CN110057355B - Indoor positioning method, device and system and computing equipment - Google Patents
Indoor positioning method, device and system and computing equipment Download PDFInfo
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Abstract
The embodiment of the invention discloses an indoor positioning method, which comprises the following steps: acquiring a geomagnetic data sequence to be positioned by a mobile terminal; determining a geomagnetic fingerprint database of an area where the mobile terminal is located; matching the geomagnetic data sequence to be positioned with the geomagnetic fingerprint information of the position points in the area to obtain the number of geomagnetic data sequences matched with the geomagnetic data sequence to be positioned in the geomagnetic fingerprint information; predicting a transition probability of the location point using at least a probabilistic positioning model; and determining the position of the mobile terminal based on the transition probability of the position points and the number of geomagnetic data sequences matched with the geomagnetic data sequences to be positioned in the geomagnetic fingerprint information of the position points. The embodiment of the invention also discloses a corresponding indoor positioning device, a system, a computing device and a storage medium.
Description
Technical Field
The invention relates to the field of indoor positioning, in particular to an indoor positioning method, device and system and computing equipment.
Background
In recent years, the Location Based Services (LBS) industry has been rapidly developed, and high-precision Location information is the basis for providing high-quality Location Services. Traditional satellite Positioning System, like Global Positioning System (GPS), big dipper Positioning System, possess higher Positioning accuracy in outdoor open environment, nevertheless, be limited by signal strength, satellite Positioning signal receives sheltering from or disturbing very easily, and this leads to satellite Positioning System to fix a position inaccurate or even unable location in urban canyon and indoor environment.
In order to solve the positioning problem in indoor environment, many indoor positioning technologies, such as base station positioning, wireless local area network (Wi-Fi) positioning, etc., have appeared in recent years. However, most of the existing indoor positioning technologies require additional hardware support, and since wireless signals are absorbed by human bodies, the wireless signals are very weak or even cannot be received when people are crowded, which results in poor positioning effect of the positioning system in practical application.
Therefore, there is a need to provide a more advanced indoor positioning solution.
Disclosure of Invention
To this end, embodiments of the present invention provide an indoor positioning method, apparatus, system and computing device, in an effort to solve or at least alleviate at least one of the problems identified above.
According to an aspect of an embodiment of the present invention, there is provided an indoor positioning method, including: acquiring a geomagnetic data sequence to be positioned by a mobile terminal; determining a geomagnetic fingerprint database of an area where the mobile terminal is located, wherein the geomagnetic fingerprint database comprises geomagnetic fingerprint information of a plurality of position points in the area, and the geomagnetic fingerprint information comprises a plurality of geomagnetic data sequences of the position points; matching the geomagnetic data sequence to be positioned with the geomagnetic fingerprint information of the position point to obtain the number of geomagnetic data sequences matched with the geomagnetic data sequence to be positioned in the geomagnetic fingerprint information; predicting a transition probability of the location point using at least a probabilistic positioning model; and determining the position of the mobile terminal based on the transition probability of the position points and the number of geomagnetic data sequences matched with the geomagnetic data sequences to be positioned in the geomagnetic fingerprint information of the position points.
According to another aspect of the embodiments of the present invention, there is provided an indoor positioning device including: the mobile terminal comprises a communication unit, a positioning unit and a positioning unit, wherein the communication unit is suitable for acquiring a geomagnetic data sequence to be positioned acquired by the mobile terminal; the mobile terminal comprises a region searching unit, a region searching unit and a processing unit, wherein the region searching unit is suitable for determining a geomagnetic fingerprint database of a region where the mobile terminal is located, the geomagnetic fingerprint database comprises geomagnetic fingerprint information of a plurality of position points in the region, and the geomagnetic fingerprint information comprises a plurality of geomagnetic data sequences of the position points; the data matching unit is suitable for matching the geomagnetic data sequence to be positioned with the geomagnetic fingerprint information of the position point to obtain the number of the geomagnetic data sequences matched with the geomagnetic data sequence to be positioned in the geomagnetic fingerprint information; a probability prediction unit adapted to predict a transition probability of the location point using at least a probabilistic positioning model; and the position determining unit is suitable for determining the position of the mobile terminal based on the transition probability of the position point and the number of geomagnetic data sequences matched with the geomagnetic data sequences to be positioned in the geomagnetic fingerprint information of the position point.
According to another aspect of embodiments of the present invention, there is provided a computing device including: one or more processors; and a memory; one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the indoor positioning methods according to embodiments of the present invention.
According to a further aspect of embodiments of the present invention, there is provided a computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform any of the indoor positioning methods according to embodiments of the present invention.
According to the indoor positioning scheme provided by the embodiment of the invention, indoor positioning can be carried out by utilizing geomagnetic data and a probability positioning model, so that the positioning accuracy and stability are greatly improved.
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To the accomplishment of the foregoing and related ends, certain illustrative aspects are described herein in connection with the following description and the annexed drawings, which are indicative of various ways in which the principles disclosed herein may be practiced, and all aspects and equivalents thereof are intended to be within the scope of the claimed subject matter. The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description read in conjunction with the accompanying drawings. Throughout this disclosure, like reference numerals generally refer to like parts or elements.
