CN109640251A - A kind of indoor localization method and device - Google Patents
A kind of indoor localization method and device Download PDFInfo
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- CN109640251A CN109640251A CN201811504201.XA CN201811504201A CN109640251A CN 109640251 A CN109640251 A CN 109640251A CN 201811504201 A CN201811504201 A CN 201811504201A CN 109640251 A CN109640251 A CN 109640251A
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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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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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
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
-
- 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
Abstract
The invention discloses a kind of indoor localization methods, comprising: is distributed according to the interior space, determines effective indoor positioning region；According to the construction inner structure in effective indoor positioning region, adaptive setting samples labeling position, and disposes corresponding radio signal launcher, and obtain sampled data；By adaptive sampled point network-in-dialing and topological structure, anchor point is locked；The problem of radio-signal data by the interior space acquired in real time carries out mixed positioning, solves in existing indoor positioning technologies that difficulty of construction is big in conjunction with multiple sensing datas of smart machine terminal, and computational efficiency is low, space orientation deviation.
Description
Technical field
This application involves positioning fields, and in particular to a kind of indoor localization method, while being related to a kind of indoor positioning
Device.
Background technique
Location based service LBS (Location Based Service) refers to location information or movement using user
The value-added service that trace information provides, in intelligent medical treatment, safeguard protection, commercial advertisement, social application, intelligent travel, map
The multiple fields such as navigation are used widely, and play important role in the higher and higher today's society of the level of informatization.
Since occurring using GPS as the location technology of representative, efficiently, easily and fast people are made with accurate characteristic
Life there is great variety, driven the fast development of a collection of application and service.But due to the limit of GPS technology itself
System, the technology can only realize outdoor positioning application, not can solve the orientation problem of indoor environment.With smart city, Internet of Things
The technologies such as net, mobile Internet become the commanding elevation of global information industry new round competition, and the general character as these fields is basic,
" location-based service " is particularly important, just gos deep into all fields of national economy, and demand of the people to indoor positioning increasingly increases, how to pass through
Technological means has become urgent problem to be solved to solve the problems, such as that indoor positioning meets actual accuracy requirement.
But existing technology or product focus on balance cost and difficulty of construction mostly, improve radio signal quality
In positioning accuracy.Under special scenes, especially in terms of the indoor positioning technologies towards intelligent mobile terminal, chasing after simply
Ask positioning accuracy not to be able to satisfy user's use demands, such as market, hospital, exhibition special scenes positioning in terms of, cannot be simple
Measure positioning accuracy with absolute error, the high-precision based on scene should be carried out in conjunction with user's use habit and actual scene map
(market to sales counter, shop；Hospital is to department；Exhibition is to exhibition booth) positioning, it is in particular in:
1) difficulty of construction is big, the period is long: in existing indoor positioning technologies, being broadly divided into the fingerprint based on WiFi AP
Positioning and the positioning two ways based on bluetooth.Both mainstream indoor positioning modes are either from deployed with devices, or from hard
Part purchase cost, construction period can all generate the cost of great number, and consume a large amount of time and manpower.
2) computational efficiency is low: with the increase of indoor positioning scene area, need to increase a large amount of sampling locations, therefore
During with operation, a large amount of arithmetic logic can be generated, leads to the reduction of location Calculation efficiency.
3) space orientation deviation: traditional indoor positioning evaluation method, be mostly using positioning accuracy and error as standard,
Do not consider that interior space distribution and pattern, such evaluation method are unilateral, the understanding of shortage to map and scene.
Summary of the invention
The application provides a kind of indoor localization method, solve in existing indoor positioning technologies difficulty of construction is big, meter
The problem of calculating low efficiency, space orientation deviation.
This application provides a kind of indoor localization methods characterized by comprising
It is distributed according to the interior space, determines effective indoor positioning region；
According to the construction inner structure in effective indoor positioning region, adaptive setting samples labeling position, and disposes
Corresponding radio signal launcher, and obtain sampled data；By adaptive sampled point network-in-dialing and topological structure,
Lock anchor point；
Radio-signal data by the interior space acquired in real time, multiple sensing datas with smart machine terminal
In conjunction with progress mixed positioning.
