CN108289283A - User trajectory localization method based on sequences match under indoor DAS system - Google Patents
User trajectory localization method based on sequences match under indoor DAS system Download PDFInfo
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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
Abstract
The invention discloses under a kind of interior DAS (distributing antenna system) environment, the user movement track real-time location method based on sequences match.First, it plans template path in off-line phase and acquires RSRP sequences in real time in positioning stage；Then, accumulation score matrix is calculated using sequences match thought；Secondly, the higher several template paths of score are selected and extract similar fragments；Then, final template path is obtained；Finally, the maximum coordinate of score in the score matrix in the path is extracted, current time position is estimated using this coordinate.The method of the present invention solves the dynamic orientation problem under DAS system indoors.Under the additional layout of not infrastructure, pedestrian track is positioned in real time using the method for sequences match, more existing interior kinematic Positioning Algorithm greatly reduces the expense of cost of device and fingerprint calibration, and realizes higher positioning accuracy.
Description
Technical field
The invention belongs to indoor positioning technologies, and in particular under a kind of DAS system indoors, the interior based on sequences match
WLAN user movement locus real-time location method.
Background technology
With the rapid development of mobile communication, location based service LBS (Location Based Service) by
More and more concerns, also increasingly increase the application demand of indoor positioning.Currently, global position system GPS (Global
Positioning System) in outdoor positioning, higher positioning accuracy is provided under open outdoor environment for user.
But because indoor environment is complicated, the factors such as multipath effect, masking and decline can all make wireless channel be affected.Currently, indoor
Positioning can be divided into WIFI location technologies, indoor bluetooth location technology, Radio Frequency Identification Technology, indoor-GPS technology etc..Due to
As what WLAN WLAN (Wireless Local Area Networks) was covered indoors popularizes, therefore all kinds of
Indoor location fingerprint location technology extensive utilization the most based on WLAN in technology.
Indoor location fingerprint location technology is mainly made of two stages：Off-line phase and on-line stage.In off-line phase
When, it needs to emit signal using wireless access points AP (Wireless Access Point), and set using signal reception
Standby to be acquired to reference point RP planned in advance (Reference Point), each RP need to be acquired in a period of time and be come from
The received signal strength value of each AP builds fingerprint database with this.When AP number is less, fingerprint dimension is then relatively low, fixed
Position precision is undesirable.But when AP number is more, though it can guarantee positioning accuracy, so that fingerprint dimension increases, computation complexity
Also increase therewith with expense.
And due to accessing a kind of new construction distributing antenna system (Distributed of network as the following public wireless
Antenna Systems, DAS), have become the important candidate technologies of future mobile communications in recent years, and be widely deployed in
Each place.Since there is the signal of different location under distributing antenna system similitude, traditional fingerprinting localization algorithm can not
Meet indoor high-precision location requirement.To solve the above-mentioned problems and and realize high-precision pedestrian track positioning, the present invention
One kind is proposed under existing DAS system, the user movement track real-time location method based on sequences match.
Invention content
The object of the present invention is to provide one kind at DAS, the user movement track real-time location method based on sequences match.
It, which can effectively solve DAS system indoors, does not have under the additional layout of infrastructure, and pedestrian track dynamic positioning obtains problem.
