CN110392425B - Indoor positioning method, device and system and storage medium - Google Patents
Indoor positioning method, device and system and storage medium Download PDFInfo
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- CN110392425B CN110392425B CN201910769650.5A CN201910769650A CN110392425B CN 110392425 B CN110392425 B CN 110392425B CN 201910769650 A CN201910769650 A CN 201910769650A CN 110392425 B CN110392425 B CN 110392425B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The embodiment of the invention discloses an indoor positioning method, an indoor positioning device, an indoor positioning system and a storage medium, wherein the method comprises the following steps: acquiring position information and a signal intensity value at the current moment which respectively correspond to each base station within a preset range of the terminal equipment; denoising the signal intensity value; determining the distance between the terminal equipment and the ith base station according to the processed signal intensity value corresponding to the ith base station; estimating initial position information of the terminal equipment according to the position information respectively corresponding to each base station and the distance between the terminal equipment and the base station; and smoothing the preliminary position information to acquire the actual position information of the terminal equipment. Through this kind of mode, can guarantee with low costs simultaneously, can also avoid positioning accuracy to receive noise interference to complicated space environment, improve the precision and the stability of location greatly. The positioning technology based on the signal intensity value is not limited by scenes any more, and the user experience is greatly improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of data processing, in particular to an indoor positioning method, device and system and a storage medium.
Background
Humans are indoors for most of their daily activities, and in many cases it is desirable to be able to perform positioning indoors. At present, the outdoor positioning technology is mature and widely applied. However, because the GPS signal power is very low, the requirement for signal reception is high, and most indoor environments are built by reinforced concrete, the GPS signal is blocked or reflected by a wall and cannot enter indoors, so that the satellite signal cannot be received, and positioning cannot be performed indoors.
Algorithms also exist for indoor positioning, such as positioning using RSSI. The RSSI positioning technology is one of indoor positioning technologies, is mainly applied to small-range positioning, is low in cost and high in applicability, and is greatly interfered by noise signals, poor in stability and low in positioning accuracy in a complex space environment, so that the use scene of the positioning technology is limited, and the user experience is low.
Disclosure of Invention
Therefore, embodiments of the present invention provide an indoor positioning method, apparatus, system and storage medium, so as to solve the technical problems of poor stability and low positioning accuracy in a complex spatial environment when an RSSI positioning technology is used for indoor positioning in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to a first aspect of embodiments of the present invention, there is provided an indoor positioning method, including:
acquiring position information and a signal intensity value at the current moment which respectively correspond to each base station within a preset range of the terminal equipment;
denoising the signal intensity value of each base station to obtain a processed signal intensity value;
determining the distance between the terminal equipment and the ith base station according to the processed signal intensity value corresponding to the ith base station;
estimating initial position information of the terminal equipment according to the position information respectively corresponding to each base station and the distance between the terminal equipment and each base station;
and smoothing the preliminary position information of the terminal equipment to obtain the actual position information of the terminal equipment, wherein i is a numerical value which is greater than or equal to 1 and less than or equal to the total number of the base stations, i is sequentially subjected to progressive value taking, and the initial value of i is 1.
Further, if the ith base station has no signal strength value at the current time, estimating the signal strength value at the current time according to the historical signal strength value corresponding to the ith base station in a preset time period before the current time.
Further, determining a distance between the terminal device and the ith base station according to the processed signal strength value corresponding to the ith base station, specifically including:
and converting the processed signal intensity value corresponding to the ith base station into the distance between the terminal equipment and the ith base station by using a lognormal model.
Further, before estimating the preliminary location information of the terminal device according to the location information corresponding to each base station and the distance between the terminal device and each base station, the method further includes:
determining a first base station to which the maximum value in the processed signal strength values belongs at the current moment;
determining a first area where a first base station is located from a preset area group;
if the difference value between the maximum value of the signal intensity after being processed at the current moment and the maximum value of the signal intensity after being processed at the previous moment is smaller than or equal to a preset threshold value, defining the current area where the terminal equipment is located as a second area where a base station corresponding to the maximum value of the signal intensity after being processed at the previous moment belongs to;
or if the difference value between the maximum value of the signal intensity after being processed at the current moment and the maximum value of the signal intensity after being processed at the previous moment is greater than a preset threshold value, defining the first area as the area where the terminal equipment is located at the current moment;
and when the number of times that the jth region is continuously positioned as the region to which the terminal equipment belongs is greater than or equal to a preset number threshold, determining that the jth region is the region to which the terminal equipment belongs, wherein the first region, the second region and the jth region are any one of preset region groups, and j is a positive integer which is greater than or equal to 1 and is less than or equal to the total number of regions in the preset region groups.
