CN109413584B - Passenger flow trajectory tracking method, device and system - Google Patents

Passenger flow trajectory tracking method, device and system Download PDF

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CN109413584B
CN109413584B CN201710689206.3A CN201710689206A CN109413584B CN 109413584 B CN109413584 B CN 109413584B CN 201710689206 A CN201710689206 A CN 201710689206A CN 109413584 B CN109413584 B CN 109413584B
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mobile terminal
relative position
wifi
position coordinates
information
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CN109413584A (en
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刘国萍
周耀邦
杨明川
孙静博
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China Telecom Corp Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • 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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  • Mobile Radio Communication Systems (AREA)
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Abstract

The invention discloses a method, a device and a system for tracking passenger flow trajectories, and relates to the technical field of wireless communication. The method comprises the following steps: receiving mobile terminal identity identification information sent by a plurality of WIFI sensing devices, identity identification information of the WIFI sensing devices and timestamp information of mobile terminal detection packets received by the WIFI sensing devices, wherein the mobile terminals send the detection packets to the WIFI sensing devices periodically; determining a relative position coordinate of the WIFI sensing equipment based on the identity identification information of the WIFI sensing equipment; identifying the mobile terminal based on the mobile terminal identity information; determining the relative position coordinates of the mobile terminal at different time points according to the moving speed of the mobile terminal, the relative position coordinates of the WIFI sensing equipment and the timestamp information; and determining the passenger flow track according to the relative position coordinates of the mobile terminal at different time points. The invention can effectively improve the accuracy of passenger flow trajectory tracking.

Description

Passenger flow trajectory tracking method, device and system
Technical Field
The invention relates to the technical field of wireless communication, in particular to a passenger flow trajectory tracking method, device and system.
Background
With the popularization of intelligent mobile terminals and wireless communication technologies, WIFI deployment is available in places such as homes and offices, and it has become a habit that a WIFI switch of a client mobile phone terminal is in an on state. Meanwhile, in places such as large tourist spots or large shopping entertainment, data such as passenger flow tracks and passenger flow density in the places need to be acquired more conveniently, so that important reference basis is provided for the deployment of marketing goods, marketing activities or service resources in the places.
The current technology for detecting the passenger flow track mainly comprises the following schemes:
firstly, the video-based technology is to adopt a video monitoring device, obtain the movement track of an object or passenger flow by using a detection and tracking technology according to the shot video, and then analyze the movement track to obtain the information such as density, movement direction and the like, thereby realizing the tracking of the passenger flow track.
Secondly, a technology based on a virtual door, namely, an optical flow method is adopted, a moving object is monitored, a motion vector is calculated, and the virtual door is set for carrying out passenger flow trajectory tracking.
Thirdly, based on the technology of the navigation satellite, ephemeris parameters and time information of the mobile terminal are continuously sent by the navigation satellite, and after the mobile terminal receives the information, the three-dimensional position, the three-dimensional direction, the movement speed and the time information of a mobile terminal receiver are calculated, so that the tracking of the track of the mobile terminal is realized.
And fourthly, the target object is positioned and tracked by wireless signal propagation between the transmitting end and the receiving end based on wireless communication technologies including WIFI/Bluetooth, radio frequency wireless tag (NFC/RFID), wireless sensor (Zigbee), pulse (UWB and ultrasonic) technologies and the like.
In the four types of technologies, the first and second types need to deploy specific device support; the third is only suitable for outdoor scenes with satellite signals; the fourth pulse technology has fast attenuation, high system cost and difficult integration of the radio frequency identification technology system. Considering compatibility of indoor and outdoor places, comprehensive input cost, deployment environment, accuracy applicability and other factors, the track tracking technology based on WIFI and Bluetooth is widely applied.
In the current WIFI and bluetooth-based trajectory tracking implementation schemes (such as cn201410427096.x and cn201610804772.x), a trajectory tracking system is formed by a wireless tracking device (such as an AP), an iBeacon device and a mobile terminal, and the mobile terminal is positioned in an RSSI fingerprint sampling manner, so that trajectory tracking is implemented. The technical scheme has the following problems:
firstly, the realization of the trajectory tracking in the above scheme depends on the mobile terminal accessing to the wireless tracking device, but in many cases (for example, when a client is busy browsing commodities or scenes in a place), although the mobile terminal WIFI is in an open state, the mobile terminal WIFI is not connected to the place WIFI, and at this time, the trajectory tracking in the passenger flow cannot be realized by the scheme.
On the other hand, the implementation method of the technical solution of the present invention adopts a method based on WIFI fingerprint positioning, as summarized in the summary of CN201510119340.0, the current methods for implementing positioning or positioning-based passenger flow trajectory mainly include the following three types: the method based on the proximity relation requires a high deployment density of WIFI hotspots, the method based on the triangulation relation requires accurate clock synchronization (propagation time method), the method based on the WIFI fingerprints requires a large amount of sample accumulation and model training in advance, and in addition, a huge fingerprint library causes poor real-time performance during matching. And the three methods have the problem that the WIFI signal intensity is easily interfered by the surrounding environment and the positioning precision is not high.
Disclosure of Invention
The invention aims to solve the technical problem of providing a passenger flow trajectory tracking method, a passenger flow trajectory tracking device and a passenger flow trajectory tracking system to improve the accuracy of passenger flow trajectory tracking.
