CN108235429A - Indoor orientation method, device and system - Google Patents
Indoor orientation method, device and system Download PDFInfo
- Publication number
- CN108235429A CN108235429A CN201611149080.2A CN201611149080A CN108235429A CN 108235429 A CN108235429 A CN 108235429A CN 201611149080 A CN201611149080 A CN 201611149080A CN 108235429 A CN108235429 A CN 108235429A
- Authority
- CN
- China
- Prior art keywords
- signal strength
- wireless signal
- information
- reference point
- indoor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The present invention proposes a kind of indoor orientation method, device and system, is related to wireless positioning field.Wherein, a kind of indoor orientation method of the invention includes：The wireless signal strength information of point to be determined is obtained, wireless signal strength information includes base station signal strength information and at least one Wireless Fidelity WiFi access point signals strength informations；According to the wireless signal strength information of point to be determined and the wireless signal strength information of indoor each reference point, positioning result is determined based on nonparametric probability algorithm；Feed back location information.By such method, base station and WiFi access point signals strength informations can be obtained, using indoor wireless signal strength distribution situation, indoor positioning is carried out using nonparametric probability algorithm, without disposing new positioning device；It is positioned since WiFi access point deployments are in interior, and using the signal strength information of multiple signal sources, it is achieved thereby that the raising of positioning accurate accuracy.
Description
Technical field
The present invention relates to wireless positioning field, particularly a kind of indoor orientation method, device and system.
Background technology
Current common localization method is by GPS, WiFi (Wireless Fidelity, Wireless Fidelity), mobile network
The wireless signal that the equipment such as base station, bluetooth provide positions.Precision of such method in outdoor positioning occasion is by people
Approve.However, these equipment majorities are all deployed in outdoor, their signal reflection, refraction, scattering by wall etc. it
After can not realize indoor accurate positionin, error is very big.And since careat is smaller, user is to the accuracy of indoor positioning
Often higher, existing positioning method can not meet the needs of indoor precise positioning to demand.
At present in wireless positioning field, particularly indoor wireless positioning field, research, which is concentrated mainly on, utilizes wireless base station
Signal, such as GSM (Global System for Mobile Communication, Global Communications System), CDMA2000 (Code
Division Multiple Access 2000, CDMA 2000) or WCDMA (Wideband Code Division
Multiple Access, wideband code division multiple access) and bluetooth, RFID (Radio Frequency Identification, are penetrated
Frequency identifies), ultrasound etc. realize indoor positioning etc., but these methods or system all have some using upper limitation：Such as
Using wireless base station signal positioning precision not enough, using RFID label tag or localization by ultrasonic need to install additional hardware device,
The transmission range of bluetooth is typically only tens meters, and the physical extent of application is limited.
Invention content
An object of the present invention is to provide a kind of schemes for improving indoor positioning precision.
According to an aspect of the present invention, a kind of indoor orientation method is proposed, including：Obtain the wireless signal of point to be determined
Strength information, wireless signal strength information includes base station signal strength information and at least one WiFi access point signals intensity is believed
Breath；According to the wireless signal strength information of point to be determined and the wireless signal strength information of indoor each reference point, based on non-ginseng
Number Density Estimator algorithm determines positioning result；Feed back location information.
Optionally, believed according to the wireless signal strength of the wireless signal strength information of point to be determined and indoor each reference point
Breath, determines that positioning result includes based on nonparametric probability algorithm：By the wireless signal strength information of point to be determined and room
The wireless signal strength probability distribution information of interior each reference point matches, and obtains priori probability information；Believed according to prior probability
Breath obtains posterior probability information；Positioning result is determined according to the transition probability matrix of indoor each reference point.
Optionally, the wireless signal strength probability distribution information of indoor each reference point includes：Indoor each reference point
Signal strength is equal to the probabilistic information of the wireless signal strength of point to be determined.
Optionally, the probability that the transition probability matrix of indoor each reference point moves between user indoors each reference point
Matrix.