FIG. 1 shows an architectural diagram of an indoor positioning system 100 according to one embodiment of the invention;
FIG. 2 shows a schematic diagram of a computing device 200, according to one embodiment of the invention;
FIG. 3 shows a flow diagram of an indoor positioning method 300 according to one embodiment of the invention; and
fig. 4 shows a block diagram of an indoor positioning apparatus 400 according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 shows an architectural diagram of an indoor positioning system 100 according to one embodiment of the invention. As shown in fig. 1, the indoor positioning system 100 includes a mobile terminal 110 and an indoor positioning device 400. The indoor positioning device 400 typically resides in a server and may communicate with the mobile terminal 110 over one or more networks 120, such as a Local Area Network (LAN) or a Wide Area Network (WAN) like the internet. The mobile terminal 110 may collect a geomagnetic data sequence to be positioned. Specifically, the mobile terminal 110 includes a magnetic field sensor, and may acquire geomagnetic data of a location where the mobile terminal 110 is located, that is, geomagnetic data to be located via the magnetic field sensor. The magnetic field sensor may measure a magnetic field value of each of three axes including a horizontal axis, a vertical axis, and a vertical axis corresponding to a location where the mobile terminal is located. In some embodiments, the mobile terminal 110 may collect the geomagnetic data at fixed time intervals, or may collect the geomagnetic data continuously to form a geomagnetic data sequence to be positioned.
After acquiring the geomagnetic data sequence to be positioned, the mobile terminal 110 may send the geomagnetic data sequence to be positioned to the indoor positioning device 400, so that the indoor positioning device 400 determines the position of the mobile terminal according to at least the geomagnetic data sequence to be positioned.
According to an embodiment of the present invention, the indoor positioning apparatus 400 may be implemented by the following computing device 200. FIG. 2 shows a schematic diagram of a computing device 200, according to one embodiment of the invention. As shown in FIG. 2, in a basic configuration 207, a computing device 200 typically includes a system memory 206 and one or more processors 204. A memory bus 208 may be used for communication between the processor 204 and the system memory 206.
Depending on the desired configuration, the processor 204 may be any type of processor, including but not limited to: a microprocessor (μ P), a microcontroller (μ C), a Digital Signal Processor (DSP), or any combination thereof. The processor 204 may include one or more levels of cache, such as a level one cache 210 and a level two cache 212, a processor core 214, and registers 216. Example processor cores 214 may include Arithmetic Logic Units (ALUs), Floating Point Units (FPUs), digital signal processing cores (DSP cores), or any combination thereof. The example memory controller 218 may be used with the processor 204, or in some implementations the memory controller 218 may be an internal part of the processor 204.
Depending on the desired configuration, system memory 206 may be any type of memory, including but not limited to: volatile memory (such as RAM), non-volatile memory (such as ROM, flash memory, etc.), or any combination thereof. System memory 206 may include an operating system 220, one or more applications 222, and program data 224. In some implementations, the application 222 can be arranged to execute instructions on the operating system with the program data 224 by the one or more processors 204.
Computing device 200 may also include an interface bus 240 that facilitates communication from various interface devices (e.g., output devices 242, peripheral interfaces 244, and communication devices 246) to the basic configuration 202 via the bus/interface controller 230. The example output device 242 includes a graphics processing unit 248 and an audio processing unit 250. They may be configured to facilitate communication with various external devices, such as a display or speakers, via one or more a/V ports 252 or HDMI interfaces. Example peripheral interfaces 244 can include a serial interface controller 254 and a parallel interface controller 256, which can be configured to facilitate communications with external devices such as input devices (e.g., keyboard, mouse, pen, voice input device, touch input device, remote input device) or other peripherals (e.g., printer, scanner, etc.) via one or more I/O ports 258. An example communication device 246 may include a network controller 260, which may be arranged to facilitate communications with one or more other computing devices 262 over a network communication link via one or more communication ports 264.
A network communication link may be one example of a communication medium. Communication media may typically be embodied by computer readable instructions, data structures, program modules, and may include any information delivery media, such as carrier waves or other transport mechanisms, in a modulated data signal. A "modulated data signal" may be a signal that has one or more of its data set or its changes made in such a manner as to encode information in the signal. By way of non-limiting example, communication media may include wired media such as a wired network or private-wired network, and various wireless media such as acoustic, Radio Frequency (RF), microwave, Infrared (IR), or other wireless media. The term computer readable media as used herein may include both storage media and communication media.
Computing device 200 may be implemented as a server, such as a database server, an application server, a WEB server, and the like, or as a personal computer including desktop and notebook computer configurations. Of course, computing device 200 may also be implemented as a small-sized portable (or mobile) electronic device.
In an embodiment in accordance with the invention, the computing device 200 may be implemented at least as components in an indoor positioning apparatus 400 and configured to perform the indoor positioning method 300 in accordance with an embodiment of the invention. The application 222 of the computing device 200 includes a plurality of instructions for executing the indoor positioning method 300 according to the embodiment of the present invention, and the program data 224 may further store configuration information of the indoor positioning device 400.
Fig. 3 shows a flow diagram of an indoor positioning method 300 according to one embodiment of the invention. As shown in fig. 3, the indoor positioning method 300 is suitable for being performed in the indoor positioning apparatus 400 and starts at step S310.
In step S310, a geomagnetic data sequence to be positioned is collected via the mobile terminal 110, where the geomagnetic data sequence to be positioned includes a plurality of pieces of geomagnetic data to be positioned. The geomagnetic data sequence A to be positioned comprises s pieces of geomagnetic data to be positioned, namely A ═ OM1,OM2,…,OMj,…,OMsJ, wherein the j-th geomagnetic data OM to be positionedj＝(OMagRotx,OMagRoty,OMagRotz)，OMagRotx,OMagRoty,OMagRotzThe magnetic field values of the geomagnetic data to be positioned on the horizontal axis, the vertical axis and the vertical axis are respectively. In some embodiments, s may generally take the value of 10.