Preferably, described to be distributed according to the interior space, determine effective indoor positioning region, comprising:
It is distributed according to the interior space, indoors on the basis of two-dimensional surface, determines effective position region；
Define the closure range and positioning accuracy request of the two-dimensional space in each effective position region.
Preferably, further includes:
The localization region is divided into static scene and dynamic scene according to usage scenario.
Preferably, the static scene, comprising:
According to the area and division rule of positioning scene, static scene is divided into the closed positioning scene of small area, big
The closed positioning scene of area, without the open positioning scene of wall.
Preferably, the dynamic scene specifically includes: dynamic navigator fix scene.
Preferably, the corresponding radio signal launcher of deployment, comprising:
Maximum value d is set, and d is sampled point largest interval distance within the scope of unit；
WiFi AP is disposed in sampled point.
Preferably, further includes:
On the basis of sampled point disposes WiFi AP, low-power consumption bluetooth can also be disposed, enhancing positioning accuracy and reliable
Property.
Preferably, described by adaptive sampled point network-in-dialing and topological structure, lock anchor point, comprising:
By adaptive sampled point network-in-dialing and topological structure, within the specified range by anchor point locking；
By the sampled data iterative fitting of assigned frequency, anchor point is locked.
Preferably, described by the radio-signal data of the interior space acquired in real time, it is more with smart machine terminal
A sensing data combines, and carries out mixed positioning, comprising:
When opening navigation or path planning progress motion positions using smart machine terminal, in conjunction with indoor map road network number
According to setting threshold value lamda；
When actual location position and road network deviation are greater than threshold value lamda, static immobilization mode will be started；
Continue to navigate using static immobilization location point as initial point, until Route guiding terminates or artificially terminate to lead
Boat.
The application provides a kind of indoor positioning device simultaneously characterized by comprising
Localization region determination unit determines effective indoor positioning region for being distributed according to the interior space；
Sampled data acquiring unit, for the construction inner structure according to effective indoor positioning region, adaptive is set
Sampling labeling position is set, and disposes corresponding radio signal launcher, and obtain sampled data；Pass through adaptive sampling
Spot net connection and topological structure, lock anchor point；
Positioning unit, for the radio-signal data of the interior space by acquiring in real time, with smart machine terminal
Multiple sensing datas combine, and carry out mixed positioning.
A kind of indoor localization method provided by the present application, is distributed by the interior space, determines effective position region, had
It imitates and disposes WiFi AP and low-power consumption bluetooth in localization region, then adaptive setting samples labeling position, by acquiring in real time
Interior space radio-signal data, carry out mixed positioning with the multi-sensor data of smart machine terminal, solve existing
Indoor positioning technologies in the problem of difficulty of construction is big, and computational efficiency is low, space orientation deviation.
Detailed description of the invention
Fig. 1 is a kind of indoor localization method flow diagram provided by the embodiments of the present application；
Fig. 2 be the invention relates to adaptive setting sample labeling position schematic diagram；
Fig. 3 is a kind of indoor positioning device schematic diagram provided by the embodiments of the present application.
Specific embodiment
Many details are explained in the following description in order to fully understand the application.But the application can be with
Much it is different from other way described herein to implement, those skilled in the art can be without prejudice to the application intension the case where
Under do similar popularization, therefore the application is not limited by following public specific implementation.
Fig. 1 is please referred to, Fig. 1 is a kind of indoor localization method flow diagram provided by the embodiments of the present application, is tied below
Fig. 1 is closed, method provided by the embodiments of the present application is described in detail.
Step S101, is distributed according to the interior space, determines effective indoor positioning region.
It is distributed according to the interior space, indoors on the basis of two-dimensional surface, determines effective position region, i.e. adaptive mesh
Change, and assigns each region to corresponding positioning accuracy demand.This step is initial non-digitalization implementation phase, needs manual intervention,
Explicitly define the two-dimensional space closure range and positioning accuracy request in each effective position region.Meanwhile road net data being counted
Word is indicated by the interconnected form of point, line, is used with positioning for subsequent dynamic.
