CN109444815A - Method for protecting track privacy and system based on the positioning of indoor sound - Google Patents
Method for protecting track privacy and system based on the positioning of indoor sound Download PDFInfo
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- CN109444815A CN109444815A CN201811188456.XA CN201811188456A CN109444815A CN 109444815 A CN109444815 A CN 109444815A CN 201811188456 A CN201811188456 A CN 201811188456A CN 109444815 A CN109444815 A CN 109444815A
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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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A kind of method for protecting track privacy and system based on the positioning of indoor sound, be related to indoor protecting track privacy technical field, this method comprises the following steps: user proposes positioning or navigation requests；Computer acquisition time stamp is controlled for calculating anchor point, and indoor map recommended route；Discrete location point information is collected, track is formed, privacy of user track is protected.The system includes ultrasonic receiver, user terminal, control computer and LBS provider server, information is sent from user terminal and ultrasonic receiver to control computer, obtained location information by calculating is sent to ultrasonic receiver and LBS provider server by control computer, a large amount of discrete anonymous tracks of anchor point information generation are collected by LBS provider server and send back to control computer, user terminal can check the trace information of oneself without being seen by other people to control computer request according to demand.The present invention can carry out secret protection to track.
Description
Technical field
The present invention relates to indoor protecting track privacy technical fields, and in particular to a kind of track based on the positioning of indoor sound
Method for secret protection and system.
Background technique
With the outburst of big data, people can generate huge data in life, these data may expose us
Privacy.More and more high buildings and large mansions stand in great numbers in city, and the activity of people indoors also becomes more and more.Indoor active rail
Mark may also can expose our privacy, so protecting track privacy is just particularly important.
Common location technology includes: radio frequency identification, GPS positioning, infrared ray positioning, ultrasonic wave positioning, WLAN at present
Positioning.The main advantage of conventional ultrasonic wave is that the transmission speed of ultrasonic signal is 1,243,000 ms/h and compares with the light velocity
Speed is extremely low, therefore can obtain better effects using the method based on time difference measurements.Interior in conjunction with multilateration is fixed
Position technology, high cost and complexity caused by can saving because of precise synchronization mechanism.Ultrasonic signal is difficult to transmit barrier
Hinder object, but still can be applied to non-line-of-sight propagation environment under normal circumstances, however spread scope is very limited, so positioning
It is less applicable in the biggish situation in region.
Currently used secret protection technology includes: extensive method, inhibition method, false data method.In positioning scene, Yong Hushen
The uncertainty of part and the uncertainty of position are attained by the purpose of protection privacy, and most common method is position K- anonymity skill
Art and location fuzzy technology.
Summary of the invention
In view of the deficiencies of the prior art, problem solved by the invention is to provide a kind of side that can be carried out protecting track privacy
Method.
In order to solve the above technical problems, the technical solution adopted by the present invention is that a kind of track based on the positioning of indoor sound is hidden
Private guard method, includes the following steps:
(1) user proposes positioning or navigation requests, gives the user terminal with ultrasonic wave emission function by control computer
One radio command, the ultrasonic transmitter on user terminal begin to transmitting ultrasonic wave request signal；
(2) control computer acquisition time stamp is for calculating anchor point, and indoor map recommended route, including following
Step by step:
(1) it determines location information, needs at least four ultrasonic receiver received ultrasonic signal and timing, obtain ultrasound
Wave reaches the time of each ultrasonic receiver, and the position of each ultrasonic transmitter, detailed process are calculated with the time difference
It is as follows:
According to the method for TDOA three-dimensional localization, the coordinate of position location is set as (x, y, z), the seat of four ultrasonic receivers
Mark is followed successively by (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4), meet following formula:
In above formula, t is ultrasonic wave from the time for being sent to each ultrasonic receiver；
By formula (1) to formula (4), the location information of user terminal is obtained；
(2) according to indoor map recommended route
Object location information is inputted to indoor control computer, using the supervised learning principle in machine learning, planning is each
Path in floor between each room receiver will be controlled computer in routing information input chamber, be predicted most using algorithm
Correct path, detailed process is as follows:
Given data set, according to fit out immediate functional relation to data:
hθ(x)=θ0+θ1x (5)
In above formula, θ0With θ1Respectively represent two unknowm coefficients of function；
The smallest θ is calculated through overfitting0With θ1, obtain the figure co-relation closest to data:
Cost function:
Decline the cost function minimized with gradient:
Thus it obtains:
Obtain the smallest θ0With θ1, most accurate track is predicted, determines recommended route；
(3) discrete location point information is collected, track is formed, privacy of user track is protected, it is a large amount of by what is obtained
The discrete location point information of user generates false track according to true track, and then carries out protecting track privacy, including following point
Step:
(1) most suitable rotation angle is determined
Define average Euclidean distance are as follows:
