectors is judged to be larger than a preset similarity threshold value, respectively carrying out air pressure calibration on each air pressure value to obtain a plurality of first air pressure values, wherein at least one of the first air pressure values is a floor air pressure value to be positioned;
and the floor calculation module is used for calculating to obtain a relative altitude according to the atmospheric pressure value of the floor to be positioned and a reference surface atmospheric pressure value, and calculating to obtain a corresponding floor number according to the relative altitude.
The positioning system of the floor, wherein the data receiving module is further specifically configured to:
according to the formula
Figure BDA0001458439240000041
Carrying out averaging processing on the plurality of air pressure values to obtain an air pressure average value;
according to the formula
Figure BDA0001458439240000042
Carrying out mean value processing on the WIFI signal strength indication vectors to obtain a WIFI signal strength mean value;
wherein Pre is the average value of the air pressure, PreiIs the air pressure value, (RSSI)1，RSSI2，...，RSSIn) Is the average value of the WIFI signal strength, RSSIinAnd indicating for a single WIFI signal strength, wherein m is the air pressure value or the number of WIFI signal strength indication vectors acquired by one data acquisition device, i is an independent variable, and n is the number of the set wireless routers.
The invention also proposes a readable storage medium on which a computer program is stored, wherein said program, when being executed by a processor, implements the method for locating a floor as described above.
The invention also proposes a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the method for locating a floor as described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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Fig. 1 is a schematic block diagram of a positioning method of a floor according to a first embodiment of the present invention;
fig. 2 is a flowchart of the calibration of the air pressure sensor according to the first embodiment of the present invention;
fig. 3 is a flowchart of a floor positioning method according to a first embodiment of the present invention;
fig. 4 is a schematic diagram of a practical application of the floor positioning method according to the first embodiment of the present invention;
fig. 5 is a schematic structural diagram of a positioning system for floors according to a second embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
These and other aspects of embodiments of the invention will be apparent with reference to the following description and attached drawings. In the description and drawings, particular embodiments of the invention have been disclosed in detail as being indicative of some of the ways in which the principles of the embodiments of the invention may be practiced, but it is understood that the scope of the embodiments of the invention is not limited correspondingly. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
In the existing indoor floor positioning technology, due to the fact that different types of smart phones have different hardware structures, great difference exists between the air pressure data collected at the same time and the same position, the floor positioning accuracy is undoubtedly reduced, and floor misjudgment is caused. In order to solve the problem, the present invention provides a floor positioning method, please refer to fig. 1 to 4, for a floor positioning method in a first embodiment, an intelligent terminal is used for positioning a floor, and data transmission is performed between the intelligent terminal and a plurality of data acquisition devices, wherein the method includes the following steps:
s101, observation data collected by the data collection equipment are received, and the observation data are preprocessed, wherein the observation data comprise a plurality of air pressure values and a plurality of WIFI signal strength indication vectors.
In this embodiment, the intelligent terminal is a floor positioning server, and the data acquisition device is generally a smart phone. And data transmission exists between the plurality of smart phones and the floor positioning server. For the smart phone, the air pressure sensor and the WIFI signal receiving device are mounted on the smart phone, so that the air pressure value of the surrounding environment can be detected in real time, and the WIFI signal sent by the wireless router can be received.
It should be noted that before a building is located on a floor, a plurality of wireless routers AP need to be arranged on the first floor and the second floor of the building. The building can be various building facilities such as factories, shopping malls, residential buildings and the like. It will be appreciated that there will be many smartphones present in the building. In this embodiment, the default smart phone is equipped with an air pressure sensor and a WIFI signal receiver. Each smart phone can receive the WIFI signal strength indication sent by the wireless router AP and detect the air pressure value of the surrounding environment.
When the smart phone detects, at the same position, the smart phone can continuously acquire m air pressure values (Pre)1，Pre2...Prem) And m WIFI Signal Strength indication vectors (RSSIs)i1，RSSIi2，...RSSIin) (i ═ 1, 2.. m), and all sent to the floor location server. In addition, when sending, the intelligent mobile phone can send the mobile phone model data corresponding to the intelligent mobile phone to the floor positioning server.
After the floor positioning server receives the observed quantity data collected by the smartphone, the received observed quantity data is preprocessed, and in this embodiment, the preprocessing is mean processing. Specifically, the above m air pressure values (Pre) are respectively measured1，Pre2...Prem) And m WIFI Signal Strength indication vectors (RSSIs)i1，RSSIi2，...RSSIin) (i ═ 1, 2.. m) was subjected to averaging.
