CN108668245A - A kind of indoor orientation method based on WiFi Yu earth's magnetic field database - Google Patents
A kind of indoor orientation method based on WiFi Yu earth's magnetic field database Download PDFInfo
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- CN108668245A CN108668245A CN201810328927.6A CN201810328927A CN108668245A CN 108668245 A CN108668245 A CN 108668245A CN 201810328927 A CN201810328927 A CN 201810328927A CN 108668245 A CN108668245 A CN 108668245A
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0278—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving statistical or probabilistic considerations
-
- 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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Probability & Statistics with Applications (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of intelligent terminal indoor orientation method mutually assisted based on WiFi and earth's magnetic field, it is mainly used for improving indoor position accuracy.Implementation step is：(1) according to building plane map feature, by area to be targeted classifying rationally at linear regions；(2) hand-held intelligent equipment is along the line segment acquisition WiFi signal intensity data and geomagnetic field intensity data divided；(3) offline fingerprint database on institute's gathered data uniform mapping to the region line segment divided, will be built, the off-line data storage in smart machine is completed；(4) it is positioned in real time using fingerprint database, the subregion where determining current location using WiFi fingerprint bases in point to be determined, resolves WiFi signal intensity and earth's magnetic field signal strength different zones bit-weight, estimate current position coordinates.The present invention effectively reduces the influence of component environment factor, improves indoor position accuracy.
Description
Technical field
The invention belongs to indoor mobile terminal positioning application fields, relate generally to WiFi indoor positioning technologies and earth's magnetic field
Location technology.
Background technology
Wireless location is indispensable technology in industry, scientific research, medical treatment and daily life.With based on location-based service
Development and mobile terminal become increasingly popular, and geographical and location information attracts attention, location information navigation, safety and fire-fighting with
And play the part of more and more important role in the multiple fields such as health care.Existing smart machine is not only at calculating, storage and place
The aspect of performance such as reason ability have obtained very big promotion, and are embedded in a large amount of microsensors.For example, WiFi signal sensor,
A series of sensors such as sound signal sensing device, acceleration transducer, magnetic field sensor and gyroscope all have become intelligence
The standard configuration of mobile device.This gives previous a variety of locating schemes to provide powerful platform and supports.And Intelligent mobile equipment is universal
Also to realize that an economy and user-friendly navigation positioning system provide a new opportunity in environment indoors.
Currently, indoor positioning technologies are broadly divided into two kinds：It is true according to signal propagation model one is the method based on ranging
Determine the distance between people and emission source, is converted by geometrical relationship and determine personnel positions；One is non-ranging method, receiving
Signal strength as one and the associated fingerprint in position, matching positioning is carried out according to pattern matching principle employing fingerprint method.With
The dense deployment of WLAN, environment can be supplied directly to the enough hardware environment of locator.But the side based on ranging
Method is serious by non line of sight and multi-path jamming, and in environment complexity, locating effect is bad, and can be evaded based on non-ranging method
Non line of sight problem and signal influence of fading through walls, more suitable for practical application.
It is most practical one of indoor orientation method, but ring indoors at present based on WiFi signal intensity indoor orientation method
Easily there is dead angle, such as the local weak output signal of staircase in WiFi signal covering in border, is extremely difficult to expected locating effect.Earth magnetism
Field resource is one of most stable of resource of the earth, and change of magnetic field strength is very faint in short distance, but due to the steel of modern architecture
Tendon concrete structure so that earth's magnetic field is disturbed in subrange, indoor positioning technologies be exactly using disturbed magnetic field into
Row positioning.This patent proposes a kind of new indoor positioning scheme based on WiFi Yu earth's magnetic field data aggregate, makes full use of
WiFi and geomagnetic field information reach more accurately locating effect.