Further, when the actual position information of the terminal device is not in the j-th area, the actual position information of the terminal device is limited to the j-th area by a projection method.
Further, estimating the preliminary location information of the terminal device according to the location information corresponding to each base station and the distance between the terminal device and each base station, specifically including:
constructing a target function according to the position information corresponding to each base station and the distance between the terminal equipment and each base station;
and solving the objective function by combining a least square method and a quasi-Newton method, and estimating the initial position information of the terminal equipment.
Further, after estimating the preliminary location information of the terminal device according to the location information corresponding to each base station and the distance between the terminal device and each base station, the method further includes:
and matching the preliminary position information of the terminal equipment to a pre-constructed road network by using the pre-constructed path matching model so as to carry out smooth processing on the preliminary position information of the terminal equipment in the road network subsequently and acquire the actual position information of the terminal equipment.
According to a second aspect of embodiments of the present invention, there is provided an indoor positioning device, including:
further, the obtaining unit is configured to obtain location information and a signal strength value at a current time, where the location information and the signal strength value correspond to each base station within a preset range from the terminal device;
the de-noising unit is used for de-noising the signal intensity value of each base station to obtain the processed signal intensity value;
the processing unit is used for determining the distance between the terminal equipment and the ith base station according to the processed signal intensity value corresponding to the ith base station;
estimating initial position information of the terminal equipment according to the position information respectively corresponding to each base station and the distance between the terminal equipment and each base station;
and smoothing the preliminary position information of the terminal equipment to obtain the actual position information of the terminal equipment, wherein i is a numerical value which is greater than or equal to 1 and less than or equal to the total number of the base stations, i is sequentially subjected to progressive value taking, and the initial value of i is 1.
According to a third aspect of embodiments of the present invention, there is provided an indoor positioning system, including: a processor and a memory;
the memory is used for storing one or more program instructions;
a processor for executing one or more program instructions for performing any of the method steps of the above indoor positioning method.
According to a fourth aspect of embodiments of the present invention, there is provided a computer storage medium having one or more program instructions embodied therein for use by an indoor positioning system to perform any of the method steps of the above indoor positioning method.
The embodiment of the invention has the following advantages: and acquiring the position information corresponding to each base station and the signal intensity value at the current moment, and then carrying out denoising processing on the signal intensity value of the base station to acquire the processed signal intensity value. The signal strength value is denoised mainly by considering the influence of factors such as complex and variable propagation environment, unstable transmission power, different receiving and transmitting directions, multipath effect and the like, and the RSSI value measured by the base station has certain noise, which brings larger error to the judgment of the distance and further causes the reduction of the positioning precision. Therefore, denoising is performed first before determining the distance between the terminal device and the base station according to the signal strength value. After the distance between each base station and the terminal equipment is obtained, estimating the initial position information of the terminal equipment according to the distance between each base station and the terminal equipment and the position information of each base station, and finally smoothing the initial position information to obtain the actual position information of the terminal equipment. Through this kind of mode, can guarantee with low costs simultaneously, can also avoid positioning accuracy to receive noise interference to complicated space environment, improve the precision and the stability of location greatly. The positioning technology based on the signal intensity value is not limited by scenes any more, and the user experience is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic flow chart of an indoor positioning method according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram illustrating an example of area division performed on a base station according to the present invention;
fig. 3 is a schematic structural diagram of an indoor positioning device provided in embodiment 2 of the present invention;
fig. 4 is a schematic structural diagram of an indoor positioning system provided in embodiment 3 of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiment 1 of the present invention provides an indoor positioning method, specifically, as shown in fig. 1, the method includes the following steps:
and step 110, obtaining position information and a signal intensity value at the current moment respectively corresponding to each base station within a preset range of the distance terminal equipment.
