CN108235245A - A kind of method of WiFi positioning - Google Patents
A kind of method of WiFi positioning Download PDFInfo
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- CN108235245A CN108235245A CN201711220071.2A CN201711220071A CN108235245A CN 108235245 A CN108235245 A CN 108235245A CN 201711220071 A CN201711220071 A CN 201711220071A CN 108235245 A CN108235245 A CN 108235245A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a kind of methods of WiFi positioning,Including having the first WiFi module,First dual-mode antenna,Control end system of the spectrum measurement instrument with the test carriage of power supply subsystem and with the second WiFi module and the second dual-mode antenna,Pass through described first,Second WiFi module,First dual-mode antenna and the second dual-mode antenna,The signal of the control end system received spectrum tester acquisition and control connect the movement of the test carriage,And including positioning initialization,Fingerprint database data acquire,Finger print data pre-processes,Location data pretreatment matching positioning unit,Calculate possible coordinate set S (x,Y) and calculate point to be determined specific coordinate s (x,Y) and etc.,With reduction human cost,Solve powerup issue,Reduce interference,Reduce error,Reduce signal strength influence of fluctuations,Improve precision,Reduce maintenance cost,The advantages that positioning unit size is adjustable.
Description
Technical field
The present invention relates to a kind of methods of WiFi positioning.
Background technology
Increasingly mature with radio network technique, wireless network is received by more and more enterprise customers.At present,
WLAN (WLAN, Wireless Local Network) is as a hot spot in radio network technique.Narrow sense
WLAN definition is based on 802.11 series standards of IEEE, utilizes high frequency less radio-frequency (such as radio of 2.4GHz or 5GHz frequency ranges
Magnetic wave) WLAN as transmission medium.Nineteen ninety, IEEE formally enable 802.11 projects, IEEE802.11 standards
Since birth, successively there are a 802.11a and 802.11b, 802.11g, 802.11e, 802.11f, 802.11h, 802.11i,
The standard formulations such as 802.11j are fermented, and 802.11n applications at present are very universal, in Intelligent campus, wisdom garden, intelligence
The numerous areas such as intelligent city are widely used.
Compared with cable network, WLAN has using flexible, extension convenience, cost economy, installs the spies such as simple
Point.In cable network construction, network layout construction work there are long construction period, by physical environment it is big the problem of.
In work progress, generally require brokenly wall and pick up, thread frame pipe.And the advantage of WLAN maximum is exactly to remove or reduce net from
The workload of network wiring, as long as one or more access point AP (Access Point) equipment of general installation, so that it may establish covering
Whole building or the local area network in area.WLAN can be on the basis of cable network, by increasing wireless controller
(Access Controller, AC) and wireless access points (Access Point, AP) discharge wireless signal, and one common
The coverage area of AP is between 30m~100m, and outdoor high power AP some is up to 600m.After user terminal access wireless network,
It can be moved freely in the range of wireless signal covering.WLAN generally has two kinds of Ad-hoc patterns and architecture
Networking model.Ad-hoc pattern non-stop layer topological structures, the provisional autonomous system being made of mobile terminal, these mobile terminals
It is connected directly to one another in a manner of the equity such as identical work group name, ESSID and password, within the coverage area of WLAN, into
The point-to-point communication between point-to-multipoint of row.Infrastructure network is centered on AP, after mobile terminal is connect with AP, is connect by AP
Enter cable network.In this 2 kinds of networking models, WLAN is seldom to the dependence of wired wiring or can rely on showing
Some cable networks reduce relevant cost and time.In addition wireless network topology variation is flexible, and improvement expenses are relatively low.
Conventional WLAN uses the network architecture of fat AP, and each AP works independently.On the one hand it needs to every in network
A AP carries out independent configuration and management, increases the complexity and maintenance work amoun of wireless network management；On the other hand due to
It is difficult to effectively cooperate between AP, the radio frequency interference between AP, wireless roaming subscriber is led to problems such as to be difficult to effectively be solved
Scheme.For these problems, there are centralized management type wireless network architecture (the also referred to as thin AP networks being made of AC and thin AP
Framework), AP is established by CAPWAP tunnel and AC and connected, and centralized management control is carried out to AP by AC.