The localization region is divided into static scene and dynamic scene according to usage scenario, the application has abandoned unilaterally
The pursuit of high position precision simply is segmented indoor positioning scene by theories such as reasonable control cost, Efficient information collections
Static scene is divided into the closed positioning of small area then according to the area of positioning scene and division rule for two kinds of scenes
The closed positioning scene of scene, large area, without the open positioning scene of wall.Dynamic field refers mainly to dynamic navigator fix scene.
It is described substantially by taking the actual scenes such as megastore, hospital as an example below.
The first field: static scene
Static scene is mainly used for counting user (patient etc. of consumer, hospital in market) initial position
It calculates, specifies user or equipment position；Or user deviates systemic presupposition road during guiding using path planning
When line, the position for carrying out aligning is calculated.User is relative static conditions and unintentionally plans at this time, therefore is static field
Scape is specifically divided into 3 classes:
1) the closed positioning scene of small area
According to specific interior space distributed architecture and user's accuracy requirement, the area of smaller closing scene can customize,
Lesser consulting room in such as hospital, in market the lesser brand shop of area.In the positioning of such scene, what this technology provided
Whether localization method focuses more on accurately calculates into this region, rather than measures precision with actual deviations distance.
2) the closed positioning scene of large area
By the non-open scene except small area closed area, it is defined as biggish closed positioning scene, in hospital
The biggish waiting room of area, transfusion room or market inner area are larger or have the shop of partition.We pass through recursion method, will
Such scene gradually focuses to computable rank by two-dimensional space structure, and then realizes that the closing scene in large area is fixed
Position.
3) without the open positioning scene of wall
In no wall or the environment of enclosed construction, it is defined as open positioning scene, such as hall open in market, coffee
The Room, cosmetic counter, waiting area of registering in hospital, it is medical after charge, take snack made with traditional Chinese medicines etc..Although such scene is empty by indoor two dimension
Between distribution influence it is smaller, but user actual use in, the stream of people or variable density are larger, need by the space to acquisition without
It after line signal is handled, is calculated, avoids causing position error due to noise.
Second class scene: dynamic class scene
Dynamic class scene is mainly search inquiry to target position, when being navigated by the path planning that system provides,
With the movement of user, dynamic positioning in real time is carried out.
4) dynamic navigator fix scene
After specified initial position and target position, system can Structure Calculation and recommended route according to the map, real-time
During pilotage, need to carry out dynamic positioning to user equipment in real time.It is by inertial navigation technology, equipment is collected each
Class posture perception data carry out operation, and in calculating process, need the methods of to bind, match by road network progress positional deviation correction
With correction.Meanwhile wanting whether real-time judge equipment deviates default route, after confirming deviation, re-started by preamble method
Positioning and path planning.
Step S102, according to the construction inner structure in effective indoor positioning region, adaptive setting sampling mark position
It sets, and disposes corresponding radio signal launcher, obtain sampled data；By adaptive sampled point network-in-dialing with open up
Structure is flutterred, anchor point is locked.
Corresponding positioning accuracy demand is assigned according to the construction inner structure in effective indoor positioning region and each region,
Adaptive setting samples labeling position, and maximum value d is then arranged, and d is sampled point largest interval distance within the scope of unit, effectively
Empirical value generally takes 20 meters；Then WiFi AP is disposed in sampled point, region higher for required precision can be covered in WiFi AP
On the basis of lid, low-power consumption bluetooth (BLE) signal launch terminal is disposed, and then enhance positioning accuracy and reliability；For step 1
In each effective position range for clearly dividing, be closed the break in range at it and mark sampled point, and pass through in its sampled point
Intelligent terminal acquire n group spacing wireless electric signal, the general value of effective experience value be 300,500 milliseconds of acquisition interval.