Invention content
In order to solve the influence that indoor complex environment is brought to indoor positioning, the present invention proposes one kind and effectively can be improved
The scheme of indoor position accuracy, steps are as follows for this method：
(1) according to building plane map feature, by area to be targeted classifying rationally at Homogeneous linear region；
(2) hand-held intelligent equipment is along the line segment acquisition WiFi signal intensity data and geomagnetic field intensity data divided；
(3) offline fingerprint database on institute's gathered data uniform mapping to the region line segment divided, will be built, intelligence is completed
Off-line data storage in energy equipment；
(4) it is positioned in real time using fingerprint database, current location institute is determined using WiFi fingerprint bases in point to be determined
Subregion, resolve WiFi signal intensity and earth's magnetic field signal strength different zones bit-weight, estimate current position coordinates.
1. when in step (2) along division line segment acquisition WiFi signal intensity RSSI data and geomagnetic field intensity, for each
Beginning and end is arranged in line segment.Data picker opens data acquisition software and slowly moves towards terminal from starting point, fast during collection
Degree remains a constant speed as far as possible.
2. when the offline fingerprint database of structure in step (3), the data volume in the length and line segment of every line segment is calculated,
Segment data is uniformly mapped on every line segment.
WiFi turnover rates are usually relatively low on smart mobile phone, when data acquire the WiFi fingerprint points position planned manually more
New acquisition WiFi data.It will be updated the data when data update and constitute a WiFi fingerprint with present position combinatorial coordinates.I-th
Reference point (RwPi) on WiFi fingerprints be：
Wherein, (wxi,wyi) it is RwPiThe coordinate of point；WithRespectively RwPiThe AP nodes received on point
Service set and signal strength；miFor RwPiThe number of AP nodes is received on point.
The sample rate of magnetometer is very high on smart mobile phone, along divided line segment automatic collection geomagnetic field intensity when data acquire
Data.If there are more than space empty between line segment and line segment, using interpolation method interpolation at a certain distance in space, and will be all interior
It is as a reference point to insert point.K-th of reference point (RmPk) on geomagnetic field intensity fingerprint be：
FMk={ (mxk,myk),mk}
Wherein, (mxk,myk) it is RmPkThe coordinate of point, mkFor RmPkGeomagnetic field intensity fingerprint on point.
3. determining the subregion where current location using WiFi fingerprint bases in step (4), steps are as follows：
(3a) calculates the Euclidean distance of current location actual measurement WiFi signal intensity and the K WiFi fingerprint point of neighbour：
Wherein,The WiFi signal intensity measured in real time for current location.
(3b) selects K minutiae of Euclidean distance minimum to set EDis threshold values as Neighbor Points, if WiFi signals refer to
The Euclidean distance of line point to current absolute fix WiFi signal intensity is less than given threshold, then uses fuzzy reasoning weighting algorithm to handle
WiFi finger print datas, are positioned in real time, otherwise, earth's magnetic field fingerprint around current location are handled using particle filter algorithm, into
Row positioning in real time.
4. resolving the positioning of WiFi fingerprint bases by fuzzy reasoning weighting algorithm in step (3b), steps are as follows：
(4a) selects K minutiae of Euclidean distance minimum as Neighbor Points, calculates tested point signal strength to each
The Euclidean distance of Neighbor Points：
(4b) is blurred EDisi, normalized is done to K minutiae by certain weights, is obtained eachPower
Value
(4c) by each WiFi fingerprints point the current point coordinates to be measured of weights estimation.
5. resolving the positioning of earth's magnetic field fingerprint base by particle filter algorithm in step (3b), steps are as follows：
(5a) updates particle weights.When obtaining new tested point position in step (3a), tested point periphery earth's magnetic field is updated
Particle weights, tested point periphery particle and tested point are apart from Gaussian distributed, i.e.,：
Wherein diFor particleWith tested pointThe distance between：
The new weights of particle are done into normalized：
Random resampling mode is taken in (5b) particle resampling.Weight is updated according to particle, by particle alignment in [0,1]
Section forms particle weights section.N [0,1] interval numbers are randomly generated, is replicated according to weight sector and adds corresponding particle collection.
(5c) calculates current dotted state X to be measuredk=(xk,yk)TFor：
(xk,yk) it is tested point position coordinates.