Specifically, when obtaining the position information and the signal strength value at the current time corresponding to each base station at the position where the terminal device is located, the obtaining only needs to be implemented by using the prior art, which is not the key point to be described in this application, and therefore, redundant description is not repeated.
Optionally, at a certain time, because the signal is bad, the signal strength value of the current time of a certain base station cannot be obtained, and then the signal strength value of the current time may be estimated in the following manner.
That is, if there is no signal strength value at the current time of the ith base station, the signal strength value at the current time is estimated according to the historical signal strength value corresponding to the ith base station in the preset time period before the current time.
The preset time period is a custom time period, for example, the historical signal strength value in the first 20s, and the maximum value or the average value of the signal strength values in the first 20s is taken as the signal strength value at this time.
Or, the preset time period is not a fixed time period, but is determined as a difference value between the time when the signal intensity value is obtained last before the current time and the current time according to an actual situation, and the difference value is used as the preset time. Then, the signal intensity value acquired last time before the current time is taken as the signal intensity value at the current time. Either way, it is one way that can be adopted in the present embodiment. Of course, the signal strength value at the current time may be obtained in other manners.
And step 120, performing denoising processing on the signal intensity value of each base station to obtain a processed signal intensity value.
The signal strength value of each base station is denoised, mainly considering the influence of factors such as complex and variable propagation environment, unstable transmitting power, different receiving and transmitting directions, multipath effect and the like, and the RSSI value measured by the base station has certain noise, which brings larger error to the judgment of the distance and further causes the reduction of the positioning precision. Therefore, the signal strength value of the base station needs to be denoised in this step. The specific denoising method can be used for denoising the signal intensity value by adopting a classical Kalman filtering method.
The Kalman filtering model of signal intensity value mainly comprises two processes, namely prediction and correction, and the equations are respectively formula (1) and formula (2)
Wherein the content of the first and second substances,
for the predicted value of the state variable at time k,
for the predicted state variable covariance matrix, Q is the process noise, KkIs a Kalman filter gain factor, zkFor the observed quantity, R is the observed noise, xk、PkRespectively, the optimal estimate of the state variable and its covariance. R can be obtained by actual measurement, and in this embodiment, R takes a value of 4. The Q value is related to the transmission frequency in the terminal device, and is mainly obtained by parameter adjustment, in this embodiment, the transmission frequency in the terminal device is 1Hz, and the Q value is 0.1.
Specifically, i is a numerical value which is greater than or equal to 1 and less than or equal to the total number of the base stations, i is sequentially subjected to progressive value taking, and the initial value of i is 1.
The distance between each base station and the terminal device is calculated. In specific implementation, the processed signal strength value corresponding to the ith base station may be converted into a distance between the terminal device and the ith base station by using a lognormal model.
The specific calculation formula is as follows:
RSSI-10 nlg (d) (equation 3)
Wherein, a is a signal intensity value at 1 meter of the terminal device, which can be obtained by averaging multiple measurements, and the value of a in this embodiment is-63. n represents an environment attenuation factor, and RSSI of different distances can be measured and obtained through curve fitting according to RSSI measured values of different distances. Substituting A into formula 3, and performing curve fitting by using a 'cftool' of Matlab to obtain the value of n, wherein the value of n is 2 in the embodiment.
Specifically, an objective function may be constructed by using the location information corresponding to each base station and the distance between the terminal device and each base station; and solving the objective function by combining a least square method and a quasi-Newton method, and estimating the initial position information of the terminal equipment.
When the detailed execution is performed, the coordinate information of the ith base station is assumed to be (x)i,yi) The distance between the terminal equipment and the ith base station is di. The constructed objective function is specifically shown in equation 4:
wherein (x)p,yp) And the initial position information of the terminal equipment is k, the initial value of k is 0, and i is the ith base station.
After the objective function is determined, an initial value of the initial position information of the terminal equipment can be determined through a least square method, and then iterative refinement is carried out on the initial position information of the terminal equipment through a quasi-Newton method. It is worth mentioning that the method of obtaining the initial value by the least square method can effectively reduce the iteration times of the quasi-Newton method, and meanwhile, the situation of local convergence is avoided to a certain extent.