In some embodiments, after acquiring the geomagnetic data sequence to be located, filtering the geomagnetic data to be located, for example, performing low-pass filtering and/or kalman filtering, so as to remove noise interference in the geomagnetic data.
The geomagnetic data may be generally low-pass filtered using the following formula:
wherein the content of the first and second substances,
alpha is a low-pass filter coefficient; x (n) is the sampling value of this time; y (n-1) is an output value after last low-pass filtering processing; y (n) is the output value after this low-pass filtering process.
The one-dimensional kalman filter processing may be performed on geomagnetic data by using the following formula:
firstly, calculate the predicted value X-(n), X (n) AX (n-1) + BU (n-1), where X (n-1) is the last optimal measurement. U (n-1) is the control quantity of the system at the moment of n-1, and A and B are system parameters.
Then, the covariance matrix of the error between the predicted value and the true value is calculated and passed through the previous stepSecondary error covariance matrix P (n-1) and process noise Q predict new error P-(n)，P-(n)＝AP(n-1)AT+ Q. Calculating Kalman gain K (n), K (n) P-(n)HT(HP-(n)HT+R)-1. Based on the predicted value and the measured value y (n), an estimated value X (n), X (n) ═ X, can be calculated and corrected-(n)+K(n)(Y(n)-HX-(n)). Finally, calculating a covariance matrix of errors between the estimated values and the true values, updating the covariance matrix for next iteration of estimating the optimal measurement value at the moment of n +1, and updating the value of P (n), wherein P (n) is (I-K (n) H) P-(n)。
In other embodiments, considering that the geomagnetic data to be positioned is acquired based on a three-dimensional coordinate system of the mobile terminal, the geomagnetic data may be subjected to coordinate conversion after acquiring the geomagnetic data sequence to be positioned.
First, three-axis rotation angles of the mobile terminal in a world coordinate system are obtained, for example, in an Android operating system, the three-axis rotation angles may be obtained by calling a sensormanager. Then, coordinate conversion can be performed on the geomagnetic data sequence to be positioned based on the three-axis rotation angles. For example, the coordinate conversion may be performed according to the following formula:
wherein (α, β, γ) each represents a transitionThe angle of rotation of mobile terminal 110 about the Z-axis (i.e., vertical), X-axis (i.e., horizontal), and Y-axis (i.e., vertical). (OMagini)x,OMagIniy,OMagIniz) For geomagnetic data to be positioned without coordinate conversion, OMaginix,OMagIniy,OMagInizThe magnetic field values of the horizontal axis, the vertical axis and the vertical axis are respectively. (OMagrrot)x,OMagRoty,OMagRotz) For geomagnetic data to be positioned after coordinate transformation, OMagrotx,OMagRoty,OMagRotzThe magnetic field values of the horizontal axis, the vertical axis and the vertical axis are respectively. Note that the value of the magnetic field on the horizontal axis is typically 0.
The filtering process and/or the coordinate transformation process may be performed in the indoor positioning apparatus 400 or in the mobile terminal 110, which is not limited in the present invention.
Then, in S320, a geomagnetic fingerprint database of the area where the mobile terminal 110 is located is determined. In some embodiments, the area where the mobile terminal 110 is located may be determined through LBS data or GPS data, thereby determining a geomagnetic fingerprint database for the area. The geomagnetic fingerprint database of the area may generally include geomagnetic fingerprint information of a plurality of location points in the area, the geomagnetic fingerprint information of each location point may include a plurality of geomagnetic data sequences of the location point, and each geomagnetic data sequence of the location point may include a plurality of geomagnetic data of the location point. The establishment of the geomagnetic fingerprint database will be described in detail later.
In some embodiments, the area may be divided into a plurality of paths l, each path l comprising n location points p. Wherein, the geomagnetic fingerprint information sequence of the path l is formed by the geomagnetic fingerprint information of n position points in the path, and can be expressed as
The geomagnetic fingerprint information of the position point p is composed of k geomagnetic data sequences M of the position pointiAre formed and can be represented as
The position indicates the position of the position point.
Sequence of geomagnetic dataColumn MiComprising s pieces of geomagnetic data, i.e. Mi＝{OMi1,OMi2,…,OMij,…,OMisJ, wherein the j-th geomagnetic data OMij＝(MagRotx,MagRoty,MagRotz). In some embodiments, s may generally take the value of 10.
After determining the geomagnetic fingerprint database, in step S330, the geomagnetic data sequence to be positioned may be matched with the geomagnetic fingerprint database of the area where the mobile terminal 110 is located. That is to say, the geomagnetic data sequence to be positioned is matched with the geomagnetic fingerprint information of the location points in the area, so as to obtain the number of geomagnetic data sequences matched with the geomagnetic data sequence to be positioned in the geomagnetic fingerprint information.
Specifically, the geomagnetic data sequence to be positioned may be matched with the geomagnetic data sequence in the geomagnetic fingerprint information of the location point, so as to determine the geomagnetic data sequence matched with the geomagnetic data sequence to be positioned.
According to the embodiment of the invention, the geomagnetic data sequence to be positioned and the geomagnetic data sequence can be matched based on the first distance between the geomagnetic data sequence to be positioned and the geomagnetic data sequence in the geomagnetic fingerprint information. Here, the first distance may be a standard euclidean distance.
