CN109188349A - Indoor positioning technologies fingerprint collecting method and device - Google Patents
Indoor positioning technologies fingerprint collecting method and device Download PDFInfo
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- CN109188349A CN109188349A CN201810818457.1A CN201810818457A CN109188349A CN 109188349 A CN109188349 A CN 109188349A CN 201810818457 A CN201810818457 A CN 201810818457A CN 109188349 A CN109188349 A CN 109188349A
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- 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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The present invention provides a kind of using inertial navigation technology, is sampled by curved path, to improve sampling area coverage, reduces fitting operations amount, fingerprint database constructs a kind of indoor positioning technologies fingerprint collecting method of efficiency and accuracy.The method step includes: to obtain the angular speed and acceleration information of sampling terminal according at least two curve acquisition paths in region to be collected, carry out inertial navigation resolving, the position coordinates on positioning acquisition path；The signal characteristic is distributed to corresponding position coordinate the sampling location fingerprint constituted on acquisition path by the signal characteristic for obtaining signal source simultaneously；According to the sampling location fingerprint on acquired path, the matching position fingerprint between path is acquired in the Fitting Calculation region to be collected, to constitute the fingerprint database for covering the region to be collected.Present invention simultaneously provides a kind of device for realizing the above method, described device includes coordinate acquisition module, signal acquisition module and building module.
Description
Technical field
The present invention relates to field of communication technology more particularly to indoor positioning technologies fields.
Background technique
The development of wireless communication technique is also more taken seriously based on the indoor wireless location technology of wireless technology.Wirelessly
The communication technology is to utilize, such as WiFi, bluetooth etc. carry out data transmission and reception.Realize that wireless location is that there are nothings with interior
Based on line signal, the realization of indoor wireless location technology includes two stages, i.e., builds library stage and tuning on-line stage offline；
Wherein, the basis that library is indoor wireless positioning is built offline.Offline build the library stage refer to acquisition wireless signal strength and determine signal
Collection point coordinate, and then multiple<signal is formed based on signal strength data collected and collection point coordinate, coordinate>, that is, refer to
Then line establishes fingerprint base according to fingerprint.
In the prior art, the acquisition of fingerprint is realized generally by the mode of fixed point acquisition.Predefine pickup area
Then interior a certain number of collection points arrive determining collection point acquisition wireless signal strength data, further determine that collection point
Coordinate.Multiple < signal is formed according to wireless signal strength data collected at the coordinate of collection point and collection point with this, is sat
Mark >, and then establish fingerprint base.
Mode is established for above-mentioned fingerprint base, though being able to achieve the foundation of fingerprint, efficiency is lower, because collection point selection needs
Manual operation is wanted, flexibility is poor；And pinpoint acquisition and be difficult accurately to determine whether to be located at and preset collection point, error compared with
Greatly；Simultaneously for fixed point acquisition if you need to improve acquisition precision, it is thus necessary to determine that more collection point also makes collection process excessively complicated.
It is simultaneously all using the straight-line segment between standard point as sample path, in this way in fitting sample path in planning sample path
Between location fingerprint when, need to expend a large amount of extra time and system resource, and accuracy also it is difficult to ensure that.
Summary of the invention
The present invention is the shortcoming in order to overcome fingerprint collecting method in the prior art, provides a kind of application inertia and leads
Boat technology, is sampled by curved path, to improve sampling area coverage, reduces fitting operations amount, fingerprint database building effect
A kind of indoor positioning technologies fingerprint collecting method and device of rate and accuracy.
To achieve the above object, the invention adopts the following technical scheme:
A kind of indoor positioning technologies fingerprint collecting method of the invention, the described method comprises the following steps:
Path is acquired according at least two curves in region to be collected, obtains the angular speed and acceleration letter of sampling terminal
Breath carries out inertial navigation resolving, the position coordinates on positioning acquisition path；
The signal characteristic is distributed to corresponding position coordinate and constitutes acquisition path by the signal characteristic for obtaining signal source simultaneously
On sampling location fingerprint；
According to the sampling location fingerprint on acquired path, the fitting between path is acquired in the Fitting Calculation region to be collected
Location fingerprint, to constitute the fingerprint database for covering the region to be collected.