The quasi-Newton method is one of the most effective methods for solving the nonlinear optimization problem, effectively improves the defect that the Newton method needs to solve the inverse of a complex Hessian matrix each time, uses a definite matrix to approximate the inverse of the Hessian matrix, and has a DFP algorithm and a BFGS algorithm, wherein the BFGS algorithm is selected, and the specific steps of the algorithm are as follows:
(1) giving an initial value
And a precision threshold epsilon, and let k equal to 0, B0＝I；
(2) It doesDetermining search direction
(3) Determining optimal step size using Armijo search
And order
(4) And judging a convergence condition. If g | | |k+1||<If epsilon, terminating the iteration;
(5)yk+1＝gk+1-gk；
(6)
(7) and (5) updating the iteration factor, wherein k is k +1, and turning to the step (2).
Wherein k is an iteration factor and k is a linear function,
for iterative solution,. epsilon.is iterative convergence threshold, BkHessian matrix, g, for iterative approximationkIs composed of
At the first derivative of the objective function, dkFor searching direction, λkIs the optimal step size.
As above, to avoid local convergence of the quasi-newton method, the least square method is used in determining the initial value. When the number of acquired base stations is greater than 3 or more, the distance relationship from the base station to the terminal device as shown in equation (5) may be listed, and one of the base stations may be converted into AX ═ b as shown in equation (6). The equation of contradiction is used to obtain the estimated position X ═ A by least square methodTA)-1ATb。
Before performing the step, the method may further comprise:
determining a first base station to which the maximum value in the processed signal strength values belongs at the current moment;
determining a first area where a first base station is located from a preset area group;
if the difference value between the maximum value of the signal intensity after being processed at the current moment and the maximum value of the signal intensity after being processed at the previous moment is smaller than or equal to a preset threshold value, defining the current area where the terminal equipment is located as a second area where a base station corresponding to the maximum value of the signal intensity after being processed at the previous moment belongs to;
or if the difference value between the maximum value of the signal intensity after being processed at the current moment and the maximum value of the signal intensity after being processed at the previous moment is greater than a preset threshold value, defining the first area as the area where the terminal equipment is located at the current moment;
and when the number of times that the jth region is continuously positioned as the region to which the terminal equipment belongs is greater than or equal to a preset number threshold, determining that the jth region is the region to which the terminal equipment belongs, wherein the first region, the second region and the jth region are any one of preset region groups, and j is a positive integer which is greater than or equal to 1 and is less than or equal to the total number of regions in the preset region groups.
In one specific example, the location is made, for example, for a venue as shown in fig. 2. It is divided into 2 areas according to the site information. Region 1 is formed by point A, B, C, D, E, F and region 2 is formed by point G, H, I, J. The squares in fig. 2 are labeled as base station deployment locations, with 5 base stations in area 1 and 3 base stations in area 2. When the area detection is performed, firstly, the input information of each base station is grouped according to the area to which the information belongs, that is, a preset area group is obtained. The grouping process can be set in advance by people, and the grouped information is transmitted to the system. And the subsequent system can conveniently identify which group each base station belongs to. Or the system can self-group according to the position information of the base station. Then, according to the signal strength filtering value, preliminarily determining the region with the largest signal strength filtering value as the region (first region) to which the terminal device belongs at the current moment. Meanwhile, if the difference between the signal intensity maximum value in the current region and the region signal intensity maximum value determined at the previous time is not more than 5dB, the region (second region) determined at the previous time is retained. Finally, switching the areas, recording the determined area in each positioning, and switching to the corresponding area when the number of times that a certain area (jth area) is continuously determined exceeds 5 times. The step is mainly used for screening the base stations in the subsequent positioning, and when the final position information of the terminal equipment is finally output, if the final position information of the terminal equipment is not in a judgment area (jth area), the point is limited in the area by a projection method. The first area, the second area and the jth area are all any area in a preset area group, and j is a positive integer which is greater than or equal to 1 and less than or equal to the total area number in the preset area group.