First, a first distance between the geomagnetic data sequence to be positioned and the geomagnetic data sequence is calculated. In some embodiments, a second distance between the geomagnetic data sequence to be positioned and the geomagnetic data sequence may be calculated, and a first distance between the geomagnetic data sequence to be positioned and the geomagnetic data sequence may be calculated based on the second distance. Here, the second distance may be a hausdorff distance. Since the geomagnetic data includes three-axis magnetic field values, and the magnetic field value on the horizontal axis is usually 0, the second distance at least includes the geomagnetic data sequence to be located and the second distance of the geomagnetic data sequence on the vertical axis and/or the vertical axis.
For example, the geomagnetic sequence A and the geomagnetic data sequence M to be positionediFirst distance d (A, M)i) Can be calculated according to the following formula:
dy(A,Mi) For the geomagnetic sequence A and the geomagnetic data sequence M to be positionediSecond distance in longitudinal axis, dz(A,Mi) For the geomagnetic sequence A and the geomagnetic data sequence M to be positionediA second distance on the vertical axis.
Geomagnetic sequence A and geomagnetic data sequence M to be positionediSecond distance d on longitudinal axisy(A,Mi) Can be calculated according to the following formula:
geomagnetic sequence A and geomagnetic data sequence M to be positionediSecond distance d in vertical axisz(A,Mi) And analogy is carried out on the calculation formula of (1).
And if the first distance between the geomagnetic sequence to be positioned and the geomagnetic data sequence is smaller than a first distance threshold, determining that the geomagnetic data sequence to be positioned is matched with the geomagnetic data sequence. Otherwise, determining that the geomagnetic data sequence to be positioned is not matched with the geomagnetic data sequence. Then, the number of geomagnetic data sequences matching with the geomagnetic data sequence to be positioned in the geomagnetic fingerprint information can be counted.
According to an embodiment of the present invention, before matching the geomagnetic data sequence to be positioned with the geomagnetic data sequence based on the first distance, the geomagnetic data sequence to be positioned may be matched with the geomagnetic data sequence based on a third distance between the geomagnetic data to be positioned in the geomagnetic data sequence to be positioned and the geomagnetic data in the geomagnetic data sequence. Here, the third distance may be a manhattan distance. Similarly, since the geomagnetic data includes three-axis magnetic field values, and the magnetic field value on the horizontal axis is usually 0, the third distance at least includes a third distance on the vertical axis and/or the vertical axis of the geomagnetic data to be located and the geomagnetic data in the geomagnetic data sequence.
Specifically, the geomagnetic data to be positioned may be matched with the geomagnetic data sequence based on the third distance. And calculating a third distance between the geomagnetic data to be positioned and the geomagnetic data in the geomagnetic data sequence. This can be calculated, for example, according to the following formula:
dHy＝|MagRoty-OMagRoty|
dHz＝|MagRotz-OMagRotz|
dHy is geomagnetic data OM to be positionedjWith geomagnetic data sequence MiMedium geomagnetic data OMijA third distance on the vertical axis, dHz, is geomagnetic data OM to be positionedjWith geomagnetic data sequence MiMedium geomagnetic data OMijA third distance on the vertical axis.
And if the third distance between the geomagnetic data to be positioned and any geomagnetic data in the geomagnetic data sequence is greater than a third distance threshold, determining that the geomagnetic data to be positioned is not matched with the geomagnetic data sequence. In more detail, as long as a third distance between the geomagnetic data to be positioned and a certain geomagnetic data in the geomagnetic data sequence on the vertical axis or the vertical axis is greater than a third distance threshold, it may be considered that the third distance between the geomagnetic data to be positioned and the geomagnetic data is greater than the third distance threshold.
After the geomagnetic data to be positioned which is not matched with the geomagnetic data sequence is determined, the number of the geomagnetic data to be positioned which is not matched with the geomagnetic data sequence in the geomagnetic data sequence to be positioned can be counted. And determining that the geomagnetic data sequence to be positioned does not match with the geomagnetic data sequence under the condition that the number of the unmatched geomagnetic data to be positioned exceeds a preset number. The predetermined number is generally 1/2 of the number of the geomagnetic data to be positioned included in the geomagnetic data sequence to be positioned.
It can be understood that, for the geomagnetic data sequence determining the position point not matching the geomagnetic data sequence to be positioned based on the third distance, it is not necessary to match the geomagnetic data sequence to be positioned based on the first distance.
In some embodiments, in a case that the number of the non-matching geomagnetic data to be positioned does not exceed a predetermined number, the non-matching geomagnetic data to be positioned may be processed according to other geomagnetic data to be positioned in the geomagnetic data sequence to be positioned. And the other geomagnetic data to be positioned are geomagnetic data to be positioned except the unmatched geomagnetic data to be positioned in the geomagnetic data sequence to be positioned.
For example, the mode of other geomagnetic data to be positioned is used for replacing the unmatched geomagnetic data to be positioned. In more detail, the magnetic field values of the unmatched geomagnetic data to be positioned are replaced by the mode of the longitudinal axis magnetic field values of other geomagnetic data to be positioned, and/or the vertical axis magnetic field values of the unmatched geomagnetic data to be positioned are replaced by the mode of the vertical axis magnetic field values of other geomagnetic data to be positioned.
In an embodiment of the present invention, for the geomagnetic data sequence for which no position point matching the geomagnetic data sequence to be positioned is determined based on the third distance (i.e., the number of the above-mentioned unmatched geomagnetic data to be positioned does not exceed the predetermined number), matching with the geomagnetic data sequence to be positioned based on the first distance is continued. And calculating the first distance by adopting the geomagnetic data sequence to be positioned processed according to the other geomagnetic data to be positioned.