It is of the present invention at DAS, the user movement track real-time location method based on sequences match, including following step
Suddenly：
Step 1: acquisition module routing database.Acquire N RSRP (Reference of moving user in target area
Signal ReceivingPower, Reference Signal Received Power) sequence, it is denoted as RSRP1,RSRP2,...,RSRPN, wherein i-th
RSRP sequences RSRPi(1≤i≤N) is embodied asWherein KiFor i-th RSRP
Sequence shares KiMoment.Meanwhile recording the corresponding actual positions of each rsrp in every template path using MEMS, i.e.,
Location sequences, are denoted as Location1,Location2,...,LocationN, Location sequences Locationi(1≤i
≤ N) it is embodied as：
Wherein, LocationiIndicate i-th Location sequence；
Step 2: in off-line phase, the template sequence in library is formed by RSRP sequences and Location sequences, i.e.,
Templet sequences, are denoted as templet1,templet2,...,templetN, wherein i-th sequence is embodied as：
templeti=(RSRPi,Locationi), i.e.,
Off-line phase template database structure is completed；
Step 3: on-line stage, user acquires RSRP sequences in real time, is denoted as TRSRP.It is embodied as TRSRP=
(trsrp1,trsrp2,...,trsrpt), wherein t is current time, trsrptFor current time collected RSRP；
Step 4: setting initial build length q, when sequence number (i.e. moment) accumulation of TRSRP reaches q, i.e. t=q
When, using the thought of sequences match, by TRSRP=(trsrp1,trsrp2,...,trsrpt) (t=q) and off-line phase template
Template path templet in routing databasei(:, 1) and (1≤i≤N) matched, obtain score matrix H-matrix Hit=
{H1t,H2t,...,HNt, wherein HitIndicate the H-matrix that i-th template path is accumulated in t moment, the step 4 includes following
Step：
Step 4 (one), rsrpiu(1≤u≤Ki) be i-th template path u-th of rsrp, trsrpw(1≤w≤t)
For the rsrp sequences that test path current time obtains, H is setit(u, w) is the u of the H-matrix of i-th article of template path sequence
The score value of row w row；
Step 4 (two), initialization H-matrix, enable H (0, w)=0 (1≤w≤t), H (u, 0)=0 (1≤u≤Ki), H (0,
0)=0；
Step 4 (three), judgement rsrpiuWith trsrpwWhether match, forms decision function s (rsrpiu,trsrpw), judgement
Mode is as follows：
Wherein a is threshold value, and α is similar score, and β is non-similar score；
Step 4 (four), joint previous scores, obtain present score：
Above-mentioned is score matrix calculation；
Step 4 (five) obtains the H-matrix H that a size is (u+1) x (t+1)it；
Step 5: screening the template path in offline library using H-matrix, the maximum value { H of each H-matrix is acquired1tmax,
H2tmax,...,HNtmax, wherein HitmaxFor the corresponding maximum score of i-th template path；
Step 6: finding out { H1tmax,H2tmax,...,HNtmaxIn with test path preceding P template path the most matched,
To { H1tmax,H2tmax,...,HNtmaxDescending arrangement is carried out, and extract preceding P footmark and be denoted as { m1,m2,...,mP, wherein mk
(1≤k≤P) indicate the footmark of k-th of template sequence the most matched in t moment and test path to get to test road
P template path in the offline library the most matched of diameter current location；
Step 7: finding out the matching segment of the preceding P template path and cycle tests that extract respectively, and it is stored in matrix L
In, the step 7 includes the following steps：
Step 7 (one), initialized location matrix Lk, enable LkIn have recorded RkA position, then Lk(r)(1≤r≤Rk) indicate
LkIn r-th of position, Lk(r) (1) indicates the x coordinate value corresponding to r-th of position, Lk(r) (2) indicate that r-th of position institute is right
The y coordinate values answered；
Step 7 (two) enables r=Rk, the maximum score H of P template path before findingimax(i=mk) in corresponding H-matrix
Position.If Himax(i=mk) in Hit(i=mk) in position, be denoted as (bk, t), and save it in location matrix Lk(r) in；
Step 7 (three) determines next score value h'=max { Hit(bk,t-1),Hit(bk-1,t),Hit(bk- 1, t-1) },
And its coordinate is stored to Lk(r-1) in matrix；
Step 7 (four) enables r=r-1, step 7c, 7d and 7e is repeated, until r=2；
Step 8: according to L matrixes, it is related to cycle tests signal segment to acquire the template path signal segment matched
Coefficient, while the maximum template sequence of related coefficient is picked out in P, and it is recorded marked as mk=j, the step