Optionally, it further includes：Obtain the wireless signal strength information of indoor each reference point；According to indoor each reference point
The indoor each reference point of wireless signal strength information update wireless signal strength probability distribution information.
Optionally, it further includes：Multiple reference points are set indoors；Obtain the wireless signal strength letter of indoor each reference point
Breath；According to the wireless of the indoor each reference point of wireless signal strength information and signal attenuation characteristic generation of indoor each reference point
Signal strength probability distribution information.
By such method, base station and WiFi access point signals strength informations can be obtained, utilizes indoor wireless communication
Number intensity distribution situation carries out indoor positioning using nonparametric probability algorithm, new such as RFID or ultrasound without disposing
The positioning devices such as sending device；Since WiFi access point deployments are in interior, and using multiple signal sources signal strength information into
Row positioning, it is achieved thereby that the raising of positioning accurate accuracy.
According to another aspect of the present invention, a kind of indoor positioning device is proposed, including：Information receiving module, for obtaining
Take the wireless signal strength information of point to be determined, wireless signal strength information includes base station signal strength information and at least one
WiFi access point signals strength informations；Locating module, for each according to the wireless signal strength information of point to be determined and interior
The wireless signal strength information of reference point determines positioning result based on nonparametric probability algorithm；Information feedback module is used
In feedback location information.
Optionally, locating module is specifically used for：By the wireless signal strength information of point to be determined and indoor each reference point
Wireless signal strength probability distribution information match, obtain priori probability information；It is general that posteriority is obtained according to priori probability information
Rate information；Positioning result is determined according to the transition probability matrix of indoor each reference point.
Optionally, the wireless signal strength probability distribution information of indoor each reference point includes：Indoor each reference point
Signal strength is equal to the probabilistic information of the wireless signal strength of point to be determined.
Optionally, the probability that the transition probability matrix of indoor each reference point moves between user indoors each reference point
Matrix.
Optionally, it further includes：Reference point signal acquisition module, for obtaining the wireless signal strength of indoor each reference point
Information；Update module, for the nothing of the indoor each reference point of wireless signal strength information update according to indoor each reference point
Line signal strength probability distribution information.
Optionally, it further includes：Reference point setting module, for setting multiple reference points indoors；Reference point signal acquisition
Module, for obtaining the wireless signal strength information of indoor each reference point；It further includes：Initial distribution information generating module is used
In the wireless of the indoor each reference point of wireless signal strength information and signal attenuation characteristic generation according to indoor each reference point
Signal strength probability distribution information.
Such device can obtain base station and WiFi access point signals strength informations, utilize indoor wireless signal strength
Distribution situation carries out indoor positioning using nonparametric probability algorithm, and new without deployment sets as RFID or ultrasonic is sent
The positioning devices such as standby；It is positioned since WiFi access point deployments are in interior, and using the signal strength information of multiple signal sources,
It is achieved thereby that the raising of positioning accurate accuracy.
According to a further aspect of the invention, a kind of indoor locating system is proposed, including：Any one being mentioned above
Indoor positioning device；With, business platform, for receiving to carry out the Location Request of user terminal and be transmitted to indoor positioning device,
And the positioning result from indoor positioning device is fed back into user terminal.
Optionally, it further includes：User terminal, for obtaining local wireless signal strength information, being initiated to business platform
Location Request and local wireless signal strength information is sent to indoor positioning device.
Such system can obtain base station and WiFi access point signals strength informations, utilize indoor wireless signal strength
Distribution situation carries out indoor positioning using nonparametric probability algorithm, and new without deployment sets as RFID or ultrasonic is sent
The positioning devices such as standby；It is positioned since WiFi access point deployments are in interior, and using the signal strength information of multiple signal sources,
It is achieved thereby that the raising of positioning accurate accuracy.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and forms the part of the application, this hair
Bright illustrative embodiments and their description do not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of one embodiment of the indoor orientation method of the present invention.