According to an aspect of the present invention, a method for tracking a passenger flow trajectory is provided, including: receiving mobile terminal identity identification information sent by a plurality of WIFI sensing devices, identity identification information of the WIFI sensing devices and timestamp information of mobile terminal detection packets received by the WIFI sensing devices, wherein the mobile terminals periodically send detection packets to the WIFI sensing devices, and the detection packets carry the mobile terminal identity identification information; determining a relative position coordinate of the WIFI sensing equipment based on the identity identification information of the WIFI sensing equipment; identifying the mobile terminal based on the mobile terminal identity information; determining the relative position coordinates of the mobile terminal at different time points according to the moving speed of the mobile terminal, the relative position coordinates of the WIFI sensing equipment and the timestamp information; and determining the passenger flow track according to the relative position coordinates of the mobile terminal at different time points.
Further, the detection packet also carries wireless signal emission intensity information of the mobile terminal, and the passenger flow trajectory tracking method further includes: receiving wireless signal emission intensity information of a mobile terminal sent by a plurality of WIFI sensing devices; and taking the information of the three WIFI perception devices with strongest wireless signal emission intensity received by the mobile terminal as an information source.
Further, the method comprises: and calculating the relative position coordinates of the mobile terminal at different time points according to a relational expression of the moving distance, the time difference and the moving speed of the mobile terminal and a triangular three-side length relation formed by any two WIFI sensing devices in the three WIFI sensing devices serving as information sources and the mobile terminal.
Further, relative position coordinates of the mobile terminal at times t0 and t1, respectively, are assumed in advance, where t0 and t1 are time values determined according to the time stamp information; determining a first moving distance of the mobile terminal from the t0 to the t1 according to the relative position coordinate of the mobile terminal at the time t0 and the relative position coordinate at the time t 1; determining a second moving distance of the mobile terminal at a time t0 to t1 according to the moving speed measurement value of the mobile terminal and the time stamp information; and determining a relation between the moving distance of the mobile terminal and the time difference and the moving speed by using the relation that the first moving distance is equal to the second moving distance.
Further, relative position coordinates of the mobile terminal at times t0 and t1, respectively, are assumed in advance, where t0 and t1 are time values determined according to the time stamp information; constructing two groups of triangles by taking the relative position coordinates of any two WIFI sensing devices in the three WIFI sensing devices as information sources as vertexes and respectively taking the relative position coordinates of the mobile terminal at the moments t0 and t1 as fixed points, wherein three side lengths of the triangles are determined according to the relative position coordinates of the mobile terminal and the relative position coordinates of any two WIFI sensing devices; and determining the length relation of three sides of the triangle according to the natural law of engineering and morphology.
Furthermore, the relative position coordinates of the mobile terminals at different time points are respectively connected according to the time sequence to form a passenger flow track.
According to another aspect of the present invention, there is provided a passenger flow trajectory tracking device, including: the data receiving unit is used for receiving mobile terminal identity identification information sent by the WIFI sensing devices, identity identification information of the WIFI sensing devices and timestamp information of mobile terminal detection packets received by the WIFI sensing devices, wherein the mobile terminals periodically send detection packets to the WIFI sensing devices, and the detection packets carry the mobile terminal identity identification information; the sensing equipment position determining unit is used for determining the relative position coordinate of the WIFI sensing equipment based on the identity identification information of the WIFI sensing equipment; the mobile terminal identification unit is used for identifying the mobile terminal based on the mobile terminal identity identification information; the terminal coordinate calculation unit is used for determining the relative position coordinates of the mobile terminal at different time points according to the moving speed of the mobile terminal, the relative position coordinates of the WIFI sensing equipment and the timestamp information; and the terminal track generating unit is used for determining the passenger flow track according to the relative position coordinates of the mobile terminal at different time points.
Furthermore, the detection packet also carries wireless signal emission intensity information of the mobile terminal, and the data receiving unit is also used for receiving the wireless signal emission intensity information of the mobile terminal sent by the plurality of WIFI sensing devices; the information of the three WIFI sensing devices with the strongest wireless signal transmission strength, which are received by the mobile terminal, is used as an information source.
Further, the terminal coordinate calculating unit is configured to calculate the relative position coordinates of the mobile terminal at different time points according to a relational expression between the moving distance and the time difference and the moving speed of the mobile terminal and a triangular three-side length relationship formed by any two WIFI sensing devices of the three WIFI sensing devices serving as information sources and the mobile terminal.
Further, the terminal coordinate calculation unit is configured to presuppose relative position coordinates of the mobile terminal at times t0 and t1, respectively, where t0 and t1 are time values determined according to the time stamp information; determining a first moving distance of the mobile terminal from the t0 to the t1 according to the relative position coordinate of the mobile terminal at the time t0 and the relative position coordinate at the time t 1; determining a second moving distance of the mobile terminal at a time t0 to t1 according to the moving speed measurement value of the mobile terminal and the time stamp information; and determining a relation between the moving distance of the mobile terminal and the time difference and the moving speed by using the relation that the first moving distance is equal to the second moving distance.
Further, the terminal coordinate calculation unit is configured to presuppose relative position coordinates of the mobile terminal at times t0 and t1, respectively, where t0 and t1 are time values determined according to the time stamp information; constructing two groups of triangles by taking the relative position coordinates of any two WIFI sensing devices in the three WIFI sensing devices as information sources as vertexes and respectively taking the relative position coordinates of the mobile terminal at the moments t0 and t1 as fixed points; determining three side lengths of a triangle according to the relative position coordinates of the mobile terminal and the relative position coordinates of any two WIFI sensing devices; and determining the length relation of three sides of the triangle according to the natural law of engineering and morphology.
Further, the terminal track generating unit is used for connecting the relative position coordinates of the mobile terminals at different time points respectively according to a time sequence to form a passenger flow track.