Preferably, acquiring path according at least two curves in region to be collected, the angular speed of sampling terminal is obtained
And acceleration information, inertial navigation resolving is carried out, the step of position coordinates on positioning acquisition path, further comprises:
At least three standard points are set in region to be collected, plan the acquisition path between adjacent modular point, it is described to adopt
Integrate path as curved path, the curved path has starting point, terminal and inflection point.
Preferably, the step further comprises: curved path both ends standard point position coordinates are obtained, as curve road
The starting point coordinate and end coordinates of diameter；
According to the angular speed and acceleration information of sampling terminal, inertial navigation resolving is carried out, inertial navigation is obtained and resolves position
Increment is moved, the position coordinates of the line segment between the inflection point coordinate and adjacent comers of curved path are obtained.
Preferably, signal characteristic includes received signal strength RSS or multidiameter configuration or signal two-way time [please supplement]
The combination of middle one or more.
Preferably, acquiring path in the Fitting Calculation region to be collected according to the sampling location fingerprint on acquired path
Between matching position fingerprint the step of, further comprise:
According to the sampling location fingerprint on acquisition path, generates to acquire in region to be collected by fitting and intend between path
Close location fingerprint.
Preferably, the signal characteristic to be distributed to corresponding position coordinate to the sampling location fingerprint constituted on acquisition path
The step of, further comprise:
Corresponding position coordinates and signal characteristic binding are stabbed according to the same sampling time, constitute adopting on acquisition path
Sample location fingerprint.
Present invention simultaneously provides a kind of indoor positioning technologies fingerprint acquisition devices, characterized in that described device includes:
Coordinate acquisition module, for obtaining the angle of sampling terminal according at least two acquisition paths in region to be collected
Velocity and acceleration information carries out inertial navigation resolving, the position coordinates on positioning acquisition path；
Signal acquisition module distributes the signal characteristic to corresponding position for obtaining the signal characteristic of signal source simultaneously
It sets coordinate and constitutes the sampling location fingerprint acquired on path；
Module is constructed, for according to the sampling location fingerprint on acquire path, acquisition in the Fitting Calculation region to be collected
Matching position fingerprint between path, to constitute the fingerprint database for covering the region to be collected.
Preferably, the coordinate acquisition module includes:
First acquisition unit, for obtaining curved path both ends standard point position coordinates, the starting point as curved path is sat
Mark and end coordinates；
Second acquisition unit carries out inertial navigation resolving, obtains for the angular speed and acceleration information according to sampling terminal
Inertial navigation is taken to resolve displacement increment, the position for obtaining the line segment between the inflection point coordinate and adjacent comers of curved path is sat
Mark.
Preferably, the building module includes:
Fitting unit, for being generated in region to be collected and being adopted by fitting according to the sampling location fingerprint on acquisition path
Collect the matching position fingerprint between path.
Preferably, the signal acquisition module includes:
Binding unit is constituted for stabbing corresponding position coordinates and signal characteristic binding according to the same sampling time
Acquire the sampling location fingerprint on path.
Fingerprint sampling plan in compared with the prior art, this programme are adopted by inertial navigation technology applied to location fingerprint
In sample, the signal acquisition of curved path is realized, so as to the sampling location fingerprint in curve of output path.According to two-dimensional geometry original
Reason, curved path are bigger compared to the area of line segment path covering, it is therefore desirable to and the area of matching position fingerprint can greatly reduce, from
And improve fingerprint sampling building fingerprint database efficiency and accuracy.
Concrete mode be by acquisition signal characteristic while, obtain sampling terminal acceleration and angular speed so as to
It identifies inflection point in curved path, curved path is divided into the segmentation of several line segments, then carry out by acceleration and angular speed information
Inertial navigation resolves, the position coordinates that positioning acquisition path is respectively segmented.Then it is stabbed by the sampling time and sits corresponding position
Mark and signal characteristic binding, constitute the sampling location fingerprint on acquisition path.
