CN110967013A - Indoor area positioning system based on indoor geomagnetic field information and smart phone - Google Patents
Indoor area positioning system based on indoor geomagnetic field information and smart phone Download PDFInfo
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Abstract
The utility model provides an indoor earth magnetism positioning system based on geomagnetic field and smart mobile phone which characterized in that: the system comprises an acquisition module for collecting characteristic information, a positioning calculation module running on a server side, a data processing module and a communication module between the smart phone and the server side. The geomagnetic positioning system uses a geomagnetic sensor embedded in a smart phone to collect geomagnetic field distribution characteristics in an indoor area in advance, extracts geomagnetic field information at different positions and change conditions of geomagnetic fields on different paths, and establishes association between the geomagnetic fields and the positions; meanwhile, a flexible positioning mode is designed, including single position positioning based on Euclidean distance and track information matching based on Housdov distance. The method can achieve 85% of accuracy rate under the positioning precision of 1m in a common single-layer indoor building, does not need to deploy additional facilities indoors, and is low in application cost and easy to popularize.
Description
Technical Field
The invention belongs to the field of indoor positioning, and relates to an indoor positioning system combining indoor regional geomagnetic field information and various sensors on a smart phone.
Background
Location-based services are rapidly developing and promising as economies develop and urban construction is continually perfected. The location service provided by the satellite and the base station under the outdoor area is accurate and effective, but in the indoor area, the location service is limited by the shielding of the building to the signal, the multipath effect of the signal in the indoor area, the non-line-of-sight propagation mode of the signal and the like, and the traditional outdoor location means based on the CELL-ID, the satellite and the like have the defects of poor signal, inaccurate location and the like, and can not meet the requirements of the indoor location on the aspects of location accuracy, response time and the like.
In an indoor area with a smaller spatial range, the user's requirements for positioning accuracy, response time, etc. are higher than in an outdoor area. In order to realize such high-precision positioning, on the premise that positioning means based on satellites or base stations and the like originally suffer no small interference in an indoor area and are limited in precision, a common indoor positioning method is to realize position matching in a small range by using signal sources such as WiFi, bluetooth and RFID which are differentially distributed in the indoor area. The technologies are all to use the difference of information such as signal strength and the like presented at different positions when respective radio frequency signals are propagated indoors, and to perform matching and positioning through interaction of equipment to be positioned and signal sources in an area to obtain results. However, the signal source needs to be arranged in advance to cover the whole indoor range, and the requirement for infrastructure is high, which is not favorable for the popularization of the technology in practical application. Although the WiFi hotspot is widely arranged in indoor buildings, particularly buildings such as shopping malls and houses, the accuracy of the signal is affected by signal attenuation, human body blockage, multipath effect and the like, and the WiFi hotspot has certain defects when being used as a position fingerprint alone. In addition, the Pedestrian Dead Reckoning (PDR) is a positioning navigation method that estimates a position after a change by using last position information, and although this positioning method does not need an additional signal source, it needs to determine an initial position in advance, and in addition, there is a disadvantage that errors are gradually accumulated.
The natural earth magnetic field is distributed around the earth, and in an indoor area, the interference of factors such as reinforced concrete walls, building structures and the like on the magnetic field is caused, the earth magnetic field in the indoor area presents unique distribution characteristics, the magnetic fields at different positions are different, and the positioning is possible by taking the unique geomagnetic information of each position as a position fingerprint. In addition, with the gradual popularization of smart phones and the abundance of sensors on smart phones, indoor geomagnetic information can be conveniently and effectively collected by using geomagnetic sensors mounted on smart phones, so that indoor positioning is possible without additionally arranging equipment.
In positioning using a geomagnetic field, most methods combine geomagnetism with WiFi positioning, Pedestrian Dead Reckoning (PDR), and the like, and use a geomagnetic signal as an auxiliary means based on WiFi signal strength or pedestrian dead reckoning. The matching range can be effectively reduced by combining inertial information such as the last positioning result, the walking steps, the step length and the moving direction and deducing possible positions through particle filtering and the like, but the method requires continuous acquisition of information and is more suitable for indoor navigation within a period of time.
In the positioning method, in order to meet the requirement of single-point matching, a nearest neighbor method based on Euclidean distance is designed. The nearest neighbor method is a simple and direct matching method, and can also be regarded as a special case of k-nearest neighbor (KNN), assuming that a value to be calculated can be represented by a point in euclidean space, and a point in euclidean space closest to the point to be matched is selected as a result according to an optimal solution judgment criterion. Euclidean distance, or euclidean distance, is a common method of defining distance that can represent the actual distance between two points in a certain dimension, and euclidean space can be extended to any dimension. The nearest neighbor method, which is measured by euclidean distance, is a deterministic match. For the matching of the trajectory, the hausdorff distance that can calculate the distance between proper subsets in space is selected as the metric of the data set contained in the trajectory.
Aiming at the practical requirements of indoor positioning and the defects of the prior art, the high-precision positioning of the indoor area is realized without additionally deploying equipment by using the unique distribution of the geomagnetic field which is influenced by the environment and appears indoors and using the values of the geomagnetic field at different positions and the change of the geomagnetic field as the position fingerprint.
Disclosure of Invention
The invention provides an indoor geomagnetic positioning system based on a smart phone and a corresponding positioning algorithm. The method is realized by the following technical scheme.