According to another aspect of the invention, the passenger flow trajectory tracking system is characterized by comprising a mobile terminal, a WIFI perception device and the passenger flow trajectory tracking device.
According to another aspect of the present invention, there is provided a passenger flow trajectory tracking device, including: a memory; and a processor coupled to the memory, the processor configured to perform the method as described above based on instructions stored in the memory.
According to another aspect of the present invention, a computer-readable storage medium is also proposed, on which computer program instructions are stored, which instructions, when executed by a processor, implement the steps of the above-described method.
Compared with the prior art, the method and the device have the advantages that the relative position coordinates of the mobile terminal at different time points are determined according to the moving speed of the mobile terminal, the relative position coordinates of the WIFI sensing equipment and the timestamp information, the passenger flow track is determined according to the relative position coordinates of the mobile terminal at different time points, and the accuracy of tracking the passenger flow track can be effectively improved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
The invention will be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
fig. 1 is a flow chart illustrating a passenger flow trajectory tracking method according to an embodiment of the present invention.
FIG. 2 is a flow chart illustrating a passenger flow trajectory tracking method according to another embodiment of the present invention.
FIG. 3 is a schematic view of the construction of triangles in accordance with the present invention.
FIG. 4 is a schematic diagram of a passenger flow trajectory tracking device according to an embodiment of the present invention.
FIG. 5 is a schematic diagram of a passenger flow trajectory tracking system according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of an embodiment of the passenger flow trajectory tracking method according to the present invention.
FIG. 7 is a schematic diagram of another embodiment of a passenger flow trajectory tracking device according to the present invention.
FIG. 8 is a schematic diagram of a passenger flow trajectory tracking device according to still another embodiment of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
Fig. 1 is a flow chart illustrating a passenger flow trajectory tracking method according to an embodiment of the present invention. The method is executed by a passenger flow trajectory tracking device and comprises the following steps:
in step 110, mobile terminal identification information sent by a plurality of WIFI sensing devices, identification information of the WIFI sensing devices, and timestamp information of mobile terminal detection packets received by the WIFI sensing devices are received. The mobile terminal sends detection packets to the WIFI sensing equipment periodically. In one embodiment, under the condition that a WIFI switch of the mobile terminal is turned on, the mobile terminal periodically sends a detection broadcast packet to inquire whether a wireless service base station which can be connected is around, namely WIFI sensing equipment. The WIFI perception equipment packages the received data in the detection packet and uploads the data to the passenger flow track tracking device, wherein the packaged information includes a mobile terminal wireless communication module network identity unique identifier MACMWIFI perception equipment wireless communication module network identity unique identifier MACWAnd the WIFI sensing equipment can also comprise the RSSI (received signal strength indicator) of the wireless signal transmission strength of the mobile terminal besides the TimeStamp information of the mobile terminal detection packet received.
In step 120, the relative position coordinates of the WIFI sensing device are determined based on the identification information of the WIFI sensing device. The passenger flow trajectory tracking device can record the relative position coordinate information of a plurality of WIFI sensing devices deployed in a place in advance, and the relative position coordinate information corresponds to the MAC information of the WIFI sensing devices one to one.
At step 130, the mobile terminal is identified based on the mobile terminal identification information. According to MACMEach mobile terminal is identified.
In step 140, the relative position coordinates of the mobile terminal at different time points are determined according to the moving speed of the mobile terminal, the relative position coordinates of the WIFI sensing device and the timestamp information. The moving speed can be determined empirically, for example, the speed of a normal person walking is about 4-7 km/h. In addition, the face image acquired by the video acquisition device can be acquired through the big data analysis system, the electronic tag information of the mobile terminal acquired at the same position and the same time with the face image is extracted, the face image is associated with the electronic tag information of the mobile terminal, the information such as the age, the sex and the motion preference of the current mobile object is identified, and then the moving speed of the current mobile object is given. In addition, the speed value obtained by the empirical value can be corrected by combining the identified information of the age, the sex, the movement preference and the like of the current moving object, so that more accurate moving speed can be obtained.
In step 150, the passenger flow trajectory is determined according to the relative position coordinates of the mobile terminal at different time points. For example, the relative position coordinates of each mobile terminal at different time points are connected in time sequence to form a passenger flow trajectory.
In the embodiment, the relative position coordinates of the mobile terminal at different time points are determined according to the moving speed of the mobile terminal, the relative position coordinates of the WIFI sensing equipment and the timestamp information, the passenger flow track is determined according to the relative position coordinates of the mobile terminal at different time points, and the accuracy of tracking the passenger flow track can be effectively improved.
FIG. 2 is a flow chart illustrating a passenger flow trajectory tracking method according to another embodiment of the present invention.
In step 210, the mobile terminal periodically sends a detection packet to the WIFI sensing devices to query the surrounding WIFI sensing devices. The detection packet includes mobile terminal identification information, wireless signal transmission intensity information of the mobile terminal, and the like. The WIFI sensing equipment has a certain coverage distance, generally within a range of 15-50 meters, so that when the WIFI sensing equipment is deployed, at least three WIFI sensing equipment can be ensured to detect a wireless signal detection packet sent by the mobile terminal at a place where passenger flow passes through by deployment topology planning.
In step 220, the WIFI sensing device receives the detection packet sent by the mobile terminal, packages the received detection packet data, and uploads the packaged detection packet data to the passenger flow trajectory tracking device. For example, when a plurality of WIFI sensing devices detect a detection packet sent by a mobile terminal at the same time and the same location, each WIFI sensing device reports [ MAC ] to the passenger flow trajectory tracking deviceW,t,MACM,RSSI]Information, wherein the MACWIdentity identification information of the WIFI sensing equipment, t is time information of the WIFI sensing equipment receiving the mobile terminal detection packet, and MACMThe mobile terminal identity identification information is obtained, and the RSSI is the wireless signal transmission intensity information of the mobile terminal.