Detailed description of the invention
Fig. 1 is a kind of flow chart of indoor positioning technologies fingerprint collecting method of the invention.
Fig. 2 is the flow chart of another indoor positioning technologies fingerprint collecting method of the invention.
Fig. 3 is a kind of functional block diagram of indoor positioning technologies fingerprint acquisition device of the invention.
Fig. 4 is the functional block diagram of another indoor positioning technologies fingerprint acquisition device of the invention.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and detailed description.
Embodiment one:
As shown in Figure 1, the present invention provides a kind of indoor positioning technologies fingerprint collecting method, the method step includes:
S101 acquires path according at least two curves in region to be collected, obtains angular speed and the acceleration of sampling terminal
Information is spent, inertial navigation resolving, the position coordinates on positioning acquisition path are carried out.
At least three standard points are set in region to be collected, plan the acquisition path between adjacent modular point, it is described to adopt
Integrate path as curved path, the curved path has starting point, terminal and inflection point.
S102 obtains the signal characteristic of signal source simultaneously, and the signal characteristic is distributed to corresponding position coordinate and constitutes acquisition
Sampling location fingerprint on path.
The signal characteristic include received signal strength RSS or multidiameter configuration or in signal two-way time it is one or more of
Combination.
S103 is acquired between path in the Fitting Calculation region to be collected according to the sampling location fingerprint on acquired path
Matching position fingerprint, to constitute the fingerprint database for covering the region to be collected.
This programme is applied in location fingerprint sampling by inertial navigation technology, realizes the signal acquisition of curved path, from
And it is capable of the sampling location fingerprint in curve of output path.According to two-dimensional geometry principle, curved path is compared to the covering of line segment path
Area is bigger, it is therefore desirable to which the area of matching position fingerprint can greatly reduce, to improve fingerprint sampling building fingerprint database
Efficiency and accuracy.
Embodiment two:
As shown in Fig. 2, the present invention provides another indoor positioning technologies fingerprint collecting method, it is to be provided in embodiment one
Advanced optimizing in method, the method step include:
At least three standard points are arranged in S201 in region to be collected, plan the acquisition path between adjacent modular point, institute
Stating acquisition path is curved path, and the curved path has starting point, terminal and inflection point.
S202 obtains curved path both ends standard point position coordinates, starting point coordinate and end coordinates as curved path.
S203 carries out inertial navigation resolving according to the angular speed and acceleration information of sampling terminal, obtains inertial navigation solution
Displacement increment is calculated, the position coordinates of the line segment between the inflection point coordinate and adjacent comers of curved path are obtained.
S204 obtains the signal characteristic of signal source simultaneously, stabs corresponding position coordinates according to the same sampling time and signal is special
Sign binding constitutes the sampling location fingerprint on acquisition path.
S205 according to acquisition path on sampling location fingerprint, by linear interpolation and Gauss interpolation method fitting generate to
Matching position fingerprint in pickup area between acquisition path.
Fingerprint sampling plan in compared with the prior art, this programme are adopted by inertial navigation technology applied to location fingerprint
In sample, the signal acquisition of curved path is realized, so as to the sampling location fingerprint in curve of output path.According to two-dimensional geometry original
Reason, curved path are bigger compared to the area of line segment path covering, it is therefore desirable to and the area of matching position fingerprint can greatly reduce, from
And improve fingerprint sampling building fingerprint database efficiency and accuracy.
Concrete mode be by acquisition signal characteristic while, obtain sampling terminal acceleration and angular speed so as to
It identifies inflection point in curved path, curved path is divided into the segmentation of several line segments, then carry out by acceleration and angular speed information
Inertial navigation resolves, the position coordinates that positioning acquisition path is respectively segmented.Then it is stabbed by the sampling time and sits corresponding position
Mark and signal characteristic binding, constitute the sampling location fingerprint on acquisition path.It is quiet to fully take into account sampling terminal in collection process
Only the case where.