Fig. 2 is the flow chart of one embodiment that positioning result is determined in the indoor orientation method of the present invention.
Fig. 3 is that the reference point of one embodiment of the indoor orientation method of the present invention disposes schematic diagram.
Fig. 4 is the transition probability schematic diagram of one embodiment of the indoor orientation method of the present invention.
Fig. 5 is the flow chart of another embodiment of the indoor orientation method of the present invention.
Fig. 6 is the schematic diagram of one embodiment of the indoor positioning device of the present invention.
Fig. 7 is the schematic diagram of another embodiment of the indoor positioning device of the present invention.
Fig. 8 is the schematic diagram of another embodiment of the indoor positioning device of the present invention.
Fig. 9 is the schematic diagram of one embodiment of the indoor locating system of the present invention.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention is described in further detail.
The flow chart of one embodiment of the indoor orientation method of the present invention is as shown in Figure 1.
In a step 101, the wireless signal strength information of point to be determined is obtained, wireless signal strength information is believed including base station
Number strength information and at least one WiFi access point signals strength information.Base station signal can include CDMA2000, WCDMA, GSM
Or LTE signals.In one embodiment, the quantity of WiFi access points can be set according to the size of the interior space.In a reality
It applies in example, to improve precision (such as meter accuracy requirement), multiple WiFi access points can be disposed, it is ensured that any one in indoor environment
The signal o'clock sent out by the WiFi access points of three or three or more covers.In one embodiment, institute can be acquired by terminal
Positioning device is sent to after locating each wireless signal strength information of position.
In a step 102, according to the wireless signal of the wireless signal strength information of point to be determined and indoor each reference point
Strength information determines positioning result based on nonparametric probability algorithm.
In step 103, location information is fed back.It in one embodiment, will positioning if initiating to position by business platform
Information is sent to business platform, so that business platform obtains terminal location；In one embodiment, if directly being initiated to determine by terminal
Position, can also be sent to terminal by location information, so that terminal obtains own location information.
Nonparametric kernel estimation pattern is a kind of for describing the probabilistic model of statistics of random processes characteristic, be one it is dual with
Machine process, it is made of two parts：Estimation on line and general random process.Wherein estimation on line is used for describing turning for state
It moves, is described with transition probability；General random process is used for describing the relationship between state and observation sequence, is retouched with observed value probability
It states.By such method, base station and WiFi access point signals strength informations can be obtained, utilizes indoor wireless signal strength
Distribution situation carries out indoor positioning using nonparametric probability algorithm, and new without deployment sets as RFID or ultrasonic is sent
The positioning devices such as standby；It is positioned since WiFi access point deployments are in interior, and using the signal strength information of multiple signal sources,
It is achieved thereby that the raising of positioning accurate accuracy.
Determine that the flow chart of one embodiment of positioning result is as shown in Figure 2 in the indoor orientation method of the present invention.
In step 201, it is the wireless signal strength information of point to be determined and the wireless signal of indoor each reference point is strong
Degree probability distribution information matches, and obtains priori probability information.In one embodiment, the wireless signal of indoor each reference point
Intensive probable distributed intelligence includes probability of the signal strength equal to the wireless signal strength of point to be determined of indoor each reference point
Information.
In one embodiment, multiple reference points can be belonged in library interior as shown in Figure 3, establishes indoor coordinate
System, each reference point are recorded as：
L={ li| i=1,2 .., N }
Wherein, L be reference point locations set, N be reference point quantity, reference point li(i=1,2 ..., N) it is location algorithm
Output valve.Reference point 1~23 totally 23 as shown in Figure 3, the interior mark of figure bracket are the location information of reference point.With reference to
Point can be chosen according to fabric structure figure and floor plan, main to select building boundary, entrance, elevator, mistake
Road, room etc..Indoor wireless signal strength probability distribution can be obtained according to the wireless signal strength of each reference point locations
Information.