In step 230, the passenger flow trajectory tracking device uses the information of the three WIFI perception devices with the strongest wireless signal transmission strength received from the mobile terminal as an information source. E.g. at the same time tjMore than three WIFI sensing devices report the detection information of the same mobile terminal to be determined, and the passenger flow track tracking device can track the received MACW,t,MACM,RSSI]The RSSI value in the information group is determined, namely the WIFI aware equipment information group ranked by the RSSI value of the first three is used as a data source for subsequent calculation.
In addition, considering the terminal moving speed and the coverage of the WIFI sensing device, the WIFI sensing devices forming the three triangle vertices at the time t0 and the time t1 may be the same or different, for example, there are three cases: firstly, the three WIFI sensing devices at the time t1 are three WIFI sensing devices at the time t 0; secondly, the three WIFI sensing devices at the time t1 are one or two of the three WIFI sensing devices at the time t0, and one or two brand-new WIFI sensing devices are added; and thirdly, three brand-new WIFI sensing devices are arranged at the moment t 1. Specifically, the passenger flow trace tracking device reports the [ MAC ] according to the reportedW,t,MACM,RSSI]The RSSI values in the set of information. But in either case, [ MAC ] is determinedW,t,MACM,RSSI]After grouping information, the pre-recorded MAC in the passenger flow path deviceWAnd determining the relative position coordinate of the WIFI sensing equipment according to the corresponding relation with the relative position coordinate of the WIFI sensing equipment.
At step 240, passenger flow trajectory trackingThe device determines the relative position coordinates of the WIFI sensing equipment based on the identity identification information of the WIFI sensing equipment. Wherein the passenger flow trajectory tracking device pre-stores MACWCorrespondence to relative position coordinates, hence, WIFI-aware device-based MACWThe relative location coordinates of the WIFI-aware device can be determined.
At step 250, the passenger flow trajectory tracking device identifies the mobile terminal based on the mobile terminal identification information.
In step 260, the passenger flow trajectory tracking device calculates the relative position coordinates of the mobile terminal at different time points through the relation among the moving distance, the time difference and the moving speed of the mobile terminal at different times and the relation among the three sides of the triangle formed by any two WIFI sensing devices among the three WIFI sensing devices and the mobile terminal.
For example, it is assumed in advance that the relative position coordinate of the mobile terminal at time t0 is (x)m0,ym0) The relative position coordinate at time t1 is (x)m1,ym1) Determining a first moving distance of the mobile terminal from time t0 to time t1 based on the relative position coordinates of the mobile terminal at time t0 and the relative position coordinates of the mobile terminal at time t1
Figure BDA0001377465310000091
Determining a second moving distance v (t) of the mobile terminal from t0 to t1 according to the moving speed measured value v and the time stamp information of the mobile terminal1-t0). Wherein, the first moving distance is equal to the second moving distance, namely the relation between the moving distance of the mobile terminal and the time difference and the moving speed is as follows:
Figure BDA0001377465310000092
in addition, two groups of three triangles are constructed by taking the relative position coordinates of any two WIFI sensing devices in the three WIFI sensing devices as information sources as vertexes and taking the relative position coordinates of the mobile terminal at the moments t0 and t1 as fixed points respectively, wherein three side lengths of the triangles are determined according to the relative position coordinates of the mobile terminal and the relative position coordinates of any two WIFI sensing devices, and the length relation of the three sides of the triangles is determined according to a natural law of engineering and geometry.
For example, relative position coordinates (x) of WIFI aware device a and WIFI aware device B of three WIFI aware devices A, B, C as information sources1,y1)、(x2,y2) As the vertex, the relative position coordinate (x) of the mobile terminal at time t0 is takenm0,ym0) For constructing a triangle at a fixed point, the length of three sides of the triangle is a0、b0And c0Respectively as follows:
Figure BDA0001377465310000101
Figure BDA0001377465310000102
Figure BDA0001377465310000103
considering another WIFI sensing device C at time t0, there should be three groups similar to the above relationship, that is, a triangle may be constructed by using the relative position coordinates of WIFI sensing device a and WIFI sensing device C as vertices, the relative position coordinates of mobile terminal at time t0 as fixed points, or a triangle may be constructed by using the relative position coordinates of WIFI sensing device B and WIFI sensing device C as fixed points, and the relative position coordinates of mobile terminal at time t0 as fixed points, which is not further described here.
The relationship of the lengths of the three sides of the triangle determined according to the laws of nature of the engineering is as follows:
if the triangle is an acute triangle, then
Figure BDA0001377465310000104
Or
Figure BDA0001377465310000105
If the constructed triangle is an obtuse triangle
Figure BDA0001377465310000106
Or
Figure BDA0001377465310000107
Figure BDA0001377465310000108
If the triangle is a right triangle, the above relation 3 can be satisfied.
Considering another WIFI aware device C at time t0, there should be three groups similar to the above relation.
In addition, the relative position coordinates (x) of WIFI perception device D and WIFI perception device E of the three WIFI perception devices D, E, F as information sources4,y4)、(x5,y5) As the vertex, the relative position coordinate (x) of the mobile terminal at time t1 is takenm1,ym1) For constructing a triangle at a fixed point, the length of three sides of the triangle is a1、b1And c1Respectively as follows:
Figure BDA0001377465310000109
Figure BDA00013774653100001010
Figure BDA00013774653100001011
considering another WIFI aware device F at time t1, there should be three groups similar to the above relation.