After the geomagnetic data sequence to be positioned is matched with the geomagnetic data sequence based on the first distance and/or the third distance, and the number of geomagnetic data sequences matched with the geomagnetic data sequence to be positioned in the geomagnetic fingerprint information of the position point is obtained through statistics, in step S340, the transition probability of the position point can be predicted at least by using a probabilistic positioning model. The probabilistic positioning model may be a markov model, a hidden markov model, or the like. The transition probability of the current position point is the transition probability from the position point located last time to the current position point.
Specifically, the geomagnetic fingerprint database of the area further includes a state transition matrix from a plurality of location points to other location points in the area. For the current position point matched with the geomagnetic data sequence to be positioned in the positioning process, the transition probability from the position point positioned at the previous time to the current position point matched with the geomagnetic data sequence to be positioned in the positioning process can be predicted by using a probability positioning model based on a state transition matrix from the position point positioned at the previous time to the current position point. And the state transition matrix from the position point in the region to other position points is obtained by utilizing a probability positioning model for pre-calculation.
In more detail, a previously located position point may be acquired, and a state transition matrix from the previously located position point to the current position point may be acquired. And predicting the transition probability from the position point located last time to the current position point by utilizing a probability location model and the state transition matrix.
Finally, in step S350, the position of the mobile terminal 110 is determined based on the transition probability of the position point and the number of geomagnetic data sequences matching with the geomagnetic data sequence to be positioned in the geomagnetic fingerprint information of the position point. Specifically, for each location point in the area, a product of the transition probability and the number of geomagnetic data sequences matching the geomagnetic data sequence to be located in the geomagnetic fingerprint information of the location point may be calculated, and the location point with the largest product may be selected as the location of the mobile terminal 110, that is, the result of the current location.
After determining the location of mobile terminal 110, the location may be returned to mobile terminal 110 for display via mobile terminal 110. The position point located this time can also be recorded so as to be used for next positioning.
In addition, according to an embodiment of the present invention, the indoor positioning method 300 may further include the step of establishing a geomagnetic fingerprint database of the area in advance. The process of creating the geomagnetic fingerprint database for the area will be described in detail below.
First, the area may be divided into a plurality of paths. For example, for a regular building, each corridor is straight, and thus a corridor can be a path.
Then, the position points included in the path may be determined, and a plurality of pieces of geomagnetic data may be collected for each position point. Generally, for each path, one location point may be determined at predetermined distances (e.g., 1 meter), and a large amount of geomagnetic data may be collected at the location point.
For each position point of the path, the geomagnetic data of the position point is clustered to obtain a plurality of (i.e., k as described above) clustering centers. In some embodiments, a KNN clustering algorithm may be employed for clustering based on Euclidean distance.
And for each obtained clustering center, acquiring a plurality of pieces of geomagnetic data closest to the clustering center, so that the predetermined number of pieces of geomagnetic data and the geomagnetic data corresponding to the clustering center jointly form a geomagnetic data sequence of the position point. Finally, the geomagnetic fingerprint information of the position point is formed by a plurality of geomagnetic data sequences corresponding to a plurality of clustering centers, and the geomagnetic fingerprint information of the position points also forms the geomagnetic fingerprint information sequence of the path.
For example, the area may be divided into a plurality of paths l, each path l comprising n location points p. The geomagnetic fingerprint information sequence of the path l is formed by geomagnetic fingerprint information of n position points in the path, and can be expressed as
The geomagnetic fingerprint information of the position point p in the path is composed of k geomagnetic data sequences M of the position pointiAre formed and can be represented as
The position indicates the position of the position point.
Geomagnetic data sequence MiComprising s pieces of geomagnetic data, i.e. Mi＝{OMi1,OMi2,…,OMij,…,OMisJ, wherein the j-th geomagnetic data OMij＝(MagRotx,MagRoty,MagRotz)。
According to an embodiment of the present invention, the geomagnetic data collected during the establishment of the geomagnetic fingerprint database may also be subjected to the low pass filtering, the kalman filtering, and/or the coordinate transformation as described above. For the specific processing, reference is made to the foregoing description, and details are not repeated here.
After obtaining the geomagnetic fingerprint information sequence of each path, calculating by using a probability positioning model to obtain a state transition matrix from a position point to other position points in the area. The probabilistic positioning model may be MarkovA model or hidden markov model, etc. Specifically, the geomagnetic fingerprint information of a position point on the path may have a relatively large correlation with the geomagnetic fingerprint information of the first several position points of the position point on the path. Thus, a Markov model may be employed
And n is more than m, and a state transition matrix from each position point to other position points on the path and state transition matrices between different paths are obtained through calculation, so that the state transition matrix from each position point to other position points in the area is obtained. Thus, the establishment of the regional geomagnetic fingerprint database is completed.
Fig. 4 shows a block diagram of an indoor positioning apparatus 400 according to an embodiment of the present invention. As shown in fig. 4, the indoor positioning device 400 includes a communication unit 410, an area finding unit 420, a data matching unit 430, a probability prediction unit 440, and a location determination unit 450.
The communication unit 410 is adapted to acquire a geomagnetic data sequence to be positioned acquired via the mobile terminal 110. The area searching unit 420 is adapted to determine a geomagnetic fingerprint database of an area where the mobile terminal 110 is located, where the geomagnetic fingerprint database includes geomagnetic fingerprint information of a plurality of location points in the area, and the geomagnetic fingerprint information includes a plurality of geomagnetic data sequences of the location points. The data matching unit 430 is adapted to match the geomagnetic data sequence to be positioned with the geomagnetic fingerprint information of the location point, so as to obtain the number of geomagnetic data sequences in the geomagnetic fingerprint information, which match the geomagnetic data sequence to be positioned. The probability prediction unit 440 is adapted to predict the transition probabilities of the location points using at least a probabilistic positioning model. The position determining unit 450 is adapted to determine the position of the mobile terminal based on the transition probability of the position point and the number of geomagnetic data sequences matching the geomagnetic data sequence to be positioned in the geomagnetic fingerprint information of the position point.