In step 202, posterior probability information is obtained according to priori probability information.In one embodiment, it can be based on
Bayesian probability decision principle is calculated.
In step 203, positioning result is determined according to the transition probability matrix of indoor each reference point.In one embodiment
In, probability matrix that the transition probability matrix of indoor each reference point moves between user indoors each reference point.At one
In embodiment, as shown in figure 4, the physical abutment relationship of each reference point can be established, in figure l and o be with reference to point identification, according to
The connectivity of each reference point generates the corresponding initial appraising model of location status with consecutive tracking in ancillary chamber and tracking.Wherein,
Transition probability matrix can be：
A0={ P (lj|li)|li,lj∈L}
Wherein, i, j are the i=1 with reference to point identification, 2 ..., N, j=1, and 2 ..., N.P(lj|li) be moved to for user from i points
The probability of j points.
By such method, the strong correlation of wireless signal strength and position can be utilized, according to existing indoor each
The wireless signal strength probability distribution information and transition probability matrix of a reference point, based on nonparametric probability algorithm, are adopted
Indoor precise positioning, nothing are realized with WiFi access points in currently very universal building and ripe operator's base station signal
New positioning device need to be disposed, is directly conducive to popularization and application using existing device and condition；It is a variety of with unified frame processing
Application of the radio signal source in alignment system, this causes the complexity of location algorithm to be greatly lowered, reduces to equipment performance
It is required that improve location efficiency.
In one embodiment, in order to ensure the real-time of the wireless signal strength probability distribution information of each reference point,
It prevents from having an impact positioning accuracy due to signal intensity swing, the wireless signal strength of each reference point can be obtained in real time
Information, and the wireless signal strength probability distribution information of indoor each reference point is updated, with probabilistic algorithm reconstruct current time
Wireless signal strength probability distribution graph.In one embodiment, can carry out at a time interval signal strength acquisition or
The instantaneous acquiring when being connected to Location Request, to ensure that the wireless signal strength probability distribution information that location Calculation is based on is current
Accurate wireless signal strength probability distribution information.By such method, it can avoid since indoor environment variation, signal are strong
Degree changes the influence generated for positioning accuracy, realizes the modeling changed over time to wireless signal, improves indoor positioning
Accuracy.
The flow chart of another embodiment of the indoor orientation method of the present invention is as shown in Figure 5.
In step 501, the wireless signal strength information of indoor each reference point, the wireless signal of each reference point are obtained
Strength information includes covering the WiFi access point signals intensity of the reference point and base station signal strength information.In one embodiment
In, wireless signal samples can be carried out using mobile terminal in each reference point, the wireless signal for obtaining each reference point is strong
Spend information；Can first gathered data be carried out after the pretreatments such as necessary filtering, smooth again by acquiring the mobile terminal of wireless signal
It is uploaded.
In step 502, room is generated according to the wireless signal strength information and signal attenuation characteristic of indoor each reference point
The wireless signal strength probability distribution information of interior each reference point.In one embodiment, according to the position of each reference point, nothing
Line signal strength is calculated initial signal strength probability distribution graph based on existing signal decay formula, obtains initial nonparametric
Kernel estimates model.
In step 503, the wireless signal strength information of each reference point is obtained.
In step 504, the wireless signal strength probability distribution information of the indoor each reference point of update.In one embodiment
In, nonparametric kernel estimation model can be trained with the wireless signal strength information newly obtained, current time is reconstructed with probabilistic algorithm
Signal strength probability distribution graph.In one embodiment, the feelings that can occur at a certain time interval or in scheduled event
Step 503 and step 504 are repeated under condition to ensure the real-time of wireless signal strength probability distribution information.
By such method, on the one hand can room be obtained based on the signal strength information obtained in each reference point locations
The wireless signal strength probability distribution information of interior each reference point generates initial nonparametric kernel estimation model as location Calculation
On the other hand basis also is able to real-time update wireless signal strength probability distribution information, realize based on the non-ginseng changed over time
The indoor positioning of number kernel estimates model, further improves the accuracy of positioning.