The relationship of the lengths of the three sides of the triangle determined according to the laws of nature of the engineering is as follows:
if the triangle is an acute triangle, then
Figure BDA0001377465310000111
Or
Figure BDA0001377465310000112
If the constructed triangle is an obtuse triangle
Figure BDA0001377465310000113
Or
Figure BDA0001377465310000114
Figure BDA0001377465310000115
Considering another WIFI aware device F at time t1, there should be three groups similar to the above relation.
From the relational expressions 1 to 5, the relative position coordinate (x) of the mobile terminal at time t0 can be analyzedm0,ym0) And the relative position coordinate (x) at time t1m1,ym1)。
According to the method, the relative position coordinate information of the mobile terminal at other subsequent moments can be calculated in sequence.
In step 270, the relative position coordinates of the mobile terminals at different time points are respectively connected in time sequence to form a passenger flow trajectory.
In the embodiment, the relative position coordinates of the mobile terminal at different time points are calculated through a relation among the moving distance, the time difference and the moving speed of the mobile terminal at different moments and a relation among three sides of a triangle formed by any two WIFI sensing devices in three WIFI sensing devices and the mobile terminal, and the relative position coordinates of each mobile terminal at different time points are respectively connected according to a time sequence to form a passenger flow track, so that the passenger flow track tracking is simpler, more convenient and more effective, and the problem of tracking the passenger flow track of public places such as a large shopping place or a tourist attraction can be effectively solved; in addition, the problem of unstable performance in indoor WIFI positioning or track tracking can be solved.
FIG. 4 is a schematic diagram of a passenger flow trajectory tracking device according to an embodiment of the present invention. The passenger flow trajectory tracking device comprises a data receiving unit 410, a perception device position determining unit 420, a mobile terminal identification unit 430, a terminal coordinate calculating unit 440 and a terminal trajectory generating unit 450, wherein:
the data receiving unit 410 is configured to receive mobile terminal identification information sent by a plurality of WIFI sensing devices, identification information of the WIFI sensing devices, and timestamp information of mobile terminal detection packets received by the WIFI sensing devices. The mobile terminal sends detection packets to the WIFI sensing equipment periodically. The WIFI perception equipment packages the received data in the detection packet and uploads the data to the passenger flow track tracking device, wherein the packaged information includes a mobile terminal wireless communication module network identity unique identifier MACMWIFI perception equipment wireless communication module network identity unique identifier MACWAnd the WIFI sensing equipment can also comprise the RSSI (received signal strength indicator) of the wireless signal transmission strength of the mobile terminal besides the TimeStamp information of the mobile terminal detection packet received.
Sensing device position determining unit 420 is configured to determine the relative position coordinates of the WIFI sensing device based on the identification information of the WIFI sensing device. The passenger flow trajectory tracking device can record the relative position coordinate information of a plurality of WIFI sensing devices deployed in a place in advance, and the relative position coordinate information corresponds to the MAC information of the WIFI sensing devices one to one.
The mobile terminal identification unit 430 is configured to identify the mobile terminal based on the mobile terminal identification information. According to MACMEach mobile terminal is identified.
The terminal coordinate calculation unit 440 is configured to determine the relative position coordinates of the mobile terminal at different time points according to the moving speed of the mobile terminal, the relative position coordinates of the WIFI sensing device, and the timestamp information. The moving speed can be determined empirically, for example, the speed of a normal person walking is about 4-7 km/h. In addition, the face image acquired by the video acquisition device can be acquired through the big data analysis system, the electronic tag information of the mobile terminal acquired at the same position and the same time with the face image is extracted, the face image is associated with the electronic tag information of the mobile terminal, the information such as the age, the sex and the motion preference of the current mobile object is identified, and then the moving speed of the current mobile object is given. In addition, the speed value obtained by the empirical value can be corrected by combining the identified information of the age, the sex, the movement preference and the like of the current moving object, so that more accurate moving speed can be obtained.
The terminal trajectory generating unit 450 is configured to determine a passenger flow trajectory according to the relative position coordinates of the mobile terminal at different time points. For example, the relative position coordinates of each mobile terminal at different time points are connected in time sequence to form a passenger flow trajectory.
In the embodiment, the relative position coordinates of the mobile terminal at different time points are determined according to the moving speed measurement value of the mobile terminal, the relative position coordinates of the WIFI sensing equipment and the timestamp information, the passenger flow track is determined according to the relative position coordinates of the mobile terminal at different time points, and the accuracy of tracking the passenger flow track can be effectively improved.
In another embodiment of the present invention, the data receiving unit 410 receives the probe packet sent by the mobile terminal, packages the received probe packet data, and uploads the packaged probe packet data to the passenger flow trajectory tracking device. The mobile terminal sends detection packets to the WIFI sensing equipment periodically to inquire the surrounding WIFI sensing equipment. The WIFI sensing equipment has a certain coverage distance, generally within a range of 15-50 meters, so that when the WIFI sensing equipment is deployed, at least three WIFI sensing equipment can be ensured to detect a wireless signal detection packet sent by the mobile terminal at a place where passenger flow passes through by deployment topology planning. Multiple WIFI sensing devices detect detection packets sent by mobile terminals at the same time and the same position, and each WIFI sensing device reports [ MAC ] to the passenger flow track tracking deviceW,t,MACM,RSSI]Information, wherein the MACWIdentity identification information of the WIFI sensing equipment, t is time information of the WIFI sensing equipment receiving the mobile terminal detection packet, and MACMThe mobile terminal identity identification information is obtained, and the RSSI is the wireless signal transmission intensity information of the mobile terminal.