Carrying out averaging processing on the m air pressure values according to a formula (1) to obtain an air pressure average value;
Figure BDA0001458439240000071
according toFormula (2) for m WIFI signal strength indication vectors (RSSI)i1，RSSIi2，...RSSIin) (i 1, 2.. m) to obtain a WIFI signal intensity average.
Figure BDA0001458439240000072
Where Pre is the average value of the gas pressure, PreiFor a single detected air pressure value, (RSSI)1，RSSI2，...，RSSIn) Is the average value of WIFI signal strength, RSSIinAnd indicating the single WIFI signal intensity, wherein m is the air pressure value or the number of WIFI signal intensity indication vectors acquired by the data acquisition equipment, i is an independent variable, and n is the number of the set wireless routers AP.
After the equalization processing, the obtained average value is the air pressure average value Pre and the WIFI signal strength average value (RSSI)1，RSSI2，...，RSSIn)。
It should be noted that, after the above processing is finished, the floor positioning server generates a record correspondingly. The recorded pattern is: (ID + PheneType + STIme + Pre + RSSI)1,RSSI2,…,RSSIn)。
Wherein, ID is serial number, PhoneType is the type of the smart phone, STIme is the moment when sampling starts, Pre is the mean value of the air pressure value collected by the smart phone at the current moment, RSSI1、RSSI2、…、RSSInIs the average of the received WiFi signal strength values from each AP.
And S102, calculating the similarity of the indication vectors between any two WIFI signal strength indication vectors, and when the similarity of the indication vectors is judged to be larger than a preset similarity threshold value, respectively carrying out air pressure calibration on each air pressure value to obtain a plurality of first air pressure values, wherein at least one of the first air pressure values is a floor air pressure value to be positioned.
As described above, the wireless routers AP are arranged on the first floor and the second floor, and WIFI signal strength indication vectors received by smartphones at different positions on different floors are different. In this embodiment, whether two smartphones are located in close proximity is determined according to the similarity of the indication vector between the two smartphones. When the similarity of the indication vectors of the WIFI signals received by any two smart phones is larger than a preset similarity threshold value, it can be determined that the two smart phones are close to each other at the moment.
Specifically, the Euclidean distance between any two WIFI signal strength indication vectors is calculated according to a formula (3);
Figure BDA0001458439240000081
after the corresponding Euclidean distance is obtained through calculation, according to the Euclidean distance obtained through calculation, the corresponding indication vector similarity is obtained through calculation of a formula (4);
Figure BDA0001458439240000082
wherein d isABIs Euclidean distance, θABTo indicate vector similarity, RSSInAAnd receiving a WIFI signal strength indication sent by the wireless router with the number of n for the data acquisition equipment A.
It will be appreciated that two smartphones in close proximity should ideally have the same detected barometric pressure. However, due to different models of smart phones, the mounted air pressure sensors are different, and the hardware structure of the air pressure sensors is also different. And therefore the corresponding detected air pressure values are also different. Therefore, the air pressure values detected by the two smart phones need to be calibrated. It should be noted that the calibration is performed mainly for the purpose of unifying the detection standards.
For example, if the two smartphones receive the indication vector similarity θ of the WIFI signal, the smartphone a and the smartphone B may receive the indication vector similarity θABGreater than a predetermined similarity threshold θ0Then it can be determined that smartphone a is in a very close position to smartphone B. However, the two smart phones are of different models and are connectedThe pressure sensors with different models are carried, the hardware structures of the pressure sensors have certain differences, and although the pressure sensors are located at the similar positions of the same floor, the pressure values detected respectively still have certain differences, so that the pressure calibration needs to be carried out on the detected pressure values to unify the detection standards.
Specifically, when the air pressure calibration is performed, for example, the air pressure value detected by the smartphone a is PAAnd the air pressure value detected by the smart phone B is PB. In this embodiment, we use the smart phone a as the standard detection device, that is, the air pressure value P detected by the smart phone aAAs a calibrated standard air pressure value. Therefore, the corresponding air pressure difference value ΔAB＝PA-PBAnd after the air pressure difference value is obtained through calculation, the air pressure difference value is stored in a calibration information base. In the following detection operation, when the type B smart phone and the type A smart phone perform air pressure calibration, the air pressure difference value delta is added on the basis of the detected air pressure valueABAnd obtaining the calibrated first air pressure value.