In addition, the indoor positioning apparatus 400 may further include a fingerprint storage unit 460 adapted to store a geomagnetic fingerprint database of the area.
For the detailed processing logic and implementation process of each unit in the indoor positioning apparatus 400, reference may be made to the foregoing description of the indoor positioning method 300 in conjunction with fig. 1-3, and details are not repeated here.
In summary, according to the indoor positioning scheme provided by the embodiment of the invention, indoor positioning can be performed by using geomagnetic data and a probability positioning model, so that the positioning accuracy and stability are greatly improved.
It should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in a device as described in this embodiment or alternatively may be located in one or more devices different from the devices in this example. The modules in the foregoing examples may be combined into one module or may be further divided into multiple sub-modules.
The present invention may further comprise: a7, the method as in a6, wherein the step of matching the geomagnetic data to be positioned with the geomagnetic data sequence based on a third distance comprises: calculating a third distance between the geomagnetic data to be positioned and the geomagnetic data in the geomagnetic data sequence; and if the third distance between the geomagnetic data to be positioned and any one of the geomagnetic data in the geomagnetic data sequence is greater than a third distance threshold, determining that the geomagnetic data to be positioned is not matched with the geomagnetic data sequence. A8, the method as in a6 or 7, wherein the step of matching the geomagnetic data sequence to be positioned with the geomagnetic data sequence based on a third distance further comprises: and under the condition that the number of the unmatched geomagnetic data to be positioned does not exceed a preset number, processing the unmatched geomagnetic data to be positioned according to other geomagnetic data to be positioned in the geomagnetic data sequence to be positioned. A9, the method as in A8, wherein the processing the non-matching geomagnetic data to be positioned according to other geomagnetic data to be positioned in the geomagnetic data sequence to be positioned includes: and replacing the unmatched geomagnetic data to be positioned by the mode of the other geomagnetic data to be positioned. A10, the method as claimed in a4, wherein the geomagnetic data includes three-axis magnetic field values, and the second distance at least includes a second distance between the geomagnetic data sequence to be positioned and the geomagnetic data sequence on a vertical axis and/or a vertical axis. A11, the method according to any one of a5-8, wherein the geomagnetic data includes three-axis magnetic field values, the third distance includes at least a third distance between the geomagnetic data to be positioned and the geomagnetic data in the geomagnetic data sequence on a vertical axis and/or a vertical axis, and the third distance between the geomagnetic data to be positioned and any one of the geomagnetic data in the geomagnetic data sequence on the vertical axis or the vertical axis is greater than a third distance threshold. A12, the method as claimed in a11, wherein the step of replacing the unmatched geomagnetic data to be positioned with the mode of the other geomagnetic data to be positioned includes: replacing the longitudinal axis coordinate of the unmatched geomagnetic data to be positioned by the mode of the longitudinal axis coordinate of the other geomagnetic data to be positioned; and/or replacing the vertical axis coordinate of the unmatched geomagnetic data to be positioned by the mode of the vertical axis coordinate of the other geomagnetic data to be positioned. A13, the method of any one of A3-12, wherein the first distance is a standard euclidean distance, the second distance is a hausdorff distance, and the third distance is a manhattan distance. A14, the method as defined in a13, wherein the first distance is calculated according to the following formula:
wherein d (A, M)i) Is a first distance, dy(A,Mi) And dz(A,Mi) A second distance on the longitudinal axis and the vertical axis, respectively. A15, the method according to a1, wherein the probabilistic positioning model includes a markov model, the geomagnetic fingerprint database further includes state transition matrices from a plurality of location points to other location points in the area, and the step of predicting the transition probability of the location point by using at least the probabilistic positioning model includes: and for the position point, predicting the transition probability from the position point positioned last time to the position point by utilizing the probability positioning model based on the state transition matrix from the position point positioned last time to the position point. A16, the method according to a1, further comprising the step of creating a geomagnetic fingerprint database of the area, the step of creating the geomagnetic fingerprint database of the area including: dividing the area into a plurality of paths; determining a plurality of position points contained in the path, and acquiring a plurality of pieces of geomagnetic data for the position points; clustering the geomagnetic data of the position points to obtain a plurality of clustering centers; and for the clustering center, obtaining a plurality of pieces of geomagnetic data closest to the clustering center, so that the geomagnetic data corresponding to the predetermined number of pieces of geomagnetic data and the clustering center form a geomagnetic data sequence of the position point. A17, the method as in a1, wherein after the step of acquiring the geomagnetic data sequence to be positioned via the mobile terminal, the method further comprises: and carrying out low-pass filtering processing and Kalman filtering processing on the geomagnetic data sequence to be positioned. A18, the method as in a1, wherein after the step of acquiring the geomagnetic data sequence to be positioned via the mobile terminal, the method further comprises: acquiring a three-axis rotation angle of the mobile terminal in a world coordinate system; and performing coordinate conversion on the geomagnetic data sequence to be positioned based on the three-axis rotation angle.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
Furthermore, some of the described embodiments are described herein as a method or combination of method elements that can be performed by a processor of a computer system or by other means of performing the described functions. A processor having the necessary instructions for carrying out the method or method elements thus forms a means for carrying out the method or method elements. Further, the elements of the apparatus embodiments described herein are examples of the following apparatus: the apparatus is used to implement the functions performed by the elements for the purpose of carrying out the invention.