disi,rWhat is indicated is i-th of false track at a distance from real trace；
Assuming that rotation angle defers to Gaussian Profile, i-th of mean-Gaussian distance is defined are as follows:
A rotation angle increment △ is set, value range is (0,2 π/k), i.e. rotation angle is started from scratch, and respectively is
△, 2 △ etc. choose the arbitrary point rotation in real trace until 2 π/k, and each different rotation angle can generate a plurality of vacation
Track calculates the corresponding mean-Gaussian distance of each rotation angle, obtain maximum mean-Gaussian apart from when, it is as most suitable
Rotate angle；
(2) K item vacation track is obtained, after obtaining rotation angle, chooses any K point in real trace as rotation
Point, rotation real trace obtain corresponding K item vacation track；
(3) false track is adjusted according to background information, in advance by map grid, by unreasonable area such as Gao Gaoshan, river
Stream, sea grey grid representation be fitted on grid map after obtaining false track, with user be averaged movement speed and
Radius of the half of point-to-point transmission time interval product as circle is used as the center of circle using grid where the unreasonable point, search for therewith away from
From nearest logical point, which is replaced into unreasonable point, the false track after being adjusted；
(4) protecting track privacy is carried out
The service request probability put after adjustment on each false track is inquired, if the service request probability of certain grid and true
The service request probability difference of real point is larger, can further adjust the position of the unreasonable point, and then guarantees that new position can
Privacy of user is preferably protected, the various attacks based on background information are resisted.
Another problem solved by the invention is to provide a kind of system that can be carried out protecting track privacy.
In order to solve the above technical problems, the technical solution adopted by the present invention is that a kind of track based on the positioning of indoor sound is hidden
Private protection system, including ultrasonic receiver, user terminal, control computer and LBS provider server, by the user terminal
And the ultrasonic receiver sends information to the control computer, the control computer by what is calculated obtaining
Location information is sent to the ultrasonic receiver and the LBS provider server, is received by the LBS provider server
Collect a large amount of discrete anchor point information to generate anonymous track and send back to the control computer, the user terminal can be according to demand
Check the trace information of oneself without being seen by other people to the control computer request.
The user terminal can emit ultrasonic signal, and can be to institute for the running fix equipment for carrying ultrasonic horn
It states control computer to file a request and receive the track that the WIFI signal from the control computer checks oneself, without by it
Other people see；
The ultrasonic receiver, for receiving the information of the control computer sending and generating timestamp information；
The control computer, for receiving the ultrasound information and the ultrasonic receiver that the user terminal issues
The timestamp information and signal strength information of sending, by location information is calculated；
The LBS provider server is responsible for collecting a large amount of discrete anchor point information that the control computer transmits
And anonymous track progress privacy is constituted accordingly and is protected.
The present invention can carry out secret protection to track, resist the various attacks based on background information.
Detailed description of the invention
Fig. 1 is flow diagram of the present invention；
Fig. 2 is model structure of the present invention.
Specific embodiment
It is further described with reference to the accompanying drawing and to a specific embodiment of the invention, but is not to limit of the invention
It is fixed.
Fig. 1 shows a kind of method for protecting track privacy based on the positioning of indoor sound, includes the following steps:
(1) user proposes positioning or navigation requests, gives the user terminal with ultrasonic wave emission function by control computer
One radio command, the ultrasonic transmitter on user terminal begin to transmitting ultrasonic wave request signal；
(2) control computer acquisition time stamp is for calculating anchor point, and indoor map recommended route, including following
Step by step:
(1) it determines location information, needs at least four ultrasonic receiver received ultrasonic signal and timing, obtain ultrasound
Wave reaches the time of each ultrasonic receiver, and the position of each ultrasonic transmitter, detailed process are calculated with the time difference
It is as follows:
According to the method for TDOA three-dimensional localization, the coordinate of position location is set as (x, y, z), the seat of four ultrasonic receivers
Mark is followed successively by (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4), meet following formula:
In above formula, t is ultrasonic wave from the time for being sent to each ultrasonic receiver；
By formula (1) to formula (4), the location information of user terminal is obtained；
(2) according to indoor map recommended route
Object location information is inputted to indoor control computer, using the supervised learning principle in machine learning, planning is each
Path in floor between each room receiver will be controlled computer in routing information input chamber, be predicted most using algorithm
Correct path, detailed process is as follows:
Given data set, according to fit out immediate functional relation to data:
hθ(x)=θ0+θ1x (5)
In above formula, θ0With θ1Respectively represent two unknowm coefficients of function；
The smallest θ is calculated through overfitting0With θ1, obtain the figure co-relation closest to data:
Cost function:
Decline the cost function minimized with gradient:
Thus it obtains:
Obtain the smallest θ0With θ1, most accurate track is predicted, determines recommended route；
(3) discrete location point information is collected, track is formed, privacy of user track is protected, it is a large amount of by what is obtained