It should be added here that during the calibration of the actual air pressure, the method of transferring the calibration may also be used in combination to perform the air pressure calibration. Specifically, in the calibration information base, it is assumed that the air pressure deviation value of the smart phone a relative to the smart phone B is known to be ΔABAnd the air pressure deviation value of the smart phone C relative to the smart phone B is deltaCBThen, the air pressure deviation value of the smart phone a relative to the smart phone C can be calculated by the following formula (5):
ΔAC＝PA-PC＝(PA-PB)-(PC-PB)＝ΔAB-ΔCB(5)
therefore, relative calibration of the air pressure values between the smart phone A and the smart phone C can be completed, and error calibration of the air pressure values detected by the smart phones of different types can be completed through the transmission calibration mode.
After the air pressure difference values of the neighboring mobile phones of two different models are obtained through calculation each time, the corresponding relative errors are calibrated to a calibration information base for later use. Through the calibration information base, calibration and calibration can be performed on air pressure detected by any type of smart phones.
S103, calculating according to the atmospheric pressure value of the floor to be positioned and a reference surface atmospheric pressure value to obtain a relative altitude, and calculating according to the relative altitude to obtain a corresponding floor number.
It should be further noted in this embodiment that, when calculating the altitude of the floor to be located, it is necessary to obtain an air pressure value of the floor to be located (after calibration and calibration), where the air pressure value of the floor to be located is relative to the air pressure value of the reference surface.
In this embodiment, the principle of identifying the reference plane is as follows: since the wireless routers AP are deployed only on the first floor and the second floor of the building. When a user is located on the first floor of a building, in WiFi signals received by a smart phone carried by the user, the number of signals transmitted from an AP on the first floor is the largest, the signals are the strongest, and the number and the strength of the signals transmitted from an AP on a wireless router on the second floor are both inferior; when the user is on other floors of the building, the number of signals transmitted from the second-floor AP is the largest and the signal is the strongest among the WiFi signals received by the smart phone, and the number and the strength of the signals transmitted from the first-floor wireless router AP are inferior. According to the rule, the smart phones can be quickly determined to be currently located on the first floor of the building, namely the reference plane.
For example, observation amount data sent from a smartphone carried by each user to the floor positioning server finds: the number of WiFi signals received by the smart phone E from the first floor of the building is the largest, and the signals are the strongest; if the received WiFi signal from the second floor is weaker than the WiFi signal from the first floor as a whole and the number of the received WiFi signals is less than that of the first floor, it can be determined that the smart phone E is currently located on the first floor of the building.
After the reference surface is determined, acquiring the corresponding air pressure value P of the reference surface0. In the floor positioning server, 30 air pressure data continuously collected by the air pressure sensor carried by the smart phone E are averaged to obtain an air pressure value P of the floor positioning reference surface0。
Then obtaining the air pressure value P of the floor to be positioned1And continuously acquiring 30 air pressure data on a floor to be positioned by using a certain type of smart phone F, and sending the air pressure data together with the type of the smart phone to the floor positioning server. The floor positioning server averages the 30 air pressure data to be used as the air pressure value p of the floor to be positioned1。
After obtaining the air pressure value P of the reference surface0And the air pressure value P of the floor to be positioned1And then, respectively carrying out calibration: inquiring a calibration information base, and obtaining relative error values of the smart phone E positioned on the reference surface, the smart phone F positioned on the floor to be positioned and the standard equipment A, wherein the relative error values are respectively as follows: deltaEA，ΔFA。
On the basis of the respective measured values, compensating the corresponding relative error values as respective calibrated observed quantity values, which correspond to: p0'＝P0-ΔEA,P1'＝P1-ΔFA。
After the reference surface air pressure value and the air pressure value of the floor to be positioned are determined, the relative altitude distance between the floor to be detected and the reference surface is calculated according to the Laplace pressure high equation, and the method specifically comprises the following steps:
Figure BDA0001458439240000101
in the formula,. DELTA.h01Is the relative altitude distance, P ', between the reference plane and the floor to be located'0And P'1Respectively as the reference surface and the corrected air pressure value of the layer to be positioned, epsilon is the thermal expansion coefficient of air,
Figure BDA0001458439240000102
T01the local air temperature value.
After the altitude distance is calculated, the floor number of the floor to be positioned is calculated according to the calculated altitude distance. The method specifically comprises the following steps:
x＝Δh01/h0+1
and after the floor positioning server calculates the specific floor number, the information is returned to the smart phone of the user.