Thin AP wireless technologys are using cable convertor+wireless controller (Access Controller, AC)+thin AP
Networking mode, i.e. AP do not have management control function as simple wireless access point, and it is unified to pass through wireless controller (AC)
All AP are managed, control strategy is issued to specified AP, without being separately configured on each AP.AC passes through CAPWAP tunnel and multiple AP
It is connected, user need to only be managed for configuration associated AP on AC.Networking is generally carried out using thin AP wireless technologys at present.
It when WLAN is set up, is required for first wirelessly being surveyed, wirelessly surveys below main complete three
The content of aspect：
1st, design and draw frequency spectrum covering.The topographic map of mapping overlay area during ground is surveyed, drawing area wireless frequency spectrum,
Design spectrum distribution, find suitable AP installation sites, calculate needed for AP index, assessment covering effect, tabulating equipment type
Number and the contents such as quantity；
2nd, output output result is surveyed.As a result AP, antenna, wireless controller and other wireless system applications devices are mainly included
The installation site and installation parameter of part are the design datas of wireless system engineering, be supplied to construction team as project installation according to
According to.
3rd, above-mentioned 1-2 steps are repeated, determine optimal designing scheme.
The existing step 1 wirelessly surveyed in technical solution and 3 relies primarily on artificial, network engineers' carrying spectrum measurement
Instrument carries out wireless frequency spectrum dependence test into actual environment, and since AP installation sites may be higher, engineer also needs to carry ladder
The tools such as son, overall work amount is big, and collection period is long, time and effort consuming, and in addition wireless test instrument needs to power, in practical physics
Typically no power interface in environment carries portable power, and there are power supply power-on time is short, and volume is big, heavy etc. to ask
Topic.
When carrying out region division to area to be targeted, generally using fixed mesh size as positioning unit, positioning list
The size of member does not have adjustability, while a good distance away positioning unit in physical space, and the fingerprint of acquisition is in signal space
In be but possible to close, in this way when pattern match is carried out, wrong positioning unit can be matched.
Such as Fig. 1, the collected RSSI of A pointsA (AP1, AP2)=(- 58, -47), in fingerprint database：RSSIG11 (AP1, AP2)=
(- 60, -45), RSSIG13 (AP1, AP2)=(- 59, -48), then the Euclidean distance of A point to G11 and G13 is respectively RAG11=[(- 58+
60)2+(-47+45)2]1/2=2.8, RAG13=[(- 58+59)2+(-47+48)2]1/2=1.4, therefore can judge A points from G13 most
Closely, and actual conditions are that A points are closer from G11.
Invention content
It is an object of the invention to overcome the deficiency of the prior art, a kind of method of WiFi positioning is provided.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of method of WiFi positioning, include with the first WiFi module, spectrum measurement instrument and subsystem of powering can
Mobile test vehicle and the control end system with the second WiFi module, pass through first and second WiFi module, the control
The signal of end system received spectrum tester acquisition and control connect the movement of the test carriage, and the spectrum measurement instrument passes through liter
Drop platform is arranged on the test carriage；And include the following steps positioning initialization：Several positioning AP are mounted on where height H and are put down
Face, and form on the plane：
A. positioning initialization：Plane where several positioning AP are mounted on height H, and form right angle is sat on the plane
Mark system covering area to be targeted, the coordinate of each positioning AP is API, j=(i × K, j × K), i, j ∈ natural numbers, K ＞ 0 are described
Area to be targeted is divided into the cell of several k × k by rectangular coordinate system, and k ＞ 0 are adopted in the setting of each unit center of a lattice
Collecting point N (i, j) coordinate isX is calculated in a test point, the value of y, then test point s
The calculation formula that (x, y) falls in the coordinate i, j of positioning unit lattice isSymbol [] represents rounding, and initialization refers to
Line database includes initializing each positioning AP based on time series in the RSSI of each sample point station acquisition, signal mean value and standard