The location fingerprint acquired by the above method, additionally it is possible to make up the mistake in position coordinates acquisition process to a certain extent
Difference, the influence to fingerprint collecting.The curved path that the path fitting that terminal acquisition position coordinate is constituted is planning will be sampled, reduced
It is influenced caused by position coordinates Acquisition Error.Column are such as planning the curved path AB between two standard points, beginning and end point
It is not two standard points.But the problems such as may be influenced due to error along the AB collection process of actual curve path (such as inflection point
Angular deviation), the path that the position coordinates that sampling terminal obtains are formed may be AB ', and starting point is A, but terminal is to deviate
B ', thus can there are biggish disagreements with actual acquisition path because collected signal characteristic is to be bundled in path AB '
On, the location fingerprint accuracy obtained in this case can be very low, and area coverage also can be different.Therefore pass through the Fitting Calculation
Curved path AB ' is converted to curved path AB by method, then by signal characteristic according to stamp of same sampling time and curved path AB
On coordinate points binding, so as to effectively reduce influence caused by position coordinates Acquisition Error.
Embodiment three:
As shown in figure 3, the present invention provides a kind of indoor positioning technologies fingerprint acquisition device, described device includes:
Coordinate acquisition module 301, for obtaining sampling terminal according at least two acquisition paths in region to be collected
Angular speed and acceleration information carry out inertial navigation resolving, the position coordinates on positioning acquisition path.
Signal acquisition module 302 distributes the signal characteristic to correspondence for obtaining the signal characteristic of signal source simultaneously
Position coordinates constitute the sampling location fingerprint on acquisition path.
Module 303 is constructed, for according to the sampling location fingerprint on acquired path, the Fitting Calculation to be adopted in region to be collected
Collect the matching position fingerprint between path, to constitute the fingerprint database for covering the region to be collected.
The fingerprint that the indoor positioning technologies fingerprint acquisition device provided through this embodiment can be realized in embodiment one is adopted
Set method can allow for the fingerprint collecting in curved path, to improve acquisition area coverage, reduce the meter of matching position fingerprint
Calculation amount, improves efficiency and accuracy.
Example IV:
As shown in figure 4, the present invention provides another indoor positioning technologies fingerprint acquisition device, the present embodiment is to embodiment
Three advanced optimize, specifically:
The coordinate acquisition module 301 includes:
First acquisition unit 401, the starting point for obtaining curved path both ends standard point position coordinates, as curved path
Coordinate and end coordinates.
Second acquisition unit 402 carries out inertial navigation solution for the angular speed and acceleration information according to sampling terminal
It calculates, obtains inertial navigation and resolve displacement increment, obtain the position of the line segment between the inflection point coordinate and adjacent comers of curved path
Set coordinate.
The signal acquisition module 302 includes binding unit 403, is sat for stabbing corresponding position according to the same sampling time
Mark and signal characteristic binding, constitute the sampling location fingerprint on acquisition path.
The building module 303 includes fitting unit 404, for passing through according to the sampling location fingerprint on acquisition path
Linear interpolation and the fitting of Gauss interpolation method generate the matching position fingerprint acquired between path in region to be collected.
The present apparatus can be realized the indoor positioning technologies fingerprint collecting method of the offer of embodiment two, acquire the same of signal characteristic
When, the acceleration and angular speed of sampling terminal is obtained so as to identify inflection point in curved path, curved path is divided into several
A line segment segmentation, then inertial navigation resolving, the position that positioning acquisition path is respectively segmented are carried out by acceleration and angular speed information
Set coordinate.Then it is stabbed by the sampling time and binds corresponding position coordinates and signal characteristic, constitute the sampling on acquisition path
Location fingerprint.It fully takes into account and samples the static situation of terminal in collection process.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of indoor positioning technologies fingerprint collecting method, characterized in that the described method comprises the following steps:
Path is acquired according at least two curves in region to be collected, obtains the angular speed and acceleration information of sampling terminal,
Carry out inertial navigation resolving, the position coordinates on positioning acquisition path；
The signal characteristic is distributed to corresponding position coordinate and is constituted on acquisition path by the signal characteristic for obtaining signal source simultaneously
Sampling location fingerprint；
According to the sampling location fingerprint on acquired path, the matching position between path is acquired in the Fitting Calculation region to be collected
Fingerprint, to constitute the fingerprint database for covering the region to be collected.