The passenger flow trajectory tracking device takes the information of the three WIFI sensing devices with the strongest wireless signal emission intensity received by the mobile terminal as an information source. E.g. at the same time tjMore than three WIFI perception devicesReporting the detection information of the same mobile terminal to be determined, and tracking the passenger flow track by the passenger flow track tracking device according to the received MACW,t,MACM,RSSI]The RSSI value in the information group is determined, namely the WIFI aware equipment information group ranked by the RSSI value of the first three is used as a data source for subsequent calculation.
In addition, considering the terminal moving speed and the coverage of the WIFI sensing device, the WIFI sensing devices forming the three triangle vertices at the time t0 and the time t1 may be the same or different, for example, there are three cases: firstly, the three WIFI sensing devices at the time t1 are three WIFI sensing devices at the time t 0; secondly, the three WIFI sensing devices at the time t1 are one or two of the three WIFI sensing devices at the time t0, and one or two brand-new WIFI sensing devices are added; and thirdly, three brand-new WIFI sensing devices are arranged at the moment t 1. Specifically, the passenger flow trace tracking device reports the [ MAC ] according to the reportedW,t,MACM,RSSI]The RSSI values in the set of information. But in either case, [ MAC ] is determinedW,t,MACM,RSSI]After grouping information, the pre-recorded MAC in the passenger flow path deviceWAnd determining the relative position coordinate of the WIFI sensing equipment according to the corresponding relation with the relative position coordinate of the WIFI sensing equipment.
Sensing device position determining unit 420 is configured to determine the relative position coordinates of the WIFI sensing device based on the identification information of the WIFI sensing device.
The mobile terminal identification unit 430 is configured to identify the mobile terminal based on the mobile terminal identification information.
The terminal coordinate calculating unit 440 is configured to calculate the relative position coordinates of the mobile terminal at different time points according to the mobile terminal movement distance, the time difference, and the movement speed relational expression at different times, and the triangular three-side length relationship formed by any two WIFI sensing devices among the three WIFI sensing devices and the mobile terminal.
Wherein relative position coordinates of the mobile terminal at times t0 and t1, respectively, are assumed in advance, wherein t0 and t1 are time values determined according to the timestamp information; determining a first moving distance of the mobile terminal from the t0 to the t1 according to the relative position coordinate of the mobile terminal at the time t0 and the relative position coordinate at the time t 1; determining a second moving distance of the mobile terminal at a time t0 to t1 according to the moving speed measurement value of the mobile terminal and the time stamp information; and determining a relation between the moving distance of the mobile terminal and the time difference and the moving speed by using the relation that the first moving distance is equal to the second moving distance.
In addition, two groups of triangles are constructed by taking the relative position coordinates of any two WIFI sensing devices in the three WIFI sensing devices as information sources as vertexes and respectively taking the relative position coordinates of the mobile terminal at the moments t0 and t1 as fixed points; determining three side lengths of a triangle according to the relative position coordinates of the mobile terminal and the relative position coordinates of any two WIFI sensing devices; and determining the length relation of three sides of the triangle according to the natural law of engineering and morphology.
The terminal track generating unit 450 is configured to connect the relative position coordinates of the mobile terminals at different time points according to a time sequence to form a passenger flow track.
In the embodiment, the relative position coordinates of the mobile terminal at different time points are calculated through a relation among the moving distance, the time difference and the moving speed of the mobile terminal at different moments and a relation among three sides of a triangle formed by any two WIFI sensing devices in the three WIFI sensing devices and the mobile terminal, and the relative position coordinates of each mobile terminal at different time points are respectively connected according to a time sequence to form a passenger flow track, so that the passenger flow track can be tracked more conveniently and effectively, and the problem of tracking the passenger flow track in public places such as a large shopping place or a tourist attraction can be effectively solved.
FIG. 5 is a schematic diagram of a passenger flow trajectory tracking system according to an embodiment of the present invention. The passenger flow trajectory tracking system comprises a mobile terminal 510, a WIFI perception device 520 and a passenger flow trajectory tracking device 530, wherein the passenger flow trajectory tracking device 530 has been described in detail in the above embodiments, and is not further described here. The mobile terminal 510 is a terminal held by a user, and the relative position coordinates of the user can be determined by acquiring the relative position coordinates of the mobile terminal 510, so that a passenger flow trajectory is formed. Under the condition that the mobile terminal 510 turns on the WIFI switch, receiving a WIFI signal detection packet sent by the mobile terminal 510, and may send [ MAC [W,t,MACM,RSSI]The information is reported to the passenger flow trajectory tracking device 530, so that the passenger flow trajectory tracking device 530 generates the passenger flow trajectory.
According to the embodiment, based on the relation among the moving distance, the time difference and the moving speed of the mobile terminal at different moments and the relation among the three sides of the triangle formed by any two WIFI sensing devices in the three WIFI sensing devices and the mobile terminal, the relative position coordinates of the mobile terminal at different time points are calculated, the relative position coordinates of each mobile terminal at different time points are respectively connected according to the time sequence to form the passenger flow track, and the passenger flow track tracking accuracy is improved.
In one particular application of the present invention, as shown in FIG. 6, the present invention is applied to a traffic trajectory tracking scenario in an airport departure lobby. The system is deployed at the positions on two sides of the airport location and in the door at a distance of 20 meters in a departure hall, and passenger flow is contained in a range with three WIFI perception devices as a group as much as possible through deployment.