And 150, smoothing the preliminary position information of the terminal equipment to acquire the actual position information of the terminal equipment.
Optionally, before performing the step, the method may further include: and matching the preliminary position information of the terminal equipment to a pre-constructed road network by using the pre-constructed path matching model so as to carry out smooth processing on the preliminary position information of the terminal equipment in the road network subsequently and acquire the actual position information of the terminal equipment.
The road network is a pre-constructed road network and can be obtained from an indoor map. The path matching model can adopt a hidden Markov model, and the hidden Markov model mainly comprises 5 elements, namely 2 state sets and 3 probability matrixes.
(1) Implicit state S: the states actually hidden in the hidden markov model are usually not obtained by direct observation, and the markov property is satisfied between the states.
(2) Observable state O: states, which can be obtained by direct observation, are associated with hidden states in a hidden markov model.
(3) State transition probability matrix a: transition probabilities between states in a hidden markov model are described.
(4) Observation state probability matrix B: the probability that the observable state is O under the condition that the hidden state is S at the moment t is shown.
(5) Initial state probability matrix pi: representing the probability matrix of the hidden state at the initial instant.
Hidden markov models can solve three types of problems, evaluation, decoding and learning, wherein the path matching problem is actually a decoding problem, and the decoding problem is used for determining a hidden sequence which is most likely to generate an observation sequence and is generally solved by using a viterbi algorithm. Observation probability matrix B (B) used in the present embodimentj(k) And a state transition matrix A (a)ij) Respectively, formula (7) and formula (8).
Wherein o ist、stRespectively, observed state (terminal device estimated position) and hidden state (road network) at time t, riα and β are probability function density parameters for the projection points of the observation points on each path.
Then, the estimated position of the terminal device (if no path matching is performed, the estimated position of the terminal device is a preliminary position) is smoothed by an exponential weighted moving average method. The weighted moving average method is a method in which different weighting coefficients are given to observed values, moving average values are obtained according to the different weighting coefficients, and predicted values are determined. The exponential weighted moving average method means that the weighting coefficient of each numerical value decreases exponentially along with time, the weighting coefficient of the numerical value closer to the current moment is larger, and the expression of the method is as follows:
st＝βst-1+(1-β)θt(formula 9)
Wherein, thetatFor the estimated position of the terminal device at time t, st-1Is the smoothed position of the previous moment, stFor the position after smoothing at time t, β is the exponentially weighted decreasing rate, and the smaller the value is, the faster the value decreases, in this embodiment, β is 0.75.
The indoor positioning method provided by the embodiment of the invention obtains the position information corresponding to each base station and the signal intensity value at the current moment, and then carries out denoising processing on the signal intensity value of the base station to obtain the processed signal intensity value. The signal strength value is denoised mainly by considering the influence of factors such as complex and variable propagation environment, unstable transmission power, different receiving and transmitting directions, multipath effect and the like, and the RSSI value measured by the base station has certain noise, which brings larger error to the judgment of the distance and further causes the reduction of the positioning precision. Therefore, denoising is performed first before determining the distance between the terminal device and the base station according to the signal strength value. After the distance between each base station and the terminal equipment is obtained, estimating the initial position information of the terminal equipment according to the distance between each base station and the terminal equipment and the position information of each base station, and finally smoothing the initial position information to obtain the actual position information of the terminal equipment. Through this kind of mode, can guarantee with low costs simultaneously, can also avoid positioning accuracy to receive noise interference to complicated space environment, improve the precision and the stability of location greatly. The positioning technology based on the signal intensity value is not limited by scenes any more, and the user experience is greatly improved.
Corresponding to the foregoing embodiment 1, embodiment 2 of the present invention further provides an indoor positioning device, specifically as shown in fig. 3, the device includes: an acquisition unit 301, a denoising unit 302, and a processing unit 303.
An obtaining unit 301, configured to obtain location information and a signal strength value at a current time that correspond to each base station within a preset range from a terminal device;
a denoising unit 302, configured to perform denoising processing on the signal strength value of each base station to obtain a processed signal strength value;
a processing unit 303, configured to determine a distance between the terminal device and an ith base station according to the processed signal strength value corresponding to the ith base station;
estimating initial position information of the terminal equipment according to the position information respectively corresponding to each base station and the distance between the terminal equipment and each base station;
and smoothing the preliminary position information of the terminal equipment to obtain the actual position information of the terminal equipment, wherein i is a numerical value which is greater than or equal to 1 and less than or equal to the total number of the base stations, i is sequentially subjected to progressive value taking, and the initial value of i is 1.