Rapid eight include the following steps：
Step 8 (one), LkIn, Lk(r) (1) opposite mkL in article template pathk(r) (1) a RSRP, Lk(r)(2)
Correspond to the L in test pathk(r) (2) a TRSRP, P template path and test road before being extracted respectively according to matrix
The signal sequence of diameter associated clip, is denoted as L_templet respectivelykAnd L_trsrpk, extracting mode is as follows：
Step 8 (two), the related coefficient for finding out each signal segment.Mode is as follows：
Step 8 (three), the maximum value max { ρ for extracting P related coefficient1,ρ2,...,ρP, and record it marked as j,
This label is template path label；
Step 9: obtaining HjtmaxIn HjtIn corresponding position, be (b according to step 7k, t), then estimated according to this
Current time user position is counted out, described step 9 includes the following steps：
Step 9 (one), position t correspond to t-th of RSRP in test path, position bk(k is to meet m hereink=j)
Correspond to the b in the template path that sequence is jkA RSRP；
Step 9 (two), basis (bk, t) and estimation user location.According to step 7 (one) it is found that current time test path
RSRP sequences match the b in j-th strip template pathkA RSRP, therefore thus current time position can be estimated, square
Battle array L_end stores current location, and method is as follows：
L_end (t-q, 1)=templetj(bk,2)
L_end (t-q, 2)=templetj(bk,3)
So far, indoors under DAS (distributing antenna system) environment, the side of positioning in real time of the user trajectory based on sequences match
Method completes the positioning to current time；
Step 10: when current time is t+1, repeat to obtain Step 4: five, six, seven the user that current time estimates
Position；
Step 11: stopping receiving rsrp immediately when user's stop motion, so far obtain anchor point, by the rsrp according to
Time series is arranged, and the user trajectory of estimation is finally obtained.
Advantageous effect
The present invention establishes template path database in off-line phase first, and acquires RSRP sequences in real time in positioning stage；
Then, using sequences match thought, the accumulation score matrix of test path signal and every template path signal is calculated；Secondly,
Pick out several template paths of highest scoring as with test path sequence the most matched, and extract these sequences with
The similar fragments of test path signal；Then, the related coefficient of each segment and corresponding cycle tests signal segment is calculated,
And the maximum template sequence of related coefficient is extracted as the template path matched；Finally, the score square in the path is extracted
The maximum coordinate of score in battle array, current time position is estimated using this coordinate, is positioned to user movement track with realizing.This
Invention extracts RSRP signals using indoor existing distribution antenna, is not necessarily to additional infrastructure, and can realize and be transported to user
The real-time positioning of dynamic track.The present invention can apply to radio circuit environment, and solve existing indoor dynamic
Fingerprint calibration overhead is high during positioning is calculated and the simultaneously undesirable problem of positioning accuracy.
Description of the drawings
Fig. 1 a and Fig. 1 b are flow chart of steps in the present invention.
Fig. 2 is experimental situation figure.
Fig. 3 a are i-th RSRP sequence diagram of the timestamp label for building template database.
Fig. 3 b are the timestamp label TRSRP sequence diagrams in collecting test path.
Fig. 4 a are H-matrix schematic diagram；
Fig. 4 b are that test signal and template signal associated clip schematic diagram are searched on the basis of Fig. 4 a；
Fig. 4 c are the position coordinates matrix schematic diagram for the coherent signal segment that storage is found；
Fig. 5 a to 5e are under different tracks walking, to utilize the practical positioning result for receiving data and obtaining in experimental situation
Figure.Wherein be respectively from left to right " pedestrian's real trace figure (arrow expression direction of travel) ", " pedestrian's positioning track figure " with
" error accumulation distribution map ".