Difference and initialization test equipment are in the collected RSSI signals of test point and the time-based change in location of test equipment；
B. fingerprint database data acquire：AP test channels will be positioned and divided and meet AP adjacent two-by-two, selection is not done mutually
The test channel disturbed, and signal is sent by constant power, the test carriage, which rises the spectrum measurement instrument, to be lifted to height h, control
Test carriage collects test signal vector in the collection point N (i, j) of each cell successively, by intervals t, collects m times,
Referred to as a sampling period T, i.e. T=m × t, will be in the test signal S for each AP that collection point N (i, j) is collected intoRSSIIt sends
Control end system is returned, the T's of sampling period acquisition each time
APn_ MAC, RSS represent the RSSI signals that n-th of AP is collected into；
C. finger print data pre-processes：Non-locating AP signals are first filtered, seek the positioning AP Ji Tai for collecting signalA be position AP MAC Address set, the set U acquiredAPIt is the positioning AP for collecting test signal
Set；Then to positioning AP signal mean filters, to set UAPThe good AP of p signal, p >=3, to a sampling period T before taking
The signal strength of acquisition asks the signal strength mean μ and standard deviation sigma of each positioning AP,Choosing
Lifting principle is：Big according to mean μ, the good AP of p signal before taking if mean μ is equal, takes standard deviation sigma greatly, if μ
It is all equal with σ, then it takes MAC Address small, obtains a new setThe set expression test equipment once samples
In cycle T, the set of the best positioning AP signals mean value of the preceding p signal of acquirement and standard deviation；Then data update is extremely referred to
Line database；
D. location data pre-processes：The spectrum measurement instrument of test carriage will in signal strength that s (x, y) to be positioned is collected into and
The MAC Address for sending the AP of signal is sent to control end system, the MAC Address of signal AP is sent by comparison, by non-locating AP
Signal delete, formed Ji TaiIt is the set for the positioning AP for collecting test signal, then to positioning AP signal threshold values filter
Wave, to setThe good AP signals of q signal before taking, other signals are deleted, q >=3；
E. positioning unit is matched：In RSSI spaces, by the signal strength data of fingerprint base and the test point that is collected into
Signal strength data is matched, and selection is most matched, positioning unit is determined, from fingerprint baseIn, according to
AP MAC Address, take outIn comprising these AP MAC Address subclass, calculate in above-mentioned subclass, often
The Euclidean distance of the signal strength of a collection point RSSI and test point RSSI, Euclidean distance is sorted from small to large, collection point with
The Euclidean distance of test point RSSI signal strengths is smaller, and it is higher in the positioning units probability for acquiring point identification to illustrate that test point is fallen,
Euclidean distance calculation formula：
F. possible coordinate set S (x, y) is calculated：To the signal of q positioning AP, according to signal decay formula：Physical space the distance d, wherein Pr that test point can be calculated and positioned between AP are strong to receive signal
Degree, Pt are AP transmission powers, and Gr is receiving antenna gain, and Gt is transmitter antenna gain (dBi), and PL is path loss, and A is impact factor,
M is decay factor, and d is receiving point with a distance from sending point, and Pr, Pt, Gr and PL unit is dB, and the d units are m, 3
Distance d can pass through formula：Determine coordinate s (x, y), wherein z will for the test carriage
The spectrum measurement instrument, which rises, to be lifted to height h, z1、z2And z3For the mounting height H of the positioning AP, the signal for positioning AP to q,
The possibility coordinate number that possible coordinate set S (x, y) can be calculated hasTo each possible coordinate element s (x,
Y), calculate may coordinate s (x, y) fall positioning unit lattice coordinate i, j, calculation formula isAssuming thatIt is a
Possible coordinate s (x, y) is fallen in r cell, and the possibility number of coordinates that each cell includes is Zj, then
G. the specific coordinate s (x, y) of point to be determined is calculated：Be possible to coordinate is weighted, is fallen single at same
First lattice may the weight of coordinate set beThe possibility coordinate s that i.e. cell includes is more, then weight is big, specific coordinate s (x, y) meter
Calculating formula is
In a further preferred embodiment, in the step A, it is 3m that several positioning AP, which are mounted on height H,.