The schematic diagram of one embodiment of the indoor positioning device of the present invention is as shown in Figure 6.Wherein, information receiving module
601 can obtain the wireless signal strength information of point to be determined, wireless signal strength information include base station signal strength information and
At least one WiFi access point signals strength information.Base station signal can include CDMA2000, WCDMA, GSM or LTE signal.It is fixed
Position module 602 can be believed according to the wireless signal strength information of point to be determined and the wireless signal strength of indoor each reference point
Breath, positioning result is determined based on nonparametric probability algorithm.Information feedback module 603 can feed back location information.One
In a embodiment, if initiating to position by business platform, location information is sent to business platform, so that business platform obtains eventually
End position；In one embodiment, if directly being initiated to position by terminal, location information can also be sent to terminal, so as to end
End obtains own location information.
Such device can obtain base station and WiFi access point signals strength informations, utilize indoor wireless signal strength
Distribution situation carries out indoor positioning using nonparametric probability algorithm, and new without deployment sets as RFID or ultrasonic is sent
The positioning devices such as standby；It is positioned since WiFi access point deployments are in interior, and using the signal strength information of multiple signal sources,
It is achieved thereby that the raising of positioning accurate accuracy.
In one embodiment, locating module 602 can be each by the wireless signal strength information of point to be determined and interior
The wireless signal strength probability distribution information of reference point matches, and obtains priori probability information, in one embodiment, indoor each
The signal strength that the wireless signal strength probability distribution information of a reference point includes indoor each reference point is equal to point to be determined
The probabilistic information of wireless signal strength；And then posterior probability information is obtained according to priori probability information, it in one embodiment, can
It is calculated with being based on Bayesian probability decision principle；Positioning knot is determined according to the transition probability matrix of indoor each reference point
Fruit, in one embodiment, what the transition probability matrix of indoor each reference point moved between user indoors each reference point
Probability matrix.
Such device can utilize the wireless signal strength probability distribution information of the existing each reference point in interior and turn
Probability matrix is moved, indoor positioning is realized based on nonparametric probability algorithm, without disposing new positioning device, is conducive to general
And application；Application of a variety of radio signal sources in alignment system is handled with unified frame, this causes the complexity of location algorithm
Degree is greatly lowered, and reduces the requirement to equipment performance, improves location efficiency.
The schematic diagram of another embodiment of the indoor positioning device of the present invention is as shown in Figure 7.Wherein, information receiving module
701st, the structure and function of locating module 702 and information feedback module 703 is similar to the embodiment of Fig. 6.Indoor positioning device
Further include reference point signal acquisition module 704 and update module 705.Wherein, reference point signal acquisition module 704 can obtain in real time
Take the wireless signal strength information of each reference point.In one embodiment, reference point signal acquisition module 704 can be with certain
Time interval carry out the acquisition of signal strength or the instantaneous acquiring when being connected to Location Request, to ensure that location Calculation is based on
Wireless signal strength probability distribution information be current accurately wireless signal strength probability distribution information.705 energy of update module
The wireless signal strength probability distribution information of enough indoor each reference points of update.It in one embodiment, can be with newly obtaining
Wireless signal strength information trains nonparametric kernel estimation model, with the signal strength probability distribution at probabilistic algorithm reconstruct current time
Figure.
Such device can avoid the shadow generated due to indoor environment variation, signal intensity swing for positioning accuracy
It rings, realizes the modeling changed over time to wireless signal, improve the accuracy of indoor positioning.