After a user opens a WIFI switch of the mobile terminal, the mobile terminal periodically sends detection packets, and the WIFI sensing equipment generates a quaternary information group and reports the quaternary information group to the passenger flow track tracking device. The detection of the mobile terminal position relationship at the time t0 and the time t1 is given by the following 7 sets of relations:
a3＝(a+2d1)*(d2 2-d1 2) Or a3＝(a+2d2)*(d1 2-d2 2) Or
8(d1*a)2＝(4d1 2+a2)*(a2+d1 2-d2 2) Or 8 (d)2*a)2＝(4d2 2+a2)*(a2+d2 2-d1 2) (1)
b3＝(b+2d1)*(d3 2-d1 2) Or b3＝(b+2d3)*(d1 2-d3 2) Or
8(d1*b)2＝(4d1 2+b2)*(b2+d1 2-d3 2) Or 8 (d)3*b)2＝(4d3 2+b2)*(b2+d3 2-d1 2) (2)
c3＝(c+2d3)*(d2 2-d3 2) Or c3＝(c+2d2)*(d3 2-d2 2) Or
8(d2*c)2＝(4d2 2+c2)*(c2+d2 2-d3 2) Or 8 (d)3*c)2＝(4d3 2+c2)*(c2+d3 2-d1 2) (3)
Figure BDA0001377465310000151
l3＝(l+2d4)*(d6 2-d4 2) Or l3＝(l+2d6)*(d4 2-d6 2) Or
8(d4*l)2＝(4d4 2+l2)*(l2+d4 2-d6 2) Or 8 (d)6*l)2＝(4d6 2+l2)*(d6 2+l2-d4 2) (5)
m3＝(m+2d4)*(d5 2-d4 2) Or m3＝(m+2d5)*(d4 2-d5 2) Or
8(d4*m)2＝(4d4 2+m2)*(m2+d4 2-d5 2) Or 8 (d)5*m)2＝(4d5 2+m2)*(d5 2+m2-d4 2)
(6)
n3＝(n+2d5)*(d6 2-d5 2) Or n3＝(n+2d6)*(d5 2-d6 2) Or
8(d5*n)2＝(4d5 2+n2)*(n2+d5 2-d6 2) Or 8 (d)6*n)2＝(4d6 2+n2)*(d6 2+n2-d5 2) (7)
Wherein a, b, c, l, m and n represent distances among WIFI sensing devices, the distances are respectively known quantities together with t0, t1 and v, v represents the average speed of a person under the condition of normal movement, and d represents the average speed of the person under the condition of normal movement1、d2...d6Representing coordinates (x) of mobile terminal and WIFI perception equipmenti,yi) Distance, (i ═ 1,2.. 6), d1、d2...d6The time coordinate and position information of the mobile terminals t0 and t1 are contained, and are respectively determined by the following relational expressions:
Figure BDA0001377465310000161
Figure BDA0001377465310000162
Figure BDA0001377465310000163
Figure BDA0001377465310000164
Figure BDA0001377465310000165
Figure BDA0001377465310000166
in the above equation, the position coordinates (x) of the mobile terminal at times t0 and t1 are obtained by computer programmingt0,yt0) And (x)t1,yt1). For example, three Wifi sensing devices in the figure are taken as a group, and the distance between the sensing devices after optimized deployment is as follows: the relative position coordinates of the WIFI sensing devices W1, W2, W3, W4, W5 and W6 are known, and are (2, 1), (2, 7), (10, 4), (10, 4), (11, 14), (12, 12). Meanwhile, the moving speed of the mobile terminal is 4 km/h, the time t0 when the WIFI sensing device detects the mobile terminal detection packet is 12:43:34, the time t1 is 12:43:56, and the values are respectively substituted into 7 relational expressions in the embodiment, so that the position coordinates (x) of the mobile terminal marked as MAC at the time t0 and the time t1 can be calculatedt0,yt0) And (x)t1,yt1)。
The obtained position information at different moments is connected according to the time sequence to form a passenger flow track diagram in the airport, so that the passenger flow track and the flow of a hall where the airport departs are comprehensively and visually depicted, the emergency service experience of the whole airport during flight delay can be improved, and meanwhile, the reference can be provided for the commercial deployment of the whole airport by combining with the passenger group image of big data.
The method is not only suitable for the situation that the mobile terminal is accessed to the WIFI of the place, but also suitable for the situation that the WIFI of the mobile terminal is opened but not accessed to the WIFI of the place; meanwhile, the position coordinates of the mobile terminal are calculated by adopting a moving speed measuring and calculating method instead of the traditional RSSI fingerprint or triangulation method, so that the tracking of the passenger flow track is simpler, more convenient and more effective, and the method is particularly suitable for scenes with frequent passenger flow movement.
FIG. 7 is a schematic diagram of another embodiment of a passenger flow trajectory tracking device according to the present invention. The passenger flow trajectory tracking device includes a memory 710 and a processor 720. Wherein:
the memory 710 may be a magnetic disk, flash memory, or any other non-volatile storage medium. The memory is used to store instructions in the embodiments corresponding to fig. 1-2. Processor 720, coupled to memory 710, may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 720 is configured to execute instructions stored in the memory.
In one embodiment, as further shown in FIG. 8, the passenger flow trajectory tracking device 800 includes a memory 810 and a processor 820. The processor 820 is coupled to the memory 810 by a BUS 830. The passenger flow trajectory tracking device 800 may also be coupled to an external storage device 850 via a storage interface 840 to facilitate external data retrieval, and may also be coupled to a network or another computer system (not shown) via a network interface 860. And will not be described in detail herein.
In the embodiment, the data instruction is stored in the memory and processed by the processor, so that the accuracy of tracking the passenger flow trajectory is improved.