Optionally, if the ith base station has no signal strength value at the current time, the processing unit 303 is further configured to estimate the signal strength value at the current time according to a historical signal strength value corresponding to the ith base station in a preset time period before the current time.
Optionally, the processing unit 303 is specifically configured to convert the processed signal strength value corresponding to the ith base station into a distance between the terminal device and the ith base station by using a lognormal model.
Optionally, the processing unit 303 is further configured to determine a first base station to which a maximum value in the processed signal strength values belongs at the current time;
determining a first area where a first base station is located from a preset area group;
if the difference value between the maximum value of the signal intensity after being processed at the current moment and the maximum value of the signal intensity after being processed at the previous moment is smaller than or equal to a preset threshold value, defining the current area where the terminal equipment is located as a second area where a base station corresponding to the maximum value of the signal intensity after being processed at the previous moment belongs to;
or if the difference value between the maximum value of the signal intensity after being processed at the current moment and the maximum value of the signal intensity after being processed at the previous moment is greater than a preset threshold value, defining the first area as the area where the terminal equipment is located at the current moment;
and when the number of times that the jth region is continuously positioned as the region to which the terminal equipment belongs is greater than or equal to a preset number threshold, determining that the jth region is the region to which the terminal equipment belongs, wherein the first region, the second region and the jth region are any one of preset region groups, and j is a positive integer which is greater than or equal to 1 and is less than or equal to the total number of regions in the preset region groups.
Optionally, the processing unit 303 is further configured to limit the actual position information of the terminal device to the jth area through a projection method when the actual position information of the terminal device is not in the jth area.
Optionally, the processing unit 303 is specifically configured to construct an objective function according to the location information corresponding to each base station and the distance between the terminal device and each base station;
and solving the objective function by combining a least square method and a quasi-Newton method, and estimating the initial position information of the terminal equipment.
Optionally, the processing unit 303 is further configured to match the preliminary location information of the terminal device to a pre-constructed road network by using a pre-constructed path matching model, so as to perform smoothing processing on the preliminary location information of the terminal device in the road network in the following step, and obtain actual location information of the terminal device.
The functions performed by each component in the indoor positioning device provided by the embodiment of the present invention have been described in detail in embodiment 1, and therefore, redundant description is not repeated here.
The indoor positioning device provided by the embodiment of the invention obtains the position information corresponding to each base station and the signal intensity value at the current moment, and then carries out denoising processing on the signal intensity value of the base station to obtain the processed signal intensity value. The signal strength value is denoised mainly by considering the influence of factors such as complex and variable propagation environment, unstable transmission power, different receiving and transmitting directions, multipath effect and the like, and the RSSI value measured by the base station has certain noise, which brings larger error to the judgment of the distance and further causes the reduction of the positioning precision. Therefore, denoising is performed first before determining the distance between the terminal device and the base station according to the signal strength value. After the distance between each base station and the terminal equipment is obtained, estimating the initial position information of the terminal equipment according to the distance between each base station and the terminal equipment and the position information of each base station, and finally smoothing the initial position information to obtain the actual position information of the terminal equipment. Through this kind of mode, can guarantee with low costs simultaneously, can also avoid positioning accuracy to receive noise interference to complicated space environment, improve the precision and the stability of location greatly. The positioning technology based on the signal intensity value is not limited by scenes any more, and the user experience is greatly improved.
Corresponding to the above embodiment, embodiment 3 of the present invention further provides an indoor positioning system, specifically as shown in fig. 4, the system includes: a processor 401 and a memory 402;
memory 402 is used to store one or more program instructions;
the processor 401 is configured to execute one or more program instructions to perform any of the method steps of the indoor positioning method described in the above embodiments.