Advantage of the invention is that：
(1) present invention proposes a kind of new locating scheme handled based on WiFi and earth's magnetic field data aggregate, fully profit
With the performance of high accuracy positioning in WiFi short distances, each AP points weight is blurred when being positioned using WiFi so that WiFi believes
The position resolved after the weighting processing of breath can obtain higher positioning accuracy.
(2) magnetic field data library has carried out continuous data acquisition to the present invention over the ground, and does interpolation processing to database data,
So that earth's magnetic field database has more universality, more grains can be provided when handling earth magnetism field data using particle filter algorithm
Subdata promotes positioning performance.
Description of the drawings
Fig. 1 is localization region track route figure
Fig. 2 is based on WiFi and earth's magnetic field indoor positioning flow chart
Specific implementation mode
Below in conjunction with attached drawing, the present invention will be described in detail.
The method that the present invention describes is a kind of indoor orientation method suitable for mobile terminal, and the process employs WiFi
The signal strength positioning method mutually combined with earth magnetism field signal is according to each observed quantity signal strength under varying environment and distribution side
Formula takes different positioning strategies.The method of the present invention is as shown in Figure 1, steps are as follows：
(1) according to building plane map feature, by area to be targeted classifying rationally at Homogeneous linear region；
(2) hand-held intelligent equipment is along the line segment acquisition WiFi signal intensity data and geomagnetic field intensity data divided；
(3) offline fingerprint database on institute's gathered data uniform mapping to the region line segment divided, will be built, intelligence is completed
Off-line data storage in energy equipment；
(4) it is positioned in real time using fingerprint database, current location institute is determined using WiFi fingerprint bases in point to be determined
Subregion, resolve WiFi signal intensity and earth's magnetic field signal strength different zones bit-weight, estimate current position coordinates.
1. when in step (2) along division line segment acquisition WiFi signal intensity RSSI data and geomagnetic field intensity, for each
Beginning and end is arranged in line segment.Width, WiFi fingerprint point spacing in implementation process between earth magnetism acquisition line segment and line segment
It is 2 meters.Data picker opens data acquisition software and slowly moves towards terminal from starting point, and speed is kept even as far as possible during collection
Speed.
2. when the offline fingerprint database of structure in step (3), the data volume in the length and line segment of every line segment is calculated,
Segment data is uniformly mapped on every line segment.
WiFi turnover rates are usually relatively low on smart mobile phone, when data acquire the WiFi fingerprint points position planned manually more
New acquisition WiFi data.It will be updated the data when data update and constitute a WiFi fingerprint with present position combinatorial coordinates.I-th of ginseng
Examination point (RwPi) on WiFi fingerprints be：
Wherein, (wxi,wyi) it is RwPiThe coordinate of point；WithRespectively RwPiThe AP nodes received on point
Service set and signal strength；miFor RwPiThe number of AP nodes is received on point.
The sample rate of magnetometer is very high on smart mobile phone, along divided line segment automatic collection geomagnetic field intensity when data acquire
Data.If there are more than space empty between line segment and line segment, using interpolation method interpolation at a certain distance in space, and will be all interior
It is as a reference point to insert point.K-th of reference point (RmPk) on geomagnetic field intensity fingerprint be：
FMk={ (mxk,myk),mk}
Wherein, (mxk,myk) it is RmPkThe coordinate of point, mkFor RmPkGeomagnetic field intensity fingerprint on point.
3. selecting a region for being laid with WiFi access points, this example region is 3 building, the building of Harbin Engineering University the 61st
Subregion is about 90 meters, about 23 meters wide, positioning track route such as Fig. 1, is determined using WiFi fingerprint bases in step (4) current
Subregion where position, steps are as follows：
(3a) calculates the Euclidean distance of current location actual measurement WiFi signal intensity and the K WiFi fingerprint point of neighbour：
Wherein,The WiFi signal intensity measured in real time for current location.