2. indoor positioning technologies fingerprint collecting method according to claim 1, characterized in that according in region to be collected
At least two curves acquire path, obtain the angular speed and acceleration information of sampling terminal, carry out inertial navigation resolving, and positioning is adopted
The step of collecting the position coordinates on path, further comprise:
At least three standard points are set in region to be collected, plan the acquisition path between adjacent modular point, the acquisition road
Diameter is curved path, and the curved path has starting point, terminal and inflection point.
3. indoor positioning technologies fingerprint collecting method according to claim 2, characterized in that the step is further wrapped
It includes:
Obtain curved path both ends standard point position coordinates, starting point coordinate and end coordinates as curved path；
According to the angular speed and acceleration information of sampling terminal, inertial navigation resolving is carried out, inertial navigation resolving displacement is obtained and increases
Amount, obtains the position coordinates of the line segment between the inflection point coordinate and adjacent comers of curved path.
4. indoor positioning technologies fingerprint collecting method according to claim 1, characterized in that signal characteristic includes receiving letter
Number intensity RSS or multidiameter configuration or combination one or more of in signal two-way time.
5. indoor positioning technologies fingerprint collecting method according to claim 1, characterized in that according on acquired path
Sampling location fingerprint, further comprises at the step of matching position fingerprint between path is acquired in the Fitting Calculation region to be collected:
According to the sampling location fingerprint on acquisition path, the fitting position acquired between path in region to be collected is generated by fitting
Set fingerprint.
6. indoor positioning technologies fingerprint collecting method according to claim 1, characterized in that distribute the signal characteristic
The step of constituting the sampling location fingerprint on acquisition path to corresponding position coordinate further comprises:
Corresponding position coordinates and signal characteristic binding are stabbed according to the same sampling time, the sampling location constituted on acquisition path refers to
Line.
7. a kind of indoor positioning technologies fingerprint acquisition device, characterized in that described device includes:
Coordinate acquisition module, for obtaining the angular speed of sampling terminal according at least two acquisition paths in region to be collected
And acceleration information, carry out inertial navigation resolving, the position coordinates on positioning acquisition path；
The signal characteristic is distributed to corresponding position and is sat for obtaining the signal characteristic of signal source simultaneously by signal acquisition module
Mark constitutes the sampling location fingerprint on acquisition path；
Module is constructed, for according to the sampling location fingerprint on acquire path, in the Fitting Calculation region to be collected acquisition path
Between matching position fingerprint, to constitute the fingerprint database for covering the region to be collected.
8. indoor positioning technologies fingerprint acquisition device according to claim 6, characterized in that the coordinate acquisition module packet
It includes:
First acquisition unit, for obtaining curved path both ends standard point position coordinates, as curved path starting point coordinate and
End coordinates；
Second acquisition unit carries out inertial navigation resolving for the angular speed and acceleration information according to sampling terminal, obtains used
Property navigation calculation displacement increment, obtains the position coordinates of the line segment between the inflection point coordinate and adjacent comers of curved path.
9. indoor positioning technologies fingerprint acquisition device according to claim 6, characterized in that the building module includes:
Fitting unit, for being generated in region to be collected by fitting and acquiring road according to the sampling location fingerprint on acquisition path
Matching position fingerprint between diameter.
10. indoor positioning technologies fingerprint acquisition device according to claim 6, characterized in that the signal acquisition module
Include:
Binding unit constitutes acquisition for stabbing corresponding position coordinates and signal characteristic binding according to the same sampling time
Sampling location fingerprint on path.
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| CN201810818457.1A CN109188349A (en) | 2018-07-24 | 2018-07-24 | Indoor positioning technologies fingerprint collecting method and device |
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| CN201810818457.1A CN109188349A (en) | 2018-07-24 | 2018-07-24 | Indoor positioning technologies fingerprint collecting method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110779513A (en) * | 2019-10-28 | 2020-02-11 | 杭州十域科技有限公司 | Indoor public service place positioning system |
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