In a further preferred embodiment, in the step B, the test carriage liter act spectrum measurement instrument to height h is 1m.
In a further preferred embodiment, the test carriage also have camera, it is described control end system also have with it is described
The display screen of camera signals connection；The camera is mounted on the front end of the test carriage, and the lifting platform is mounted on described
The rear end of test carriage.
In a further preferred embodiment, the camera can up and down, rotate left and right and/or focusing.
In a further preferred embodiment, the test carriage also has the storage subsystem being connected with the spectrum measurement instrument
System.
In a further preferred embodiment, the spectrum measurement instrument be equipped with antennal interface and it is a variety of be removably mounted at it is described
Gain antenna on antennal interface.
In a further preferred embodiment, signal transmitting and receiving antenna is also respectively connected in first and second WiFi module.
In a further preferred embodiment, the camera is covered with transparent outer cover.
In a further preferred embodiment, the test carriage further includes control subsystem, drive subsystem, test information storage
Subsystem, electric lifting platform and camera；The control subsystem receives the instruction that control end system sends over, control transmission
The forward-reverse of subsystem and steering, the lifting of electric lifting platform and left rotation and right rotation, the left rotation and right rotation of camera, spectrum measurement instrument
Startup and closing, the storage of test data；The power supply subsystem is powered for the test carriage；The control end system also wraps
Include display screen, direction controller and control button；The display screen shows the video counts that the test carriage thecamera head comes
According to；The direction controller includes function one：The drive subsystem of the test carriage is controlled to advance, retreat, turn left, turn right；Work(
Energy two：Control the up and down, anticlockwise, right rotation of the electric lifting platform of the test carriage；The function packet of the control button
It includes but is not limited to direction controller function switch switch, the camera left/right rotation of control test end system, start spectrum measurement, close
Close spectrum measurement, the one or more of which that test data stores.
The beneficial effects of the invention are as follows：
1st, test carriage is connected with control end system as a result of radio receiving transmitting module, by the way that end system control is controlled to survey
The movement of test run and the image transmission of camera, solve the disadvantage that need in the prior art manually to carry out WiFi spectrally to survey,
It improves WiFi and spectrally surveys efficiency and flexibility；Area to be targeted is covered by several positioning AP form right angles coordinate systems, it will
Area to be targeted is divided, by set positioning unit lattice further set collection point for test carriage acquire RSSI fingerprints, two
Two adjacent AP select non-interfering test channel and send signal according to constant power, reduce interference, promotion WiFi positioning
Stability and positioning accuracy；Unified that positioning AP is mounted on identical height, unified test carriage, which rises, lifts signal strength test instrument
Highly, reduce error, improve precision；The signal of filtering non-locating AP is filtered by non-locating AP, by mean filter, reduces letter
The influence that number strength fluctuation is brought；Spacing wave finger print information is often updated like that without image space received signals fingerprint technology, is reduced
Maintenance cost.
The 2nd, as long as operating personnel pass through operation and control end system indoors, you can control test carriage is in certain physical extent
Wireless frequency spectrum test is carried out, and records and store test data in time, application method is simple, reduces human cost；Pass through test
Lifting platform on vehicle, the physical height of spectrum measurement instrument is adjustable, removes from and carries the complicated processes such as ladder, manual testing, reduces people
Power cost, while improve testing efficiency and flexibility；By subsystem of powering, it is electric difficult and just to solve to take in practical physical environment
Taking formula power supply, there are the problems such as power supply power-on time is short, volume is big, heavy；Dismountable gain antenna cooperation antennal interface,
Improve the applicability of test.
The present invention is described in further detail with reference to the accompanying drawings and embodiments；But a kind of WiFi positioning of the present invention
Method is not limited to embodiment.
Description of the drawings
Fig. 1 is the schematic diagram of prior art localization method；
Fig. 2 is the test car of the preferred embodiment of the present invention and the structure diagram of control end system；
Fig. 3 is the preferred embodiment flow chart of the present invention；
Fig. 4 is the positioning AP installations of the preferred embodiment of the present invention and the schematic diagram of setting positioning unit lattice.