In order to meet the space constraint of above-mentioned scene subdivision, structure is complicated indoors, and in the case where being unevenly distributed, utilizes
Existing extensive fingerprint matching algorithm is all unable to satisfy the accurate fixed of special scenes either in response time and precision aspect
Position demand.
Therefore, the application proposes a kind of adaptively sampled position based on grid on the basis of R tree spatial distribution thought
Set mask method.It can mark in two-dimensional surface map, according to existing construction inner structure, adaptive setting samples mark
Position is infused, as shown in Figure 2.By adaptive sampled point network-in-dialing and topological structure, anchor point is accurately locked in spy
Determine in range, and pass through the sampled data iterative fitting of specific frequency, approaches physical location.
It is higher by discrimination meanwhile in the case where part POI (point of interest) density is higher or the stronger scene of accuracy requirement
Too small amount of laying BLE signal emitting-source, Lai Tigao positioning accuracy are led in demand analysis, and then improve function of the user under scene
It can demand.
Step S103, it is multiple with smart machine terminal by the radio-signal data of the interior space acquired in real time
Sensing data combines, and carries out mixed positioning.
Radio-signal data by the interior space acquired in real time, multiple sensing datas with smart machine terminal
In conjunction with progress mixed positioning.When user opens navigation or path planning progress motion positions using smart machine terminal, in conjunction with
Threshold value lamda is arranged in indoor map road net data, when actual location position is greater than threshold value lamda with road network deviation, will open
Sound state station-keeping mode continues to navigate using static immobilization location point as initial point, until Route guiding terminates or artificially
Terminate navigation.
The present invention can accomplish that the high-precision indoor positioning segmented towards scene, main process flow are as follows:
Sample collection procedure:
In terms of initial position calculating, the present invention uses the localization method based on radio fingerprint feature, wherein radio
The infrastructure such as BLE including WLAN, partial deployment.The effective distance that WLAN signal is transmitted in open area farther out,
Useful signal search under indoor environment also can achieve 50m or more with identification distance, and wlan network have it is very strong can
Scalability, it may be convenient to be integrated with existing network, such as wired ethernet network, networking is simple and cost is relatively low.
Meanwhile the WLAN communication technology uses FDM modulating mode, it has the preferable availability of frequency spectrum and very strong anti-more
Diameter effect.The places such as most common scenes such as megastore, station, airport, hospital cover the space WLAN of ad hoc network
Therefore environment in the case where the various aspects such as cost, construction volume are considered, has chosen the grid location method based on WLAN, while in signal
BLE mixed mode is selected in the lesser region of coverage density.
Due to the jump feature of space especially indoor radio signal, the application is designed to sampling positioning signal mistake
Filter step:
The estimated value of state variable is updated by the estimated value and the observation at current time at previous moment, is counted
Calculate the estimated value at current time.Its essence is that the state vector of system is constantly corrected using observation, by the way that " actual measurement-is pre-
The sequence of survey-correction " carries out recurrence, and random disturbances, the state of playback system are eliminated using the observation of system.
Filtering algorithm recurrence logic sub-step is as follows:
1. calculating the Single-step Prediction amount of current state；
2. calculating the Single-step Prediction matrix of error covariance；
3. calculating gain；
4. being estimated according to Current observation amount correcting state；
5. updating error co-variance matrix.
This application involves radio fingerprint feature location be mainly used for initial alignment or intelligent mobile terminal interval row stop
Position after dormancy determines.The application is as follows towards the indoor positioning technologies overall workflow sub-step that initial position calculates:
1. sampled point feature extraction；
2. sampled data probability statistics；
3. test point and sampling feature calculation；
4. choosing arest neighbors sampled point；
5. choosing arest neighbors grid；
6. weighting position to calculate；
7. exporting positioning result.
The application provides a kind of indoor positioning device 300 simultaneously, please refers to Fig. 3 characterized by comprising
Localization region determines single 310, for being distributed according to the interior space, determines effective indoor positioning region；
Sampled data acquiring unit 320, for the corresponding radio signal transmitting dress of deployment in effective indoor positioning region
It sets；According to the construction inner structure in effective indoor positioning region, adaptive setting samples labeling position, and obtains hits
According to；
Positioning unit 330, for locking anchor point by adaptive sampled point network-in-dialing and topological structure；Pass through
The radio-signal data of the interior space acquired in real time is mixed in conjunction with multiple sensing datas of smart machine terminal
Close positioning.