The indoor positioning system provided by the embodiment of the invention obtains the position information corresponding to each base station and the signal intensity value at the current moment, and then carries out denoising processing on the signal intensity value of the base station to obtain the processed signal intensity value. The signal strength value is denoised mainly by considering the influence of factors such as complex and variable propagation environment, unstable transmission power, different receiving and transmitting directions, multipath effect and the like, and the RSSI value measured by the base station has certain noise, which brings larger error to the judgment of the distance and further causes the reduction of the positioning precision. Therefore, denoising is performed first before determining the distance between the terminal device and the base station according to the signal strength value. After the distance between each base station and the terminal equipment is obtained, estimating the initial position information of the terminal equipment according to the distance between each base station and the terminal equipment and the position information of each base station, and finally smoothing the initial position information to obtain the actual position information of the terminal equipment. Through this kind of mode, can guarantee with low costs simultaneously, can also avoid positioning accuracy to receive noise interference to complicated space environment, improve the precision and the stability of location greatly. The positioning technology based on the signal intensity value is not limited by scenes any more, and the user experience is greatly improved.
In correspondence with the above embodiments, embodiments of the present invention also provide a computer storage medium containing one or more program instructions therein. Wherein one or more program instructions are for executing an indoor positioning method as described above by an indoor positioning system.
In an embodiment of the invention, the processor may be an integrated circuit chip having signal processing capability. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The processor reads the information in the storage medium and completes the steps of the method in combination with the hardware.
The storage medium may be a memory, for example, which may be volatile memory or nonvolatile memory, or which may include both volatile and nonvolatile memory.
The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory.
The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), SLDRAM (SLDRAM), and Direct Rambus RAM (DRRAM).
The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.
Those skilled in the art will appreciate that the functionality described in the present invention may be implemented in a combination of hardware and software in one or more of the examples described above. When software is applied, the corresponding functionality may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
The above embodiments are only for illustrating the embodiments of the present invention and are not to be construed as limiting the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the embodiments of the present invention shall be included in the scope of the present invention.
Claims (8)
1. An indoor positioning method, characterized in that the method comprises:
acquiring position information and a signal intensity value at the current moment which respectively correspond to each base station within a preset range of the terminal equipment;
denoising the signal intensity value of each base station to obtain a processed signal intensity value;
determining the distance between the terminal equipment and the ith base station according to the processed signal intensity value corresponding to the ith base station;
estimating initial position information of the terminal equipment according to the position information corresponding to each base station and the distance between the terminal equipment and each base station;
smoothing the preliminary position information of the terminal equipment to obtain the actual position information of the terminal equipment, wherein i is a numerical value which is greater than or equal to 1 and less than or equal to the total number of the base stations, i is sequentially subjected to progressive value taking, and the initial value of i is 1;
before estimating the preliminary location information of the terminal device according to the location information corresponding to each base station and the distance between the terminal device and each base station, the method further includes:
determining a first base station to which the maximum value in the processed signal strength values belongs at the current moment;
determining a first area where the first base station is located from a preset area group;
if the difference value between the maximum value of the signal intensity after being processed at the current moment and the maximum value of the signal intensity after being processed at the previous moment is smaller than or equal to a preset threshold value, defining the current area where the terminal equipment is located as a second area to which a base station corresponding to the maximum value of the signal intensity after being processed at the previous moment belongs;
or if the difference value between the maximum value of the signal intensity after being processed at the current moment and the maximum value of the signal intensity after being processed at the previous moment is greater than the preset threshold value, defining the first area as the area where the terminal equipment is located at the current moment;
when the number of times that the jth region is continuously positioned as the region to which the terminal equipment belongs is greater than or equal to a preset number threshold, determining that the jth region is the region to which the terminal equipment belongs, wherein the first region, the second region and the jth region are any one of the preset region groups, and j is a positive integer which is greater than or equal to 1 and is less than or equal to the total number of the regions in the preset region group;
when the actual position information of the terminal equipment is not in the jth area, the actual position information of the terminal equipment is limited to the jth area through a projection method.
2. The method of claim 1, wherein if there is no signal strength value at the current time of the ith base station, estimating the signal strength value at the current time according to a historical signal strength value corresponding to the ith base station within a preset time period before the current time.