Specific embodiment
Embodiment, referring to the method that shown in Fig. 2 to Fig. 4, a kind of WiFi of the invention is positioned, including movable detection vehicle
100 have the first WiFi module 110, camera 120,130 and of spectrum measurement instrument with control end system 200, the test carriage 100
Control subsystem 140；The control end system 200 has the second WiFi module 210, display screen 220 and controller 230；Wherein,
By 110 and second WiFi module 210 of the first WiFi module, by the vision signal of the camera 120 of the test carriage 100
The display screen 220 for being transmitted to control end system 200 shows that the control of controller 230 connects the movement of the test carriage 100.
In the present embodiment, the test carriage 100 can advance, retreats, turns left and turn right, and pass through transmission in control subsystem 140
System 150 carries out transmission control.Power supply subsystem 141 is equipped in the control subsystem 140, the power supply subsystem 141 is logical
It crosses the control circuits such as voltage-stablizer and exports different voltage for each system use on test carriage.
The camera 120 is mounted on the front end of the test carriage 100, and lifting is equipped in the rear end of the test carriage 100
Platform 160, the spectrum measurement instrument 130 are mounted on the lifting platform 160, and the controller 230 also controls the lifting platform 160
Lifting and rotation.The lifting of the lifting platform 160 can drive screw rod transmission to control by motor, and rotation can pass through electricity
The transmission control of machine drive gear.
The front end of the test carriage 100 is additionally provided with light supply apparatus 170, the light supply apparatus 170 and the control subsystem
140 connections, which can be that setting is automatic in control subsystem 140, photosensitive to be controlled the light supply apparatus 170 or passes through institute
It states the control of controller 230 and connects the light supply apparatus 170.
The control subsystem 140 also has the storage system 180 being connected with the spectrum measurement instrument 130.At other
In embodiment, it is convenient to omit the storage system 180 is believed the test of the spectrum measurement instrument 130 by the first WiFi module
Breath is uploaded to cloud platform or is uploaded to the control end system 200 and stored.
The spectrum measurement instrument 130 is equipped with antennal interface and a variety of gains being removably mounted on the antennal interface
Antenna 131.
Signal transmitting and receiving antenna 111 and 211 is also respectively connected in first WiFi module, 110 and second WiFi module 210.
Transparent outer cover can be covered in the camera 120.The camera 120 can up and down, rotate left and right and/or adjust
It is burnt.
The controller 230 is equipped with the steering wheel 231 of control test carriage 100 and the button for sending out other instructions
232, the button 232 is, for example, a direction controller function switch switch.
In the present embodiment, the control subsystem 140 is used to receive the instruction that control end system 200 sends over：Control
The forward-reverse of drive subsystem 150 and steering；The lifting of lifting platform 160 and left rotation and right rotation；The rotation up and down of camera；
The startup and closing of spectrum measurement instrument 130；The storage of test data.
The WiFi localization methods of the present embodiment include the following steps：
A. positioning initialization：Installation positioning AP, initializes indoor positioning map, and room area 30m × 30m, AP have 20,
The positioning AP spacing K=10m in same x/y directions, then positioning AP has 16,Coordinate API, j
=(10 × i, 10 × j), i ∈ [0,3], j ∈ [0,3] for simplicity, position the MAC natural numbers of AP, are represented from 1 to 16.
Positioning unit lattice size is set, takes k=5, a positioning unit lattice size is 5m × 5m, sample point
It determines each positioning unit lattice sample point, x is calculated in a test point, the value of y, then test point s (x, y)
The calculation formula fallen in the coordinate i, j of positioning unit lattice isSymbol [] represents rounding.
Location database is initialized, for simplicity, provides database portion divided data such as following table 1-4 here.