Specific embodiment
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings：
Under interior DAS (distributing antenna system) environment as shown in Fig. 1 a to Fig. 1 b, user's fortune based on sequences match
Dynamic rail mark real-time location method, specifically comprises the steps of：
Step 1: acquisition module routing database.Acquire N RSRP (Reference of moving user in target area
Signal ReceivingPower, Reference Signal Received Power) sequence, it is denoted as RSRP1,RSRP2,...,RSRPN, wherein i-th
RSRP sequences RSRPi(1≤i≤N) is embodied asWherein KiFor i-th RSRP
Sequence shares KiMoment.Meanwhile recording the corresponding actual positions of each rsrp in every template path using MEMS, i.e.,
Location sequences, are denoted as Location1,Location2,...,LocationN, Location sequences Locationi(1≤i
≤ N) it is embodied as：
Wherein, LocationiIndicate i-th Location sequence；
Step 2: in off-line phase, the template sequence in library is formed by RSRP sequences and Location sequences, i.e.,
Templet sequences, are denoted as templet1,templet2,...,templetN, wherein i-th sequence is embodied as：
templeti=(RSRPi,Locationi), i.e.,
Off-line phase template database structure is completed；
Step 3: on-line stage, user acquires RSRP sequences in real time, is denoted as TRSRP.It is embodied as TRSRP=
(trsrp1,trsrp2,...,trsrpt), wherein t is current time, trsrptFor current time collected RSRP；
Step 4: setting initial build length q, when sequence number (i.e. moment) accumulation of TRSRP reaches q, i.e. t=q
When, using the thought of sequences match, by TRSRP=(trsrp1,trsrp2,...,trsrpt) (t=q) and off-line phase template
Template path templet in routing databasei(:, 1) and (1≤i≤N) matched, obtain score matrix H-matrix Hit=
{H1t,H2t,...,HNt, wherein HitIndicate the H-matrix that i-th template path is accumulated in t moment, the step 4 includes following
Step：
Step 4 (one), rsrpiu(1≤u≤Ki) be i-th template path u-th of rsrp, trsrpw(1≤w≤t)
For the rsrp sequences that test path current time obtains, H is setit(u, w) is the u of the H-matrix of i-th article of template path sequence
The score value of row w row；
Step 4 (two), initialization H-matrix, enable H (0, w)=0 (1≤w≤t), H (u, 0)=0 (1≤u≤Ki), H (0,
0)=0；
Step 4 (three), judgement rsrpiuWith trsrpwWhether match, forms decision function s (rsrpiu,trsrpw), judgement
Mode is as follows：
Wherein a is threshold value, and α is similar score, and β is non-similar score；
Step 4 (four), joint previous scores, obtain present score：
Above-mentioned is score matrix calculation；
Step 4 (five) obtains the H-matrix H that a size is (u+1) x (t+1)it；
Step 5: screening the template path in offline library using H-matrix, the maximum value { H of each H-matrix is acquired1tmax,
H2tmax,...,HNtmax, wherein HitmaxFor the corresponding maximum score of i-th template path；
Step 6: finding out { H1tmax,H2tmax,...,HNtmaxIn with test path preceding P template path the most matched,
To { H1tmax,H2tmax,...,HNtmaxDescending arrangement is carried out, and extract preceding P footmark and be denoted as { m1,m2,...,mP, wherein mk
(1≤k≤P) indicate the footmark of k-th of template sequence the most matched in t moment and test path to get to test road
P template path in the offline library the most matched of diameter current location；
Step 7: finding out the matching segment of the preceding P template path and cycle tests that extract respectively, and it is stored in matrix L
In, the step 7 includes the following steps：
Step 7 (one), initialized location matrix Lk, enable LkIn have recorded RkA position, then Lk(r)(1≤r≤Rk) indicate
LkIn r-th of position, Lk(r) (1) indicates the x coordinate value corresponding to r-th of position, Lk(r) (2) indicate that r-th of position institute is right
The y coordinate values answered；
Step 7 (two) enables r=Rk, the maximum score H of P template path before findingimax(i=mk) in corresponding H-matrix
Position.If Himax(i=mk) in Hit(i=mk) in position, be denoted as (bk, t), and save it in location matrix Lk(r) in；
Step 7 (three) determines next score value h'=max { Hit(bk,t-1),Hit(bk-1,t),Hit(bk- 1, t-1) },
And its coordinate is stored to Lk(r-1) in matrix；
Step 7 (four) enables r=r-1, step 7c, 7d and 7e is repeated, until r=2；
Step 8: according to L matrixes, it is related to cycle tests signal segment to acquire the template path signal segment matched