(3b) selects K minutiae of Euclidean distance minimum to set EDis threshold values as Neighbor Points, K values in experimentation
3 to 5 generally are taken, if the Euclidean distance of WiFi signal fingerprint point to current absolute fix WiFi signal intensity is less than given threshold,
Then fuzzy reasoning weighting algorithm is used to handle WiFi finger print datas, positioned in real time, otherwise, handled and worked as using particle filter algorithm
Earth's magnetic field fingerprint around front position, is positioned in real time.
4. resolving the positioning of WiFi fingerprint bases by fuzzy reasoning weighting algorithm in step (3b), steps are as follows：
(4a) selects K minutiae of Euclidean distance minimum as Neighbor Points, calculates tested point signal strength to each
The Euclidean distance of Neighbor Points：
(4b) is blurred EDisi, normalized is done to K minutiae by certain weights, is obtained eachPower
Value
(4c) by each WiFi fingerprints point the current point coordinates to be measured of weights estimation.
5. resolving the positioning of earth's magnetic field fingerprint base by particle filter algorithm in step (3b), steps are as follows：
(5a) updates particle weights.When obtaining new tested point position in step (3a), tested point periphery earth's magnetic field is updated
Particle weights, tested point periphery particle and tested point are apart from Gaussian distributed, i.e.,：
Wherein diFor particleWith tested pointThe distance between：
The new weights of particle are done into normalized：
Random resampling mode is taken in (5b) particle resampling.Weight is updated according to particle, by particle alignment in [0,1]
Section forms particle weights section.N [0,1] interval numbers are randomly generated, is replicated according to weight sector and adds corresponding particle collection.
(5c) calculates current dotted state X to be measuredk=(xk,yk)TFor：
(xk,yk) it is tested point position coordinates.
Advantage of the invention is that：
(1) present invention proposes a kind of new locating scheme handled based on WiFi and earth's magnetic field data aggregate, fully profit
With the performance of high accuracy positioning in WiFi short distances, each AP points weight is blurred when being positioned using WiFi so that WiFi believes
The position resolved after the weighting processing of breath can obtain higher positioning accuracy.
(2) magnetic field data library has carried out continuous data acquisition to the present invention over the ground, and does interpolation processing to database data,
So that earth's magnetic field database has more universality, more grains can be provided when handling earth magnetism field data using particle filter algorithm
Subdata promotes positioning performance.
The known technology for the content book those skilled in the art not being described in detail in the present invention.
Claims (6)
1. a kind of intelligent terminal indoor orientation method based on WiFi Yu earth's magnetic field database, including：
(1) according to building plane map feature, by area to be targeted classifying rationally at Homogeneous linear region；
(2) hand-held intelligent equipment is along the line segment acquisition WiFi signal intensity data and geomagnetic field intensity data divided；
(3) offline fingerprint database on institute's gathered data uniform mapping to the region line segment divided, will be built, intelligence is completed and sets
Off-line data storage in standby；
(4) it is positioned in real time using fingerprint database, where point to be determined determines current location using WiFi fingerprint bases
Subregion resolves WiFi signal intensity and earth's magnetic field signal strength different zones bit-weight, estimates current position coordinates.
2. the intelligent terminal indoor orientation method according to claim 1 based on WiFi Yu earth's magnetic field database, feature
It is, when in step (2) along division line segment acquisition WiFi signal intensity RSSI data and geomagnetic field intensity, for each line
Beginning and end is arranged in section.Data picker opens data acquisition software and slowly moves towards terminal from starting point, and speed is most during collection
It may remain a constant speed.
3. the intelligent terminal indoor orientation method according to claim 1 based on WiFi Yu earth's magnetic field database, feature
It is, the offline fingerprint database in construction step (3), its step are as follows：
(3) data volume in the length and line segment of every line segment is calculated, segment data is uniformly mapped on every line segment；
(3b) WiFi fingerprint data collections.In the WiFi fingerprint points position planned, update is adopted manually in acquiring people's traveling process
Collect WiFi data.It will be updated the data when data update and constitute a WiFi fingerprint with present position combinatorial coordinates.I-th of reference point
(RwPi) on WiFi fingerprints be：
Wherein, (wxi,wyi) it is RwPiThe coordinate of point；WithRespectively RwPiThe clothes of the AP nodes received on point
Business set identifier and signal strength；miFor RwPiThe number of AP nodes is received on point.