Table 1 respectively positioning AP based on time series each collection point station acquisition RSSI
Table 2 respectively positioning AP based on time series each collection point station acquisition signal mean value and standard deviation
3 test equipment of table is in the collected RSSI signals of test point
The time-based position table of 4 test equipment of table
B. fingerprint database data acquire：AP test channels are positioned to divide：
The channel of 2.4G frequency ranges, two-by-two AP takes from { 1,6,11 }, ensures AP channels value difference two-by-two, 5.8G
The channel of frequency range, two-by-two AP takes from 5.8G frequency ranges, ensures AP channels value difference two-by-two, and positioning AP presses rated power
100mw is sent, i.e. transmission power Pt=10lg100=20dB
Test carriage 100 acquires frequency spectrum fingerprint in each collection point, and 100 liters of test carriage lifts spectrum measurement instrument 130 in 1 meter or so height
Degree collects test signal vector in the central point N (i, j) of each positioning unit successively, by intervals 5 seconds, collects 10
Secondary, a referred to as sampling period T i.e. T=5 × 10=50 seconds, then will be in the survey of each AP that collection point N (i, j) is collected into
Trial signal SRSSISend back control end system.
C. finger print data pre-processes, and the signal of filtering non-locating AP sends the MAC Address of signal AP by comparison, will be non-
The signal for positioning AP is deleted, and forms set UAP, be collect test signal positioning AP set, mean filter, to set
UAP, to a sampling period T, each 10 signal strengths for positioning AP acquisitions, ask each positioning AP signal strength mean μ and
Standard deviation sigma, the signal strength for the positioning AP for taking preceding 6 signals good, i.e. p=6, as the AP signal strength fingerprints of the positioning unit
Set, by data update to fingerprint database.
D. location data pre-processes：What the spectrum measurement instrument 130 of test carriage 100 will be collected into position s (x, y) to be positioned
Signal strength and the AP MAC Address for sending signal are sent to control end system, and control end system filters the signal of non-locating AP,
The MAC Address of signal AP is sent by comparison, the signal of non-locating AP is deleted, forms setIt is to collect test signal
Positioning AP set, threshold filter.To setThe AP signals for taking preceding 4 signals good, i.e. q=4.Other signals are deleted.
E. positioning unit is matched：In RSSI spaces, by the signal strength data of fingerprint base and the test point that is collected into
Signal strength data is matched, and selection is most matched, positioning unit is determined, according to set4 positioning AP MAC
The set of the data of the MAC Address comprising these AP in fingerprint base is taken out, i.e., comprising Ji Tai in locationPositioning unit set,
The Euclidean distance of the signal strength of each positioning unit collection point RSSI and test point RSSI is calculated, by Euclidean distance from small to large
Sequence, collection point and the Euclidean distance of test point RSSI signal strengths are smaller, illustrate that test point falls the positioning in acquisition point identification
Probability per unit is higher, Euclidean distance calculation formula：
F. possible coordinate set S (x, y) is calculated：To 4 positioning AP, to appoint and take 3, then possible coordinate set has 4, and 3
A space length distance d can determine the design parameter of coordinate s (x, y), according to signal decay formula
Physical space the distance d, wherein Pr that test point can be calculated and positioned between AP are received signal strength, and Pt is AP transmission powers,
Gr is receiving antenna gain, and Gt is transmitter antenna gain (dBi), and PL is path loss, and A is impact factor, and M is decay factor, and d is connects
For sink with a distance from sending point, Pr, Pt, Gr and PL unit is dB, and the d units are m, are calculated through experiment, common
2.4G frequency ranges and 5.8G frequency ranges, indoors the path loss formula in space be, when N takes 2.6,
PL=46+26lgd under 2.4G frequency ranges；
PL=56+26lgd under 5.8G frequency ranges.
AP emits signal with 100mw firm powers, then transmission power Pt=10lg100=20dB, transmitter antenna gain (dBi) Gt
For 2.2dB, receiving antenna gain Gr is 2dB.
The height h of spectrum measurement instrument 130 is 1m, and the height H for positioning AP is 3m, and 3 distances can pass through formula：Coordinate s (x, y) is determined, in 4 possible coordinate elements, to each possible coordinate element
S (x, y), calculate may coordinate fall positioning unit lattice coordinate i, j.Calculation formula isIn the present embodiment,
4 possible coordinate elements fall the range in 2 positioning units, one 3, one 1.