As used herein, unless otherwise specified the use of the ordinal adjectives "first", "second", "third", etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this description, will appreciate that other embodiments can be devised which do not depart from the scope of the invention as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The present invention has been disclosed in an illustrative rather than a restrictive sense, and the scope of the present invention is defined by the appended claims.
Claims (21)
1. A method of indoor positioning, the method comprising:
acquiring a geomagnetic data sequence to be positioned by a mobile terminal, wherein the geomagnetic data sequence to be positioned comprises s pieces of geomagnetic data to be positioned, and each piece of geomagnetic data to be positioned comprises magnetic field values of a horizontal axis, a vertical axis and a vertical axis corresponding to the position of the mobile terminal;
determining a geomagnetic fingerprint database of an area where the mobile terminal is located, wherein the area is divided into a plurality of paths, each path comprises a plurality of position points, the geomagnetic fingerprint database comprises geomagnetic fingerprint information of the plurality of position points included in each path in the area, the geomagnetic fingerprint information of each position point comprises a plurality of geomagnetic data sequences of the position point, each geomagnetic data sequence of the position point comprises s pieces of geomagnetic data of the position point, and each geomagnetic data of the position point comprises magnetic field values of the position point on a horizontal axis, a vertical axis and a vertical axis;
matching the geomagnetic data sequence to be positioned with the geomagnetic data sequence in the geomagnetic fingerprint information of the position point based on a first distance between the geomagnetic data sequence to be positioned and the geomagnetic data sequence in the geomagnetic fingerprint information of the position point;
counting the number of geomagnetic data sequences matched with the geomagnetic data sequences to be positioned in the geomagnetic fingerprint information of the position points;
predicting a transition probability of the location point using at least a probabilistic positioning model; and
and for each position point in the area, calculating the product of the transition probability of the position point and the number of geomagnetic data sequences matched with the geomagnetic data sequences to be positioned in the geomagnetic fingerprint information of the position point, and selecting the position point with the maximum product as the position of the mobile terminal.
2. The method of claim 1, wherein the step of matching the geomagnetic data sequence to be positioned with the geomagnetic data sequence in the geomagnetic fingerprint information of the location point based on the first distance comprises:
calculating a first distance between the geomagnetic data sequence to be positioned and the geomagnetic data sequence in the geomagnetic fingerprint information of the position point;
and if the first distance is smaller than a first distance threshold value, determining that the geomagnetic data sequence to be positioned is matched with the geomagnetic data sequence in the geomagnetic fingerprint information of the position point.
3. The method according to claim 2, wherein the step of calculating the first distance between the geomagnetic data sequence to be positioned and the geomagnetic data sequence in the geomagnetic fingerprint information of the location point comprises:
calculating a second distance between the geomagnetic data sequence to be positioned and the geomagnetic data sequence in the geomagnetic fingerprint information of the position point;
and calculating a first distance between the geomagnetic data sequence to be positioned and the geomagnetic data sequence in the geomagnetic fingerprint information of the position point based on the second distance.
4. The method according to claim 1, wherein, before the step of matching the geomagnetic data sequence to be positioned with the geomagnetic data sequence in the geomagnetic fingerprint information of the location point based on the first distance, the method further comprises:
and matching the geomagnetic data sequence to be positioned with the geomagnetic data sequence in the geomagnetic fingerprint information of the position point based on a third distance between the geomagnetic data to be positioned in the geomagnetic data sequence to be positioned and the geomagnetic data in the geomagnetic data sequence of the position point.
5. The method of claim 4, wherein the step of matching the geomagnetic data sequence to be positioned with the geomagnetic data sequence in the geomagnetic fingerprint information of the location point based on the third distance comprises:
matching the geomagnetic data to be positioned with a geomagnetic data sequence in the geomagnetic fingerprint information of the position point based on a third distance;
counting the number of the geomagnetic data sequences to be positioned, which are not matched with the geomagnetic data sequences in the geomagnetic fingerprint information of the position points, in the geomagnetic data sequences to be positioned;
and under the condition that the number of the unmatched geomagnetic data to be positioned exceeds a preset number, determining that the geomagnetic data sequence to be positioned is unmatched with the geomagnetic data sequence in the geomagnetic fingerprint information of the position point.
6. The method of claim 5, wherein the step of matching the geomagnetic data to be positioned with the geomagnetic data sequence in the geomagnetic fingerprint information of the location point based on the third distance comprises:
calculating a third distance between the geomagnetic data to be positioned and the geomagnetic data in the geomagnetic data sequence of the position point;
and if the third distance between the geomagnetic data to be positioned and any one of the geomagnetic data sequences of the position points is greater than a third distance threshold, determining that the geomagnetic data to be positioned is not matched with the geomagnetic data sequence in the geomagnetic fingerprint information of the position points.
7. The method of claim 5, wherein the step of matching the geomagnetic data sequence to be located with the geomagnetic data sequence in the geomagnetic fingerprint information of the location point based on a third distance further comprises:
and under the condition that the number of the unmatched geomagnetic data to be positioned does not exceed a preset number, processing the unmatched geomagnetic data to be positioned according to other geomagnetic data to be positioned in the geomagnetic data sequence to be positioned.
8. The method according to claim 7, wherein the step of processing the non-matching geomagnetic data to be positioned according to other geomagnetic data to be positioned in the geomagnetic data sequence to be positioned comprises:
and replacing the unmatched geomagnetic data to be positioned by the mode of the other geomagnetic data to be positioned.