The earth's magnetic field (3c) fingerprint data collection.Along divided line segment automatic collection geomagnetic field intensity number in acquiring people's traveling process
According to.If there are more than space empty between line segment and line segment, using interpolation method interpolation at a certain distance in space, and by all interpolations
Point is as a reference point.K-th of reference point (RmPk) on geomagnetic field intensity fingerprint be：
FMk={ (mxk,myk),mk}
Wherein, (mxk,myk) it is RmPkThe coordinate of point, mkFor RmPkGeomagnetic field intensity fingerprint on point.
4. the intelligent terminal indoor orientation method according to claim 1 based on WiFi Yu earth's magnetic field database, feature
It is, determines the subregion where current location using WiFi fingerprint bases in step (4), steps are as follows：
(4a) calculates the Euclidean distance of current location actual measurement WiFi signal intensity and the K WiFi fingerprint point of neighbour：
Wherein,The WiFi signal intensity measured in real time for current location.
(4b) sets EDis threshold values.If the Euclidean distance of WiFi signal fingerprint point to current absolute fix WiFi signal intensity is less than
Given threshold is then used fuzzy reasoning weighting algorithm to handle WiFi finger print datas, is positioned in real time, otherwise, using particle filter
Earth's magnetic field finger print data, is positioned in real time around algorithm process current location.
5. the intelligent terminal indoor orientation method according to claim 4 based on WiFi Yu earth's magnetic field database, feature
It is, the positioning of WiFi fingerprint bases is resolved by fuzzy reasoning weighting algorithm in step (4b), steps are as follows：
(5a) selects K minutiae of Euclidean distance minimum as Neighbor Points, calculates tested point signal strength to each neighbour
The Euclidean distance of point：
(5b) is blurred EDisi, normalized is done to K minutiae by certain weights, is obtained eachWeights
(5c) by each WiFi fingerprints point the current point coordinates to be measured of weights estimation.
6. the intelligent terminal indoor orientation method according to claim 4 based on WiFi Yu earth's magnetic field database, feature
It is, fingerprint base positioning in earth's magnetic field is resolved by particle filter algorithm in step (4b), steps are as follows：
(6a) updates particle weights.When obtaining new tested point position in step (4a), tested point circumferentially magnetic field particle is updated
Weight, tested point periphery particle and tested point are apart from Gaussian distributed, i.e.,：
Wherein diFor particleWith tested pointThe distance between：
The new weights of particle are done into normalized：
Random resampling mode is taken in (6b) particle resampling.Weight is updated according to particle, by particle alignment in [0,1] section shape
At particle weight sector.N [0,1] interval numbers are randomly generated, is replicated according to weight sector and adds corresponding particle collection.
(6c) calculates current dotted state X to be measuredk=(xk,yk)TFor：
(xk,yk) it is tested point position coordinates.
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Cited By (11)
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| CN109945865A (en) * | 2019-02-25 | 2019-06-28 | 天津大学 | The indoor orientation method merged based on WiFi with earth magnetism |
| CN110798806A (en) * | 2019-10-30 | 2020-02-14 | 武汉科技大学 | Kalman filtering indoor trajectory tracking algorithm based on geomagnetic intensity |
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| CN111194003A (en) * | 2020-01-13 | 2020-05-22 | 上海麦腾物联网技术有限公司 | Control method and system for distinguishing Bluetooth devices based on geomagnetic sensor |
| CN112153568A (en) * | 2020-08-28 | 2020-12-29 | 汉海信息技术(上海)有限公司 | Wi-Fi identification and binding method, device and equipment based on service scene |
| CN112367614A (en) * | 2020-10-27 | 2021-02-12 | 华南师范大学 | LSTM-based Wi-Fi and geomagnetic field fusion indoor positioning algorithm |
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