The schematic diagram of another embodiment of the indoor positioning device of the present invention is as shown in Figure 8.Wherein, information receiving module
801st, the structure and work(of locating module 802, information feedback module 803, reference point signal acquisition module 804 and update module 805
It can be similar to the embodiment of Fig. 7.Indoor positioning device further includes reference point setting module 806 and initial distribution information generation mould
Block 807.Wherein, reference point setting module 806 can dispose multiple reference points indoors, and the selection of reference point can be according to building
Object structure chart and floor level carry out, main to select building boundary, entrance, elevator, passageway, room etc., obtain each ginseng
The physical location information of examination point.Reference point signal acquisition module 804 also is able to obtain in the case where obtaining initial distribution indoor
The wireless signal strength information of each reference point, the wireless signal strength information of each reference point include covering the reference point
WiFi access point signals intensity and base station signal strength information.In one embodiment, shifting can be utilized in each reference point
Dynamic terminal carries out wireless signal samples, obtains the wireless signal strength information of each reference point；Acquire the mobile end of wireless signal
End uploads again after the pretreatments such as necessary filtering, smooth can first being carried out to gathered data.Initial distribution information generates mould
Block 807 generates the nothing of indoor each reference point according to the wireless signal strength information and signal attenuation characteristic of indoor each reference point
Line signal strength probability distribution information.In one embodiment, it according to the position of each reference point, wireless signal strength, is based on
Existing signal decay formula calculates initial signal strength probability distribution graph, obtains initial nonparametric kernel estimation model.
Such device can obtain indoor each reference based on the signal strength information obtained in each reference point locations
The wireless signal strength probability distribution information of point, generates basis of the initial nonparametric kernel estimation model as location Calculation, so as to
Realize the indoor positioning based on nonparametric probability algorithm.
The schematic diagram of one embodiment of the indoor locating system of the present invention is as shown in Figure 9.Wherein, indoor positioning device 91
It can be any one middle indoor positioning device being mentioned above.Indoor positioning device 91 can realize the choosing of indoor each reference point
Take and mark, wireless signal strength probability distribution graph is established and updating maintenance, maintain a set of location algorithm container, built-in replaceable
Location algorithm, such as fingerprint matching algorithm and fast base station location algorithm provide the request of locating interface response external.Interior is fixed
Position device 91 is connect with 92 signal of business platform.Business platform 92 can receive the Location Request for carrying out user terminal and be transmitted to
Indoor positioning device, and the positioning result from indoor positioning device is fed back into user terminal.In one embodiment, business
Platform 92 actively can also initiate Location Request to indoor positioning device 91, to obtain the accurate location of terminal.In an implementation
In example, business platform 92 also is able to realize encapsulation, subscription authentication, usage record of business function etc., and the business of materialization is connect
Mouth stashes, and provides the access interface of end user's terminal, and be connected backward with the basic network element such as locating platform, optimized integration
Positioning function.
The Location Request that user initiates to business platform can be forwarded to indoor positioning device by such system to be had
The indoor positioning operation of body, so as to mutually compatible with existing equipment, system, is conducive to application deployment.
In one embodiment, indoor locating system can also include user terminal, be filled with business platform and indoor positioning
Connection is put, local wireless signal strength information can be obtained, Location Request is initiated to business platform and periodically or according to next
Local wireless signal strength information is sent to indoor positioning device from the signal acquisition instruction of indoor positioning device, user is whole
End can include mobile phone, PC machine etc..In one embodiment, indoor positioning device can be by the interaction with user terminal (such as
Pass through the interaction of heartbeat packet) obtain terminal present position each signal source wireless signal strength information.In one embodiment
In, terminal can also be showed the positioning result of acquisition in the form of word, picture, map etc..
In such system, terminal can obtain each WiFi access points in itself present position and the wireless signal of base station is strong
Information is spent, and the information is read and is sent to indoor positioning device, is shown when obtaining positioning result, without deployment newly hard
Part equipment, and it is convenient for users to use, be conducive to expanded application.
In one embodiment, terminal may determine that the environment residing for itself, if terminal is located outside under environment, Ke Yili
Outdoor precise positioning is carried out with positioning methods such as GPS to operate；If for terminal indoors under environment, it is fixed to be initiated to business platform
Position request, indoor positioning device realizes indoor positioning using any one method being mentioned above, so as to improve terminal
Adaptive ability.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the specific embodiment of the present invention or equivalent replacement is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution should all cover in the claimed technical solution range of the present invention.