The discrete location point information of user generates false track according to true track, and then carries out protecting track privacy, including following point
Step:
(1) most suitable rotation angle is determined
Define average Euclidean distance are as follows:
disi,rWhat is indicated is i-th of false track at a distance from real trace；
Assuming that rotation angle defers to Gaussian Profile, i-th of mean-Gaussian distance is defined are as follows:
A rotation angle increment △ is set, value range is (0,2 π/k), i.e. rotation angle is started from scratch, and respectively is
△, 2 △ etc. choose the arbitrary point rotation in real trace until 2 π/k, and each different rotation angle can generate a plurality of vacation
Track calculates the corresponding mean-Gaussian distance of each rotation angle, obtain maximum mean-Gaussian apart from when, it is as most suitable
Rotate angle；
(2) K item vacation track is obtained, after obtaining rotation angle, chooses any K point in real trace as rotation
Point, rotation real trace obtain corresponding K item vacation track；
(3) false track is adjusted according to background information, in advance by map grid, by unreasonable area such as Gao Gaoshan, river
Stream, sea grey grid representation be fitted on grid map after obtaining false track, with user be averaged movement speed and
Radius of the half of point-to-point transmission time interval product as circle is used as the center of circle using grid where the unreasonable point, search for therewith away from
From nearest logical point, which is replaced into unreasonable point, the false track after being adjusted；
(4) protecting track privacy is carried out
The service request probability put after adjustment on each false track is inquired, if the service request probability of certain grid and true
The service request probability difference of real point is larger, can further adjust the position of the unreasonable point, and then guarantees that new position can
Privacy of user is preferably protected, the various attacks based on background information are resisted.
Fig. 2 shows a kind of protecting track privacy systems based on the positioning of indoor sound, including ultrasonic receiver, user
End, control computer and LBS provider server, are counted from the user terminal and the ultrasonic receiver to the control
Calculation machine send information, it is described control computer through calculating obtained location information be sent to the ultrasonic receiver with
And the LBS provider server, a large amount of discrete anchor point information are collected by the LBS provider server and generate anonymity
Track simultaneously sends back to the control computer, and the user terminal can check the rail of oneself to the control computer request according to demand
Mark information by other people without being seen.
The user terminal can emit ultrasonic signal, and can be to institute for the running fix equipment for carrying ultrasonic horn
It states control computer to file a request and receive the track that the WIFI signal from the control computer checks oneself, without by it
Other people see；
The ultrasonic receiver, for receiving the information of the control computer sending and generating timestamp information；
The control computer, for receiving the ultrasound information and the ultrasonic receiver that the user terminal issues
The timestamp information and signal strength information of sending, by location information is calculated；
The LBS provider server is responsible for collecting a large amount of discrete anchor point information that the control computer transmits
And anonymous track progress privacy is constituted accordingly and is protected；
The present invention can carry out secret protection to track, resist the various attacks based on background information.
Detailed description is made that embodiments of the present invention in conjunction with attached drawing above, but the present invention be not limited to it is described
Embodiment.To those skilled in the art, without departing from the principles and spirit of the present invention, to these implementations
Mode carries out various change, modification, replacement and variant are still fallen in protection scope of the present invention.
Claims (8)
1. a kind of method for protecting track privacy based on the positioning of indoor sound, which comprises the steps of:
(1) user proposes positioning or navigation requests；
(2) control computer acquisition time stamp is for calculating anchor point, and indoor map recommended route；
(3) discrete location point information is collected, track is formed, privacy of user track is protected.
2. the method for protecting track privacy as described in claim 1 based on the positioning of indoor sound, which is characterized in that the step
(2) include it is following step by step:
(1) it determines location information, needs at least four ultrasonic receiver received ultrasonic signal and timing, obtain ultrasonic wave and arrive
Up to the time of each ultrasonic receiver, the position of each ultrasonic transmitter is calculated with the time difference, detailed process is as follows:
According to the method for TDOA three-dimensional localization, the coordinate of position location is set as (x, y, z), the coordinates of four ultrasonic receivers according to
Secondary is (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4), meet following formula:
In above formula, t is ultrasonic wave from the time for being sent to each ultrasonic receiver；
By formula (1) to formula (4), the location information of user terminal is obtained；
(2) according to indoor map recommended route
Each floor is planned using the supervised learning principle in machine learning to indoor control computer input object location information
Path between interior each room receiver will control computer in routing information input chamber, be predicted using algorithm most correct
Path, detailed process is as follows:
Given data set, according to fit out immediate functional relation to data:
hθ(x)=θ0+θ1x (5)
In above formula, θ0With θ1Respectively represent two unknowm coefficients of function；
The smallest θ is calculated through overfitting0With θ1, obtain the figure co-relation closest to data:
Cost function:
Decline the cost function minimized with gradient:
Thus it obtains:
Obtain the smallest θ0With θ1, most accurate track is predicted, determines recommended route.