Method provided by the present application, is distributed by the interior space, determines effective position region, inside effective position region
WiFi AP and low-power consumption bluetooth are affixed one's name to, then adaptive setting samples labeling position, wireless by the interior space acquired in real time
Electrical signal data carries out mixed positioning with the multi-sensor data of smart machine terminal, solves existing indoor positioning technologies
In the problem of difficulty of construction is big, and computational efficiency is low, space orientation deviation.
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, although referring to above-described embodiment pair
The present invention is described in detail, those of ordinary skill in the art still can to a specific embodiment of the invention into
Row modifies perhaps equivalent replacement and these exist without departing from any modification of spirit and scope of the invention or equivalent replacement
Apply within pending claims of the invention.
Claims (10)
1. a kind of indoor localization method characterized by comprising
It is distributed according to the interior space, determines effective indoor positioning region；
According to the construction inner structure in effective indoor positioning region, adaptive setting samples labeling position, and disposes corresponding
Radio signal launcher, and obtain sampled data；Pass through adaptive sampled point network-in-dialing and topological structure, locking
Anchor point；
Radio-signal data by the interior space acquired in real time, multiple sensing data knots with smart machine terminal
It closes, carries out mixed positioning.
2. determining that effective chamber is default the method according to claim 1, wherein described be distributed according to the interior space
Position region, comprising:
It is distributed according to the interior space, indoors on the basis of two-dimensional surface, determines effective position region；
Define the closure range and positioning accuracy request of the two-dimensional space in each effective position region.
3. method according to claim 1 or 2, which is characterized in that further include:
The localization region is divided into static scene and dynamic scene according to usage scenario.
4. according to the method described in claim 3, the static scene, comprising:
According to the area and division rule of positioning scene, static scene is divided into the closed positioning scene of small area, large area
Closed positioning scene, without the open positioning scene of wall.
5. according to the method described in claim 3, it is characterized in that, the dynamic scene, specifically includes: dynamic navigator fix
Scene.
6. the method according to claim 1, wherein the corresponding radio signal launcher of deployment, packet
It includes:
Maximum value d is set, and d is sampled point largest interval distance within the scope of unit；
WiFi AP is disposed in sampled point.
7. according to the method described in claim 6, it is characterized by further comprising:
On the basis of sampled point disposes WiFi AP, low-power consumption bluetooth can also be disposed, enhances positioning accuracy and reliability.
8. the method according to claim 1, wherein described pass through adaptive sampled point network-in-dialing and topology
Structure locks anchor point, comprising:
By adaptive sampled point network-in-dialing and topological structure, within the specified range by anchor point locking；
By the sampled data iterative fitting of assigned frequency, anchor point is locked.
9. the method according to claim 1, wherein described by the aerogram of the interior space acquired in real time
Number carries out mixed positioning in conjunction with multiple sensing datas of smart machine terminal, comprising:
When opening navigation or path planning progress motion positions using smart machine terminal, in conjunction with indoor map road net data, if
Set threshold value lamda；
When actual location position and road network deviation are greater than threshold value lamda, static immobilization mode will be started；
Continue to navigate using static immobilization location point as initial point, until Route guiding terminates or artificially terminate navigation.
10. a kind of indoor positioning device characterized by comprising
Localization region determination unit determines effective indoor positioning region for being distributed according to the interior space；
Sampled data acquiring unit, for the construction inner structure according to effective indoor positioning region, adaptive setting is adopted
Sample labeling position, and corresponding radio signal launcher is disposed, and obtain sampled data；Pass through adaptive sampled point net
Network connection and topological structure, lock anchor point；
Positioning unit, it is multiple with smart machine terminal for the radio-signal data of the interior space by acquiring in real time
Sensing data combines, and carries out mixed positioning.
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