G. the specific coordinate s (x, y) of point to be determined is calculated：Be possible to coordinate is weighted, is fallen same
The possibility of cellThe possibility coordinate s that i.e. cell includes is more, then weight is big, specific coordinate s
(x, y) calculation formula is：
Obtain the specific coordinate of the point to be determined.
Above-described embodiment is only used for the method for a kind of WiFi positioning further illustrated the present invention, but the present invention does not limit to
In embodiment, any simple modification that every technical spirit according to the present invention makees above example, equivalent variations are with repairing
Decorations, each fall in the protection domain of technical solution of the present invention.
Claims (10)
- A kind of 1. method of WiFi positioning, it is characterised in that：It includes having the first WiFi module, spectrum measurement instrument and supplied for electronic The movable detection vehicle of system and the control end system with the second WiFi module, by first and second WiFi module, The signal of the control end system received spectrum tester acquisition and control connect the movement of the test carriage, the spectrum measurement Instrument is arranged on by lifting platform on the test carriage；And include the following steps：A. positioning initialization：Plane where several positioning AP are mounted on height H, and form right angle coordinate system on the plane Area to be targeted is covered, the coordinate of each positioning AP is API, j=(i × K, j × K), i, j ∈ Z, K ＞ 0, the rectangular coordinate system Area to be targeted is divided into the cell of several k × k, k ＞ 0, in each unit center of a lattice setting collection point N (i, j) Coordinate isX is calculated in a test point, the value of y, then test point s (x, y), which is fallen, is determining The calculation formula of the coordinate i, j of bit location lattice isSymbol [] represents rounding, and initialization fingerprint database includes Each positioning AP is initialized to survey in the RSSI of each sample point station acquisition, signal mean value and standard deviation and initialization based on time series Equipment is tried in the collected RSSI signals of test point and the time-based change in location of test equipment；B. fingerprint database data acquire：AP test channels will be positioned and divided and meet AP adjacent two-by-two, selected non-interfering Channel is tested, and signal is sent by constant power, the test carriage, which rises the spectrum measurement instrument, to be lifted to height h, control test Vehicle collects test signal vector in the collection point N (i, j) of each cell successively, by intervals t, collects m times, referred to as Sampling period T, i.e. T=m × t, will be in the test signal S for each AP that collection point N (i, j) is collected intoRSSISend back control End system processed, sampling period T acquisitions each timeAPn_ MAC, RSS represent the RSSI signals that n-th of AP is collected into；C. finger print data pre-processes：Non-locating AP signals are first filtered, seek the positioning AP set for collecting signalA be position AP MAC Address set, the set U acquiredAPIt is the positioning AP for collecting test signal Set；Then to positioning AP signal mean filters, to set UAPThe good AP of p signal, p >=3, to a sampling period T before taking The signal strength of acquisition asks the signal strength mean μ and standard deviation sigma of each positioning AP, Electing principle is：Big according to mean μ, the good AP of p signal before taking if mean μ is equal, takes standard deviation sigma greatly, if μ and σ are equal, then take MAC Address small, obtain a new setThe set expression test equipment once samples In cycle T, the set of the best positioning AP signals mean value of the preceding p signal of acquirement and standard deviation；Then data update is extremely referred to Line database；D. location data pre-processes：The spectrum measurement instrument of test carriage will be in the signal strength and transmission that s (x, y) to be positioned is collected into The MAC Address of the AP of signal is sent to control end system, the MAC Address of signal AP is sent by comparison, by the letter of non-locating AP Number delete, formed setIt is the set for the positioning AP for collecting test signal, it is right then to positioning AP signal threshold values filtering SetThe good AP signals of q signal before taking, other signals are deleted, q >=3；E. positioning unit is matched：In RSSI spaces, by the signal strength data of fingerprint base and the signal of test point being collected into Intensity data is matched, and selection is most matched, positioning unit is determined, from fingerprint baseIn, according toAP MAC Address, take outIn comprising these AP MAC Address subclass, calculate in above-mentioned subclass, each adopt Collect the Euclidean distance of the signal strength