In another embodiment, a computer-readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement the steps of the method in the corresponding embodiment of fig. 1-2. As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Thus far, the present invention has been described in detail. Some details well known in the art have not been described in order to avoid obscuring the concepts of the present invention. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
Although some specific embodiments of the present invention have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for the purpose of illustration and is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (9)

1. A method for tracking a trajectory of passenger flow, comprising:
receiving mobile terminal identity identification information sent by a plurality of WIFI sensing devices, identity identification information of the WIFI sensing devices and timestamp information of mobile terminal detection packets received by the WIFI sensing devices, wherein the mobile terminals periodically send detection packets to the WIFI sensing devices, and the detection packets carry the mobile terminal identity identification information;
determining relative position coordinates of the WIFI sensing equipment based on the identity identification information of the WIFI sensing equipment;
identifying the mobile terminal based on the mobile terminal identity information;
relative position coordinates of the mobile terminal at times t0 and t1 are assumed in advance, wherein t0 and t1 are time values determined according to timestamp information;
determining a first moving distance of the mobile terminal from the t0 to the t1 according to the relative position coordinate of the mobile terminal at the t0 time and the relative position coordinate at the t1 time;
determining a second moving distance of the mobile terminal at a time t0 to t1 according to the moving speed measurement value of the mobile terminal and the time stamp information;
determining a relation among the moving distance of the mobile terminal, the time difference and the moving speed by using the relation that the first moving distance is equal to the second moving distance;
constructing two groups of triangles by taking the relative position coordinates of any two WIFI sensing devices in the three WIFI sensing devices as information sources as vertexes and respectively taking the relative position coordinates of the mobile terminal at the moments of t0 and t1 as fixed points, wherein three side lengths of the triangles are determined according to the relative position coordinates of the mobile terminal and the relative position coordinates of any two WIFI sensing devices;
determining the length relation of three sides of the triangle according to a natural law of engineering and morphology;
calculating the relative position coordinates of the mobile terminal at different time points according to the relational expression of the moving distance, the time difference and the moving speed of the mobile terminal and the relation of the lengths of three sides of the triangle;
and determining the passenger flow track according to the relative position coordinates of the mobile terminal at different time points.
2. The method of claim 1, wherein the probe packet further carries wireless signal transmission strength information of a mobile terminal, the method further comprising:
receiving wireless signal emission intensity information of the mobile terminal, which is sent by a plurality of WIFI sensing devices;
and taking the information of the three WIFI perception devices with the strongest wireless signal transmission strength received by the mobile terminal as an information source.
3. The passenger flow trajectory tracking method according to claim 1 or 2,
and respectively connecting the relative position coordinates of each mobile terminal at different time points according to a time sequence to form the passenger flow track.
4. A passenger flow trajectory tracking device, comprising:
the data receiving unit is used for receiving mobile terminal identity identification information sent by a plurality of WIFI sensing devices, identity identification information of the WIFI sensing devices and timestamp information of mobile terminal detection packets received by the WIFI sensing devices, wherein the mobile terminals periodically send detection packets to the WIFI sensing devices, and the detection packets carry the mobile terminal identity identification information;
the perception device position determining unit is used for determining the relative position coordinate of the WIFI perception device based on the identity identification information of the WIFI perception device;
the mobile terminal identification unit is used for identifying the mobile terminal based on the mobile terminal identity identification information;
a terminal coordinate calculation unit for assuming in advance relative position coordinates of the mobile terminal at times t0 and t1, respectively, wherein t0 and t1 are time values determined according to the time stamp information; determining a first moving distance of the mobile terminal from the t0 to the t1 according to the relative position coordinate of the mobile terminal at the t0 time and the relative position coordinate at the t1 time; determining a second moving distance of the mobile terminal at a time t0 to t1 according to the moving speed measurement value of the mobile terminal and the time stamp information; determining a relational expression of the moving distance of the mobile terminal, the time difference and the moving speed by using the relation that the first moving distance is equal to the second moving distance, and constructing two groups of triangles by using the relative position coordinates of any two WIFI sensing devices in the three WIFI sensing devices as information sources as vertexes and the relative position coordinates of the mobile terminal at the moments t0 and t1 as fixed points respectively; determining three side lengths of a triangle according to the relative position coordinates of the mobile terminal and the relative position coordinates of any two WIFI sensing devices; determining the relation of the lengths of three sides of a triangle according to a natural law of engineering and morphology, and calculating the relative position coordinates of the mobile terminal at different time points according to a relational expression of the moving distance, the time difference and the moving speed of the mobile terminal and the relation of the lengths of the three sides of the triangle;
and the terminal track generating unit is used for determining the passenger flow track according to the relative position coordinates of the mobile terminal at different time points.
5. The passenger flow trajectory tracking device of claim 4, wherein the detection packet further carries wireless signal transmission strength information of the mobile terminal;
the data receiving unit is further used for receiving wireless signal emission intensity information of the mobile terminal, which is sent by the plurality of WIFI sensing devices;
and the information of the three WIFI sensing devices with the strongest wireless signal transmission intensity received by the mobile terminal is used as an information source.
6. The passenger flow trajectory tracking device of claim 4 or 5,
the terminal track generating unit is used for respectively connecting the relative position coordinates of each mobile terminal at different time points according to a time sequence to form the passenger flow track.
7. A passenger flow trajectory tracking system, characterized by comprising a mobile terminal, a WIFI perception device and the passenger flow trajectory tracking device of any one of claims 4-6.
8. A passenger flow trajectory tracking device, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the method of any of claims 1-3 based on instructions stored in the memory.
9. A computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of any one of claims 1 to 3.
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