3. The method according to claim 1, wherein the determining a distance between the terminal device and the ith base station according to the processed signal strength value corresponding to the ith base station specifically includes:
and converting the processed signal intensity value corresponding to the ith base station into the distance between the terminal equipment and the ith base station by using a lognormal model.
4. The method according to any one of claims 1 to 3, wherein the estimating preliminary location information of the terminal device according to the location information corresponding to each base station and the distance between the terminal device and each base station specifically comprises:
constructing a target function according to the position information respectively corresponding to each base station and the distance between the terminal equipment and each base station;
and solving the objective function by combining a least square method and a quasi-Newton method, and estimating the initial position information of the terminal equipment.
5. The method according to any one of claims 1 to 3, wherein after estimating the preliminary location information of the terminal device according to the location information corresponding to each base station and the distance between the terminal device and each base station, the method further comprises:
and matching the preliminary position information of the terminal equipment to a pre-constructed road network by using a pre-constructed path matching model so as to carry out smoothing processing on the preliminary position information of the terminal equipment in the road network subsequently and acquire the actual position information of the terminal equipment.
6. An indoor positioning device, the device comprising:
the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring position information and a signal intensity value at the current moment which respectively correspond to each base station within a preset range of the terminal equipment;
the de-noising unit is used for de-noising the signal intensity value of each base station to obtain the processed signal intensity value;
the processing unit is used for determining the distance between the terminal equipment and the ith base station according to the processed signal intensity value corresponding to the ith base station;
estimating initial position information of the terminal equipment according to the position information corresponding to each base station and the distance between the terminal equipment and each base station;
smoothing the preliminary position information of the terminal equipment to obtain the actual position information of the terminal equipment, wherein i is a numerical value which is greater than or equal to 1 and less than or equal to the total number of the base stations, i is sequentially subjected to progressive value taking, and the initial value of i is 1;
the processing unit is further configured to determine a first base station to which a maximum value in the processed signal strength values belongs at the current time;
determining a first area where a first base station is located from a preset area group;
if the difference value between the maximum value of the signal intensity after being processed at the current moment and the maximum value of the signal intensity after being processed at the previous moment is smaller than or equal to a preset threshold value, defining the current area where the terminal equipment is located as a second area where a base station corresponding to the maximum value of the signal intensity after being processed at the previous moment belongs to;
or if the difference value between the maximum value of the signal intensity after being processed at the current moment and the maximum value of the signal intensity after being processed at the previous moment is greater than a preset threshold value, defining the first area as the area where the terminal equipment is located at the current moment;
when the number of times that the jth region is continuously positioned as the region to which the terminal equipment belongs is greater than or equal to a preset number threshold, determining that the jth region is the region to which the terminal equipment belongs, wherein the first region, the second region and the jth region are any one of preset region groups, and j is a positive integer which is greater than or equal to 1 and is less than or equal to the total number of the regions in the preset region groups;
the processing unit is further used for limiting the actual position information of the terminal device to the jth area through a projection method when the actual position information of the terminal device is not in the jth area.
7. An indoor positioning system, the system comprising: a processor and a memory;
the memory is to store one or more program instructions;
the processor, configured to execute one or more program instructions to perform the method of any of claims 1-5.
8. A computer storage medium comprising one or more program instructions for performing the method of any one of claims 1-5 by an indoor positioning system.
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| CN110913338B (en) * | 2019-12-17 | 2021-06-04 | 深圳奇迹智慧网络有限公司 | Positioning track correction method and device, computer equipment and storage medium |
| CN111294731B (en) * | 2020-01-16 | 2020-12-01 | 珠海格力电器股份有限公司 | UWB indoor positioning method, device, electronic equipment and storage medium |
| TWI731634B (en) * | 2020-03-25 | 2021-06-21 | 緯創資通股份有限公司 | Moving path determining method and wireless localization device |
| CN112061077A (en) * | 2020-08-10 | 2020-12-11 | 浙江零跑科技有限公司 | Control system and method supporting mobile phone Bluetooth key function |
| CN113543309B (en) * | 2021-06-24 | 2022-02-22 | 中国农业大学 | AGV positioning information acquisition method and AGV |
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