Claims (12)
1. a kind of indoor orientation method, which is characterized in that including：
Obtain point to be determined wireless signal strength information, the wireless signal strength information include base station signal strength information and
At least one Wireless Fidelity WiFi access point signals strength informations；
According to the wireless signal strength information of the point to be determined and the wireless signal strength information of indoor each reference point, it is based on
Nonparametric probability algorithm determines positioning result；
Feed back the location information.
2. according to the method described in claim 1, it is characterized in that,
The wireless signal strength information of the wireless signal strength information according to the point to be determined and indoor each reference point,
Determine that positioning result includes based on nonparametric probability algorithm：
The wireless signal strength information of the point to be determined and the wireless signal strength probability distribution of indoor each reference point are believed
Manner of breathing matches, and obtains priori probability information；
Posterior probability information is obtained according to the priori probability information；
Positioning result is determined according to the transition probability matrix of indoor each reference point.
3. according to the method described in claim 2, it is characterized in that,
The wireless signal strength probability distribution information of each reference point in interior includes：The signal of each reference point in interior
Intensity is equal to the probabilistic information of the wireless signal strength of the point to be determined；And/or
The transition probability matrix of each reference point in interior is the probability square that user moves between each reference point in interior
Battle array.
4. it according to the method described in claim 1, it is characterized in that, further includes：
Obtain the wireless signal strength information of each reference point in interior；
The wireless signal of each reference point in interior is updated according to the wireless signal strength information of each reference point in interior
Intensive probable distributed intelligence.
5. it according to the method described in claim 1, it is characterized in that, further includes：
Multiple reference points are set indoors；
Obtain the wireless signal strength information of indoor each reference point；
The each ginseng in interior is generated according to the wireless signal strength information and signal attenuation characteristic of each reference point in interior
The wireless signal strength probability distribution information of examination point.
6. a kind of indoor positioning device, which is characterized in that including：
Information receiving module, for obtaining the wireless signal strength information of point to be determined, the wireless signal strength information includes
Base station signal strength information and at least one Wireless Fidelity WiFi access point signals strength informations；
Locating module, for the wireless signal of the wireless signal strength information according to the point to be determined and indoor each reference point
Strength information determines positioning result based on nonparametric probability algorithm；
Information feedback module, for feeding back the location information.
7. device according to claim 6, which is characterized in that
The locating module is specifically used for：
The wireless signal strength information of the point to be determined and the wireless signal strength probability distribution of indoor each reference point are believed
Manner of breathing matches, and obtains priori probability information；
Posterior probability information is obtained according to the priori probability information；
Positioning result is determined according to the transition probability matrix of indoor each reference point.
8. device according to claim 7, which is characterized in that
The wireless signal strength probability distribution information of each reference point in interior includes：The signal of each reference point in interior
Intensity is equal to the probabilistic information of the wireless signal strength of the point to be determined；And/or
The transition probability matrix of each reference point in interior is the probability square that user moves between each reference point in interior
Battle array.
9. device according to claim 6, which is characterized in that further include：
Reference point signal acquisition module, for obtaining the wireless signal strength information of each reference point in interior；
Update module, for updating each reference in interior according to the wireless signal strength information of each reference point in interior
The wireless signal strength probability distribution information of point.
10. device according to claim 6, which is characterized in that
It further includes：Reference point setting module, for setting multiple reference points indoors；
The reference point signal acquisition module, for obtaining the wireless signal strength information of indoor each reference point；
It further includes：Initial distribution information generating module, for the wireless signal strength information according to each reference point in interior
The wireless signal strength probability distribution information of each reference point in interior is generated with signal attenuation characteristic.
11. a kind of indoor locating system, which is characterized in that including：
Indoor positioning device described in claim 6~10 any one；With,
Business platform, for receiving to carry out the Location Request of user terminal and be transmitted to the indoor positioning device, and will come from
The positioning result of the indoor positioning device feeds back to the user terminal.