9. The method according to claim 3, wherein the geomagnetic data comprises three-axis magnetic field values, and the second distance comprises at least a second distance between the geomagnetic data sequence to be located and the geomagnetic data sequence in the geomagnetic fingerprint information of the location point on a vertical axis and/or a vertical axis.
10. The method according to claim 7, wherein the geomagnetic data comprises three-axis magnetic field values, the third distance at least comprises a third distance on a vertical axis and/or a vertical axis of the geomagnetic data in the geomagnetic data sequence to be positioned and the position point, and the third distance on the vertical axis or the vertical axis of any geomagnetic data in the geomagnetic data sequence to be positioned and the geomagnetic data sequence to be unmatched is greater than a third distance threshold.
11. The method of claim 10, wherein the step of replacing the non-matching geomagnetic data to be positioned with the mode of the other geomagnetic data to be positioned comprises:
replacing the longitudinal axis coordinate of the unmatched geomagnetic data to be positioned by the mode of the longitudinal axis coordinate of the other geomagnetic data to be positioned; and/or
And replacing the vertical axis coordinate of the unmatched geomagnetic data to be positioned by the mode of the vertical axis coordinate of the other geomagnetic data to be positioned.
12. The method of any one of claims 2-11, wherein the first distance is a standard euclidean distance, the second distance is a hausdorff distance, and the third distance is a manhattan distance.
13. The method of claim 12, wherein the first distance is calculated according to the following equation:
wherein d (A, M)i) Is a first distance, dy(A,Mi) And dz(A,Mi) A second distance on the longitudinal axis and the vertical axis, respectively.
14. The method of claim 1, wherein the probabilistic positioning model comprises a markov model, the geomagnetic fingerprint database further comprises a state transition matrix from a plurality of location points to other location points within the area, and predicting a transition probability of the location point using at least the probabilistic positioning model comprises:
and for the position point, predicting the transition probability from the position point positioned last time to the position point by utilizing the probability positioning model based on the state transition matrix from the position point positioned last time to the position point.
15. The method of claim 1, further comprising the step of creating a geomagnetic fingerprint database for the area, the step of creating the geomagnetic fingerprint database for the area comprising:
dividing the area into a plurality of paths;
determining a plurality of position points contained in the path, and acquiring a plurality of pieces of geomagnetic data for the position points;
clustering the geomagnetic data of the position points to obtain a plurality of clustering centers;
and for the clustering center, obtaining a plurality of pieces of geomagnetic data closest to the clustering center, so that the plurality of pieces of geomagnetic data closest to the clustering center and the geomagnetic data corresponding to the clustering center form a geomagnetic data sequence of the position point.
16. The method of claim 1, wherein after the step of acquiring the geomagnetic data sequence to be positioned via the mobile terminal, further comprising:
and carrying out low-pass filtering processing and Kalman filtering processing on the geomagnetic data sequence to be positioned.
17. The method of claim 1, wherein after the step of acquiring the geomagnetic data sequence to be positioned via the mobile terminal, further comprising:
acquiring a three-axis rotation angle of the mobile terminal in a world coordinate system;
and performing coordinate conversion on the geomagnetic data sequence to be positioned based on the three-axis rotation angle.
18. An indoor positioning device comprising:
the mobile terminal comprises a communication unit and a positioning unit, wherein the communication unit is suitable for acquiring a geomagnetic data sequence to be positioned acquired by the mobile terminal, the geomagnetic data sequence to be positioned comprises s pieces of geomagnetic data to be positioned, and each piece of geomagnetic data to be positioned comprises magnetic field values of a horizontal axis, a vertical axis and a vertical axis corresponding to the position of the mobile terminal;
the mobile terminal comprises a region searching unit, a region searching unit and a processing unit, wherein the region searching unit is suitable for determining a geomagnetic fingerprint database of a region where the mobile terminal is located, the region is divided into a plurality of paths, each path comprises a plurality of position points, the geomagnetic fingerprint database comprises geomagnetic fingerprint information of the plurality of position points included in each path in the region, the geomagnetic fingerprint information of each position point comprises a plurality of geomagnetic data sequences of the position point, each geomagnetic data sequence of the position point comprises s pieces of geomagnetic data of the position point, and each geomagnetic data of the position point comprises magnetic field values of the position point on a horizontal axis, a vertical axis and a vertical axis;
the data matching unit is suitable for matching the geomagnetic data sequence to be positioned with the geomagnetic data sequence in the geomagnetic fingerprint information of the position point based on a first distance between the geomagnetic data sequence to be positioned and the geomagnetic data sequence in the geomagnetic fingerprint information of the position point; counting the number of geomagnetic data sequences matched with the geomagnetic data sequences to be positioned in the geomagnetic fingerprint information of the position points;
a probability prediction unit adapted to predict a transition probability of the location point using at least a probabilistic positioning model; and
and the position determining unit is suitable for calculating the product of the transition probability of the position point and the number of geomagnetic data sequences matched with the geomagnetic data sequences to be positioned in the geomagnetic fingerprint information of the position point for each position point in the area, and selecting the position point with the maximum product as the position of the mobile terminal.
19. An indoor positioning system, comprising:
the mobile terminal is suitable for acquiring a geomagnetic data sequence to be positioned;
a server hosting the indoor positioning device of claim 18.
20. A computing device, comprising:
one or more processors; and
a memory;
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing any of the methods of claims 1-17.
21. A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform any of the methods of claims 1-17.
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| CN113465286B (en) * | 2020-07-14 | 2022-12-20 | 青岛海信电子产业控股股份有限公司 | Intelligent refrigerator, angle determination and food material identification method |
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