Referring to fig. 5, the floor positioning system in the second embodiment is applied to an intelligent terminal to position a floor, and the intelligent terminal and a plurality of data acquisition devices perform data transmission therebetween, wherein the system includes a data receiving module 11, a data calibration module 12, and a floor calculation module 13, which are sequentially connected;
the data receiving module 11 is specifically configured to:
the method comprises the steps of receiving observed quantity data collected by the data collection equipment, and preprocessing the observed quantity data, wherein the observed quantity data comprises a plurality of air pressure values and a plurality of WIFI signal strength indication vectors;
the data calibration module 12 is specifically configured to:
calculating the similarity of indication vectors between any two WIFI signal strength indication vectors, and when the similarity of the indication vectors is judged to be larger than a preset similarity threshold value, respectively carrying out air pressure calibration on each air pressure value to obtain a plurality of first air pressure values, wherein at least one of the first air pressure values is a floor air pressure value to be positioned;
the floor calculation module 13 is specifically configured to:
and calculating to obtain a relative altitude according to the atmospheric pressure value of the floor to be positioned and a reference surface atmospheric pressure value, and calculating to obtain a corresponding floor number according to the relative altitude.
The data receiving module 11 is further specifically configured to:
according to the formula
Figure BDA0001458439240000111
Carrying out averaging processing on the plurality of air pressure values to obtain an air pressure average value;
according to the formula
Figure BDA0001458439240000112
Carrying out mean value processing on the WIFI signal strength indication vectors to obtain a WIFI signal strength mean value;
wherein Pre isAverage value of said air pressure, PreiIs the air pressure value, (RSSI)1，RSSI2，...，RSSIn) Is the average value of the WIFI signal strength, RSSIinAnd indicating for single WIFI signal strength, wherein m is the air pressure value or the number of WIFI signal strength indication vectors acquired by the data acquisition equipment, i is an independent variable, and n is the number of the set wireless routers.
The invention also proposes a readable storage medium on which a computer program is stored, wherein said program, when being executed by a processor, implements the method for locating a floor as described above.
The invention also proposes a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the method for locating a floor as described above.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (9)

1. A floor positioning method is applied to an intelligent terminal to position floors, and data transmission is carried out between the intelligent terminal and a plurality of data acquisition devices, and is characterized by comprising the following steps:
the method comprises the steps of receiving observed quantity data collected by the data collection equipment, and preprocessing the observed quantity data, wherein the observed quantity data comprises a plurality of air pressure values and a plurality of WIFI signal strength indication vectors;
calculating the similarity of indication vectors between any two WIFI signal strength indication vectors, and when the similarity of the indication vectors is judged to be larger than a preset similarity threshold value, respectively carrying out air pressure calibration on each air pressure value to obtain a plurality of first air pressure values, wherein at least one of the first air pressure values is a floor air pressure value to be positioned;
calculating to obtain a relative altitude according to the atmospheric pressure value of the floor to be positioned and a reference surface atmospheric pressure value, and calculating to obtain a corresponding floor number according to the relative altitude;
the method for calculating the relative altitude according to the atmospheric pressure value of the floor to be positioned and a reference surface atmospheric pressure value comprises the following steps:
according to the formula
Figure FDA0002363214170000011
Calculating to obtain the relative altitude;
wherein,. DELTA.h01Is the relative altitude, P'0Is the value of the reference surface air pressure, P1' is the air pressure value of the floor to be positioned,. epsilon.is the coefficient of thermal expansion of air, T01Is the average temperature of the atmosphere between the reference surface and the floor to be positioned;
the method for calibrating the air pressure through the calibration information base comprises the following steps:
after the air pressure difference values of two neighboring mobile phones of different models are obtained through calculation each time, calibrating the corresponding relative error into a calibration information base for later use; calibrating and calibrating the air pressure detected by the smart phone with any model through the calibration information base;
the method for determining the air pressure value of the reference surface according to the identification method of the reference surface comprises the following steps:
analyzing the observed quantity data sent to the floor positioning server by each data acquisition device: if a certain data acquisition device X receives the WiFi signals from the first floor of the building in the largest quantity, and the signals are strongest; and if the received WiFi signals from the second floor are weaker than the WiFi signals of the first floor in whole and the number of the received WiFi signals is less than that of the first floor, the data acquisition equipment X is judged to be currently positioned on the first floor of the building, namely the reference surface, and the air pressure value in the observation data is the air pressure value of the reference surface.
2. A method of locating a floor according to claim 1 wherein the step of pre-processing the observation data comprises:
according to the formula
Figure FDA0002363214170000021
Carrying out averaging processing on the plurality of air pressure values to obtain an air pressure average value;
according to the formula
Figure FDA0002363214170000022
Carrying out mean value processing on the WIFI signal strength indication vectors to obtain a WIFI signal strength mean value;
wherein Pre is the average value of the air pressure, PreiIs the air pressure value, (RSSI)1，RSSI2，...，RSSIn) Is the average value of the WIFI signal strength, RSSIinAnd indicating for a single WIFI signal strength, wherein m is the air pressure value or the number of WIFI signal strength indication vectors acquired by one data acquisition device, i is an independent variable, and n is the number of the set wireless routers.