12. system according to claim 11, which is characterized in that further include：
User terminal, for obtaining local wireless signal strength information, initiating the Location Request to the business platform, with
And the local wireless signal strength information is sent to the indoor positioning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611149080.2A CN108235429A (en) | 2016-12-14 | 2016-12-14 | Indoor orientation method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611149080.2A CN108235429A (en) | 2016-12-14 | 2016-12-14 | Indoor orientation method, device and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108235429A true CN108235429A (en) | 2018-06-29 |
Family
ID=62637663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611149080.2A Pending CN108235429A (en) | 2016-12-14 | 2016-12-14 | Indoor orientation method, device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108235429A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104185270A (en) * | 2013-05-28 | 2014-12-03 | 中国电信股份有限公司 | Indoor positioning method, system and positioning platform |
| CN104507050A (en) * | 2014-11-24 | 2015-04-08 | 北京航空航天大学 | A method for probability type fingerprint matching in WiFi (Wireless Fidelity) indoor positioning |
| US20150201303A1 (en) * | 2014-01-13 | 2015-07-16 | Electronics And Telecommunications Research Institute | Apparatus and method for correcting location of base station |
-
2016
- 2016-12-14 CN CN201611149080.2A patent/CN108235429A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104185270A (en) * | 2013-05-28 | 2014-12-03 | 中国电信股份有限公司 | Indoor positioning method, system and positioning platform |
| US20150201303A1 (en) * | 2014-01-13 | 2015-07-16 | Electronics And Telecommunications Research Institute | Apparatus and method for correcting location of base station |
| CN104507050A (en) * | 2014-11-24 | 2015-04-08 | 北京航空航天大学 | A method for probability type fingerprint matching in WiFi (Wireless Fidelity) indoor positioning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104185270B (en) | Indoor orientation method, system and locating platform | |
| CN105264399B (en) | The acquisition of fine grained location data | |
| CN110049539A (en) | Uplink power control method for parameter configuration, terminal and the network equipment | |
| CN105284167B (en) | Location positioning system framework: reciprocity measurement pattern | |
| CN104980885B (en) | A kind of data processing system and method towards WIFI detection identifications | |
| Duda et al. | BATS: Adaptive ultra low power sensor network for animal tracking | |
| CN106162872A (en) | A kind of indoor locating system, method and information transmission system based on it, method | |
| CN103392332A (en) | Ranging with body motion capture | |
| CN106461786A (en) | Indoor global positioning system | |
| CN110351850A (en) | Channel transmission method, terminal and the network equipment | |
| KR20230169969A (en) | Manual positioning by radio frequency sensitive labels | |
| US20220216600A1 (en) | Method and apparatus for remote sensing of antenna configuration parameters | |
| US20210183113A1 (en) | Method for scalable volumetric video coding | |
| CN203385865U (en) | Personal positioning monitor | |
| CN110370273A (en) | A kind of Obstacle Avoidance, device and system | |
| CN107850656A (en) | The determination of model parameter for positioning purposes | |
| CN110710230A (en) | System and method for imaging and user equipment positioning with an array of mobile devices | |
| EP4323794A1 (en) | Self-supervised passive positioning using wireless data | |
| CN107026932A (en) | Interactive method and intelligent wearable device that can be interactive | |
| CN104584656B (en) | Method and apparatus for transmitting environmental information used for positioning | |
| WO2022251259A1 (en) | Self-supervised passive positioning using wireless data | |
| Chaudhri et al. | FoneAstra: Making mobile phones smarter | |
| CN104837145B (en) | Automatically generate the method and device of the position access point AP | |
| CN110249686A (en) | Mobile communication across link interference measurement | |
| Kanakaraja | IoT enabled BLE and LoRa based indoor localization without GPS |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180629 |
|
| RJ01 | Rejection of invention patent application after publication |