Coefficient, while the maximum template sequence of related coefficient is picked out in P, and it is recorded marked as mk=j, the step
Rapid eight include the following steps：
Step 8 (one), LkIn, Lk(r) (1) corresponds to mkL in article template pathk(r) (1) a RSRP, Lk(r)
(2) L in test path is corresponded tok(r) (2) a TRSRP, P template path and test before being extracted respectively according to matrix
The signal sequence of path associated clip, is denoted as L_templet respectivelykAnd L_trsrpk, extracting mode is as follows：
Step 8 (two), the related coefficient for finding out each signal segment.Mode is as follows：
Step 8 (three), the maximum value max { ρ for extracting P related coefficient1,ρ2,...,ρP, and record it marked as j,
This label is template path label；
Step 9: obtaining HjtmaxIn HjtIn corresponding position, be (b according to step 7k, t), then estimated according to this
Current time user position is counted out, described step 9 includes the following steps：
Step 9 (one), position t correspond to t-th of RSRP in test path, position bk(k is to meet m hereink=j)
Correspond to the b in the template path that sequence is jkA RSRP；
Step 9 (two), basis (bk, t) and estimation user location.According to step 7 (one) it is found that current time test path
RSRP sequences match the b in j-th strip template pathkA RSRP, therefore thus current time position can be estimated, square
Battle array L_end stores current location, and method is as follows：
L_end (t-q, 1)=templetj(bk,2)
L_end (t-q, 2)=templetj(bk,3)
So far, indoors under DAS (distributing antenna system) environment, the side of positioning in real time of the user trajectory based on sequences match
Method completes the positioning to current time；
Step 10: when current time is t+1, repeat to obtain Step 4: five, six, seven the user that current time estimates
Position；
Step 11: stopping receiving rsrp immediately when user's stop motion, so far obtain anchor point, by the rsrp according to
Time series is arranged, and the user trajectory of estimation is finally obtained.
Claims (4)
1. in Room under DAS (distributing antenna system) environment, the user movement track real-time location method based on sequences match,
It is characterized in that, comprises the steps of：
Step 1: acquiring N Reference Signal Received Power (the Reference Signal of moving user in target area
Receiving Power, RSRP) sequence, it is denoted as RSRP1,RSRP2,...,RSRPN, wherein i-th RSRP sequences RSRPi(1
≤ i≤N) it is embodied as RSRPi=(rsrpi1,rsrpi2,...,rsrpiKi), wherein KiK is shared for i-th RSRP sequencei
Moment, while the corresponding actual positions of each rsrp, i.e. Location sequences in every template path are recorded using MEMS, it is denoted as
Location1,Location2,...,LocationN, Location sequences Locationi(1≤i≤N) is embodied as：
Wherein, LocationiIndicate i-th Location sequence；
Step 2: in off-line phase, the template sequence in library, i.e. templet sequences are formed by RSRP sequences and Location sequences
Row, are denoted as templet1,templet2,...,templetN, wherein i-th sequence is embodied as：templeti=(RSRPi,
Locationi), i.e.,
Off-line phase template database structure is completed；
Step 3: on-line stage, user acquires RSRP sequences and is denoted as TRSRP in real time, is embodied as TRSRP=(trsrp1,
trsrp2,...,trsrpt), wherein t is current time, trsrptRSRP is collected for current time；
Step 4: setting initial build length q is utilized when sequence number (i.e. moment) accumulation of TRSRP reaches q, i.e. t=q
The thought of sequences match, by TRSRP=(trsrp1,trsrp2,...,trsrpt) (t=q) and off-line phase template path data
Template path templet in libraryi(:, 1) and (1≤i≤N) matched, obtain score matrix H-matrix Hit={ H1t,
H2t,...,HNt, wherein HitIndicate the H-matrix that i-th template path is accumulated in t moment：
Step 4 (one), rsrpiu(1≤u≤Ki) be i-th template path u-th of rsrp, trsrpw(1≤w≤t) is test
The rsrp sequences that path current time obtains set Hit(u, w) is the u rows w row of the H-matrix of i-th article of template path sequence
Score value；
Step 4 (two), initialization H-matrix, enable H (0, w)=0 (1≤w≤t), H (u, 0)=0 (1≤u≤Ki), H (0,0)=0；
Step 4 (three), judgement rsrpiuWith trsrpwWhether match, forms decision function s (rsrpiu,trsrpw), decision procedure
It is as follows：
Wherein a is threshold value, and α is similar score, and β is non-similar score；
Step 4 (four), joint previous scores, obtain present score：