3. The method of claim 2, wherein the step of calculating the indication vector similarity between any two WIFI signal strength indication vectors comprises:
according to the formula
Figure FDA0002363214170000023
Calculating the Euclidean distance between any two WIFI signal strength indication vectors;
according to the formula
Figure FDA0002363214170000024
Calculating to obtain the similarity of the indication vectors;
wherein d isABIs the Euclidean distance, θABFor the indicated vector similarity, RSSInAAnd receiving a WIFI signal strength indication sent by the wireless router with the number of n for the data acquisition equipment A.
4. The method of claim 3, wherein the data acquisition device comprises a plurality of different types, and wherein the step of calibrating the air pressure for each of the air pressure values to obtain a plurality of first air pressure values comprises:
selecting one type of data acquisition equipment as standard type equipment, taking the air pressure value acquired by the standard type equipment as a standard air pressure value, and calculating the air pressure difference value between the acquired air pressure value and the standard air pressure value;
and according to the air pressure difference value, carrying out air pressure correction on the air pressure value acquired by the data acquisition equipment except the standard type equipment to obtain the first air pressure value.
5. The method for locating floors according to claim 1, wherein the method for calculating the corresponding floor number according to the relative altitude comprises the following steps:
according to the formula x ═ Δ h01/h0+1, calculating to obtain the floor number;
wherein h is0The height of each floor of the building is shown, and x is the number of the floors.
6. The utility model provides a positioning system of floor, is applied to an intelligent terminal and fixes a position the floor, carry out data transmission between intelligent terminal and a plurality of data acquisition equipment, its characterized in that, the system includes:
the data receiving module is used for receiving observed quantity data acquired by the data acquisition equipment and preprocessing the observed quantity data, wherein the observed quantity data comprises a plurality of air pressure values and a plurality of WIFI signal strength indication vectors;
the data calibration module is used for calculating the similarity of the indication vectors between any two WIFI signal strength indication vectors, and when the similarity of the indication vectors is judged to be larger than a preset similarity threshold value, respectively carrying out air pressure calibration on each air pressure value to obtain a plurality of first air pressure values, wherein at least one of the first air pressure values is a floor air pressure value to be positioned;
the floor calculation module is used for calculating to obtain a relative altitude according to the atmospheric pressure value of the floor to be positioned and a reference surface atmospheric pressure value, and calculating to obtain a corresponding floor number according to the relative altitude;
the floor calculation module is further to:
according to the formula
Figure FDA0002363214170000031
Calculating to obtain the relative altitude;
wherein,. DELTA.h01Is the relative altitude, P'0Is the value of the reference surface air pressure, P1' is the air pressure value of the floor to be positioned,. epsilon.is the coefficient of thermal expansion of air, T01Is the average temperature of the atmosphere between the reference surface and the floor to be positioned;
the floor calculation module is further to:
analyzing the observed quantity data sent to the floor positioning server by each data acquisition device: if a certain data acquisition device X receives the WiFi signals from the first floor of the building in the largest quantity, and the signals are strongest; if the received WiFi signals from the second floor are weaker than the WiFi signals of the first floor in whole in strength and the number of the received WiFi signals is less than that of the first floor, the data acquisition equipment X is judged to be currently located on the first floor of the building, namely a reference surface, and the air pressure value in the observation data is the air pressure value of the reference surface;
the data calibration module is further configured to:
after the air pressure difference values of two neighboring mobile phones of different models are obtained through calculation each time, calibrating the corresponding relative error into a calibration information base for later use; and calibrating the air pressure detected by the smart phone with any model through the calibration information base.
7. The floor positioning system of claim 6, wherein the data receiving module is further specifically configured to:
according to the formula
Figure FDA0002363214170000041
Carrying out averaging processing on the plurality of air pressure values to obtain an air pressure average value;
according to the formula
Figure FDA0002363214170000042
Carrying out mean value processing on the WIFI signal strength indication vectors to obtain a WIFI signal strength mean value;
wherein Pre is the average value of the air pressure, PreiIs the air pressure value, (RSSI)1，RSSI2，...，RSSIn) Is the average value of the WIFI signal strength, RSSIinAnd indicating for a single WIFI signal strength, wherein m is the air pressure value or the number of WIFI signal strength indication vectors acquired by one data acquisition device, i is an independent variable, and n is the number of the set wireless routers.
8. A readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, carries out the method of locating a floor according to any one of the preceding claims 1 to 5.
9. An intelligent terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of locating a floor according to any of claims 1 to 5.
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