of point RSSI and test point RSSI, Euclidean distance is sorted from small to large, collection point and test The Euclidean distance of point RSSI signal strengths is smaller, and it is higher in the positioning units probability for acquiring point identification to illustrate that test point is fallen, European Distance calculation formula：F. possible coordinate set S (x, y) is calculated：To the signal of q positioning AP, according to signal decay formula：Physical space the distance d, wherein Pr that test point can be calculated and positioned between AP are strong to receive signal Degree, Pt are AP transmission powers, and Gr is receiving antenna gain, and Gt is transmitter antenna gain (dBi), and PL is path loss, and A is impact factor, M is decay factor, and d is receiving point with a distance from sending point, and Pr, Pt, Gr and PL unit is dB, and the d units are m, 3 Distance d can pass through formula：Determine coordinate s (x, y), wherein z will for the test carriage The spectrum measurement instrument, which rises, to be lifted to height h, z1、z2And z3For the mounting height H of the positioning AP, the signal for positioning AP to q, The possibility coordinate number that possible coordinate set S (x, y) can be calculated hasTo each possible coordinate element s (x, Y), calculate may coordinate s (x, y) fall positioning unit lattice coordinate i, j, calculation formula isAssuming thatIt is a Possible coordinate s (x, y) is fallen in r cell, and the possibility number of coordinates that each cell includes is Zj, thenG. the specific coordinate s (x, y) of point to be determined is calculated：Be possible to coordinate is weighted, is fallen in same a cell The weight of possible coordinate set isThe possibility coordinate s that i.e. cell includes is more, then weight is big, and specific coordinate s (x, y) calculates public Formula is
- 2. a kind of method of WiFi positioning according to claim 1, it is characterised in that：It is described several fixed in the step A It is 3m that position AP, which is mounted on height H,.
- 3. a kind of method of WiFi positioning according to claim 1, it is characterised in that：In the step B, the test carriage Rise lift spectrum measurement instrument to height h be 1m.
- 4. a kind of method of WiFi positioning according to claim 1, it is characterised in that：The test carriage also has camera shooting Head, the control end system also have the display screen being connect with the camera signals；The camera is mounted on the test The front end of vehicle, the lifting platform are mounted on the rear end of the test carriage.
- 5. a kind of method of WiFi positioning according to claim 4, it is characterised in that：The camera can up and down, left and right Rotation and/or focusing.
- 6. a kind of method of WiFi positioning according to claim 1, it is characterised in that：The test carriage also have with it is described The storage subsystem that spectrum measurement instrument is connected.
- 7. a kind of method of WiFi positioning according to claim 1, it is characterised in that：The spectrum measurement instrument is equipped with day Line interface and a variety of gain antennas being removably mounted on the antennal interface.
- 8. a kind of method of WiFi positioning according to claim 1, it is characterised in that：First and second WiFi module Signal transmitting and receiving antenna is also respectively connected.
- 9. a kind of method of WiFi positioning according to claim 4, it is characterised in that：The camera is covered with transparent outer Shell.
- 10. a kind of method of WiFi positioning according to claim 1, it is characterised in that：The test carriage further includes control Subsystem, drive subsystem, test information storage subsystem, electric lifting platform and camera；The control subsystem receives control The instruction that end system processed sends over controls forward-reverse and steering, the lifting of electric lifting platform and left and right of drive subsystem Rotation, the startup of the left rotation and right rotation of camera, spectrum measurement instrument and closing, the storage of test data；It is described power supply subsystem be The test carriage power supply；The control end system further includes display screen, direction controller and control button；The display screen is shown The video data that the test carriage thecamera head comes；The direction controller includes function one：Control the test carriage Drive subsystem advances, retreats, turns left, turns right；Function two：Control up and down, a left side for the electric lifting platform of the test carriage Rotation, right rotation；The function of the control button includes but not limited to direction controller function switch switch, control test lead system The camera left/right rotation of system starts spectrum measurement, closes spectrum measurement, the one or more of which that test data stores.
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