3. the method for protecting track privacy as claimed in claim 1 or 2 based on the positioning of indoor sound, which is characterized in that described
Step (3) include it is following step by step:
(1) most suitable rotation angle is determined
Define average Euclidean distance are as follows:
disi,rWhat is indicated is i-th of false track at a distance from real trace；
Assuming that rotation angle defers to Gaussian Profile, i-th of mean-Gaussian distance is defined are as follows:
Setting a rotation angle increment △, value range is (0,2 π/k), i.e. rotation angle is started from scratch, it respectively is △, 2
△ etc. chooses the arbitrary point rotation in real trace until 2 π/k, and each different rotation angle can generate a plurality of false track,
Calculate the corresponding mean-Gaussian distance of each rotation angle, obtain maximum mean-Gaussian apart from when, as most suitable rotation
Angle；
(2) K item vacation track is obtained, after obtaining rotation angle, chooses any K point in real trace as the point of rotation, rotation
Turn real trace and obtains corresponding K item vacation track；
(3) false track is adjusted according to background information, in advance by map grid, by unreasonable area such as Gao Gaoshan, river, big
Sea is fitted on grid map with grey grid representation after obtaining false track, is averaged movement speed and point-to-point transmission with user
Radius of the half of time interval product as circle, using grid where the unreasonable point as the center of circle, distance is nearest therewith for search
Logical point, which is replaced into unreasonable point, false track after being adjusted；
(4) protecting track privacy is carried out
The service request probability put after adjustment on each false track is inquired, if the service request probability of certain grid and true point
Service request probability difference it is larger, can further adjust the position of the unreasonable point, and then guarantee that new position can be more preferable
Privacy of user is protected on ground, resists the various attacks based on background information.
4. a kind of system for implementing the method for protecting track privacy based on the positioning of indoor sound described in claim 1, feature exist
In including ultrasonic receiver, user terminal, control computer and LBS provider server, by the user terminal and described
Ultrasonic receiver sends information to the control computer, and the control computer is the obtained location information by calculating
It is sent to the ultrasonic receiver and the LBS provider server, is collected into largely by the LBS provider server
Discrete anchor point information generates anonymous track and sends back to the control computer, and the user terminal can be according to demand to the control
Computer request processed checks the trace information of oneself without being seen by other people.
5. system as claimed in claim 4, which is characterized in that the user terminal, for the running fix for carrying ultrasonic horn
Equipment can emit ultrasonic signal, and can file a request and be received from the control computer to the control computer
WIFI signal check oneself track, without being seen by other people.
6. system as claimed in claim 4, which is characterized in that the ultrasonic receiver is calculated for receiving the control
The information of machine sending simultaneously generates timestamp information.
7. system as claimed in claim 4, which is characterized in that the control computer is issued for receiving the user terminal
Ultrasound information and the ultrasonic receiver issue timestamp information and signal strength information, by being calculated
Location information.
8. system as claimed in claim 4, which is characterized in that the LBS provider server is responsible for collecting the control meter
A large amount of discrete anchor point information that calculation machine transmits simultaneously constitute anonymous track accordingly and carry out privacy and protected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811188456.XA CN109444815A (en) | 2018-10-12 | 2018-10-12 | Method for protecting track privacy and system based on the positioning of indoor sound |
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| CN201811188456.XA CN109444815A (en) | 2018-10-12 | 2018-10-12 | Method for protecting track privacy and system based on the positioning of indoor sound |
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| CN111259098A (en) * | 2020-01-10 | 2020-06-09 | 桂林电子科技大学 | Trajectory similarity calculation method based on sparse representation and Frechet distance fusion |
| CN113573234A (en) * | 2021-08-03 | 2021-10-29 | 中国矿业大学 | Position privacy protection method in large indoor position service scene |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110866271A (en) * | 2019-10-22 | 2020-03-06 | 中山大学 | Position privacy protection method and system based on Android platform |
| CN111259098A (en) * | 2020-01-10 | 2020-06-09 | 桂林电子科技大学 | Trajectory similarity calculation method based on sparse representation and Frechet distance fusion |
| CN111259098B (en) * | 2020-01-10 | 2023-04-11 | 桂林电子科技大学 | Trajectory similarity calculation method based on sparse representation and Frechet distance fusion |
| CN113573234A (en) * | 2021-08-03 | 2021-10-29 | 中国矿业大学 | Position privacy protection method in large indoor position service scene |
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Application publication date: 20190308 |