Above-mentioned is score matrix calculation；
Step 4 (five) obtains the H-matrix H that a size is (u+1) x (t+1)it；
Step 5: screening the template path in offline library using H-matrix, the maximum value { H of each H-matrix is acquired1tmax,
H2tmax,...,HNtmax, wherein HitmaxFor the corresponding maximum score of i-th template path；
Step 6: finding out { H1tmax,H2tmax,...,HNtmaxIn with test path preceding P template path the most matched, it is right
{H1tmax,H2tmax,...,HNtmaxDescending arrangement is carried out, and extract preceding P footmark and be denoted as { m1,m2,...,mP, wherein mk(1≤
K≤P) it indicates to work as to get to test path in t moment and the footmark of k-th in test path template sequence the most matched
P template path in the offline library the most matched of front position；
Step 7: finding out the matching segment of the preceding P template path and cycle tests that extract respectively, and it is stored in matrix L；
Step 8: according to L matrixes, the phase relation of the template path signal segment and cycle tests signal segment that match is acquired
Number, while the maximum template sequence of related coefficient is picked out in P, and it is recorded marked as mk=j；
Step 9: obtaining HjtmaxIn HjtIn corresponding position, be (b according to step 7k, t), then estimated according to this
Current time user position；
Step 10: when current time is t+1, where repeating to obtain Step 4: five, six, seven the user that current time estimates
Position；
Step 11: stopping receiving rsrp immediately when user's stop motion, an anchor point is so far obtained, by the rsrp according to the time
Sequence is arranged, and the user trajectory of estimation is finally obtained.
2. the user movement track real-time location method according to claim 1 based on sequences match, which is characterized in that institute
Step 7 is stated to include the following steps：
Step 7 (one), initialized location matrix Lk, enable LkIn have recorded RkA position, then Lk(r)(1≤r≤Rk) indicate LkIn
R-th of position, Lk(r) (1) indicates the x coordinate value corresponding to r-th of position, Lk(r) (2) indicate the y corresponding to r-th of position
Coordinate value；
Step 7 (two) enables r=Rk, the maximum score H of P template path before findingimax(i=mk) position in corresponding H-matrix
It sets.If Himax(i=mk) in Hit(i=mk) in position, be denoted as (bk, t), and save it in location matrix Lk(r) in；
Step 7 (three) determines next score value h'=max { Hit(bk,t-1),Hit(bk-1,t),Hit(bk- 1, t-1) }, and will
Its coordinate is stored to Lk(r-1) in matrix；
Step 7 (four) enables r=r-1, step 7c, 7d and 7e is repeated, until r=2.
3. the user movement track real-time location method according to claim 1 or 2 based on sequences match, feature exist
In the step 8 includes the following steps：
Step 8 (one), LkIn, Lk(r) (1) corresponds to mkL in article template pathk(r) (1) a RSRP, Lk(r) (2) are right
Answer the L in test pathk(r) (2) a TRSRP, P template path and test path phase before being extracted respectively according to matrix
The signal sequence for closing segment, is denoted as L_templet respectivelykAnd L_trsrpk, extracting mode is as follows：
Step 8 (two), the related coefficient for finding out each signal segment.Mode is as follows：
Step 8 (three), the maximum value max { ρ for extracting P related coefficient1,ρ2,...,ρP, and it is recorded marked as j, this mark
Number be template path label.
4. the user movement track real-time location method according to claim 1 or 2 or 3 based on sequences match, feature
It is, the step 9 includes the following steps：
Step 9 (one), position t correspond to t-th of RSRP in test path, position bk(k is to meet m hereink=j) it corresponds to
Sequence is the b in the template path of jkA RSRP；
Step 9 (two), basis (bk, t) and estimation user location.According to step 7 (one) it is found that current time test path
RSRP sequences match the b in j-th strip template pathkA RSRP, therefore thus current time position can be estimated, matrix L _
End stores current location, and method is as follows：
L_end (t-q, 1)=templetj(bk,2)
L_end (t-q, 2)=templetj(bk,3)
So far, indoors under DAS (distributing antenna system) environment, the user trajectory real-time location method based on sequences match,
Complete the positioning to current time.
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