This indoor earth magnetism positioning system based on smart mobile phone, use the smart mobile phone that has earth magnetism sensor, direction sensor and gyroscope, wherein earth magnetism sensor is used for acquireing geomagnetic field information, and direction sensor and gyroscope are used for confirming the attitude information of cell-phone. As shown in the first drawing, the indoor positioning system of the present invention comprises an acquisition module, a data processing module, a positioning calculation module and a communication module.
The acquisition module acquires numerical values of the geomagnetic sensor and the like at the current position through the smart phone during data pre-acquisition and positioning; the data processing module is responsible for processing data collected by the smart phone, and comprises the steps of extracting data required by positioning from original data and reducing errors by using methods such as a filtering algorithm and the like; the positioning calculation module is mainly responsible for position matching calculation, performs matching calculation after receiving data transmitted by the smart phone and returns a result; and the display communication module is responsible for data transmission between the server and the smart phone.
The positioning system mainly comprises the following steps.
Step 1: establishing a coordinate system in an indoor area needing positioning, drawing plane information in a grid form on the basis of a plane graph, simultaneously acquiring data in a designed positioning mode for each grid at an actual position corresponding to the indoor area, and processing and storing the acquired data for each grid, namely a positioned coordinate reference point to form a position fingerprint graph of the whole positioning system.
Step 2: the method comprises the steps that a geomagnetic sensor on the smart phone can be used for obtaining a real-time value of a reading of a position where the smart phone is located, when positioning is needed, the smart phone records values of sensors including the geomagnetic sensor at the current moment and sends the values to a server through a network.
And step 3: and the server carries out positioning after receiving the data, and a related matching algorithm is called according to the sent data in the positioning stage. And the matching algorithm calculates and compares the information sent by the smart phone with the information in the position fingerprint database, and finds out a group with the highest matching degree with the information sent by the smart phone in the position fingerprint database according to the matching algorithm, and the group of data is used as the best matching position of the user in the indoor area.
And 4, step 4: and the server returns the result and outputs the result at the mobile phone end.
Further, in step 1, the data acquisition mode mainly includes single-point information acquisition and trajectory information acquisition, wherein the data form of the single-point information is
Where Loc denotes the location of this piece of data on the map, Ori is the direction information of the handset,
the data collected by the triaxial geomagnetic sensor can be collected by one grid to collect geomagnetic field information in different directions. Another positioning method using geomagnetic variation rate includes the following data format: (
,
,
,
) Wherein the modulus of the geomagnetic vector
Calculated by the following formula.
And the geomagnetic variation rate data is calculated by the following formula.
Where i and i +1 represent two adjacent points.
Further, in step 3, the matching algorithm mainly includes a nearest neighbor method based on euclidean distance and a hausdorff distance method.
For Euclidean distance, if the data to be located is: (
) And then, the Euclidean distance between the position fingerprint database and each piece of data in the position fingerprint database is calculated according to the formula.
For the matching of the trajectories, assuming that the data set collected in the smartphone is represented by a and B represents one of the previously collected trajectories, the calculation formula of the hausdorff distance is as follows.
Wherein.
For the above two methods of measuring the correlation degree of Euclidean distance and Hausdorff distance, the minimum value in the calculation result is found out
，
The corresponding points are the result of the positioning.
The invention has the following advantages.
(1) Compared with other indoor positioning methods, no additional equipment needs to be deployed indoors due to the utilization of the naturally-occurring indoor geomagnetic field.
(2) Compared with other indoor positioning methods, the positioning method is simple, a user can acquire the positioning result by acquiring data once, and meanwhile, the positioning method can be matched through the walking track.
(3) The system has wide application range, covers most indoor life scenes in daily life, such as large shopping malls, parking lots, office buildings and the like, and can be used as a feasible alternative scheme when the traditional satellite positioning and base station positioning are influenced by buildings in indoor areas.
(4) The system adopts a C/S architecture, which is beneficial to the deployment and popularization of the application and the updating of the server side.
(5) Practical experiments prove that the system can achieve 85% accuracy under the positioning precision of 1m (the experimental area is a market with the size of about 100m x 40 m).
Drawings
Fig. 1 is a schematic system architecture diagram of an indoor positioning system based on a smartphone and a geomagnetic field.
Fig. 2 is a flow chart of the overall steps of the positioning system.
Fig. 3 is a flow chart of a system location process.
Fig. 4 is a system data processing flow diagram.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
As shown in fig. 2, the overall positioning system has the following steps.
Step 1: the method comprises the steps of obtaining a plan view of an area to be positioned, dividing the area into grids, distinguishing the grids where the areas which cannot pass through such as building walls, facilities and the like are located, and simultaneously dividing possible walking tracks in the indoor area on the plan view according to indoor actual conditions, thereby determining the position and the path of data to be acquired.
Step 2: the smart phone is held in each position to be collected, the smart phone is rotated for one circle while being kept horizontal, geomagnetic field information of the smart phone in different directions is collected, and the group of data represents the geomagnetic information unique to the position. Then move to the next point and then sequentially collect the earth-magnetic field information at all locations.
And step 3: then, the handheld horizontally-placed smart phone walks along a pre-defined track, and geomagnetic data of each step along the way is collected. And sequentially collecting information on all tracks.
And 4, step 4: after geomagnetic information on all tracks is collected, processing is carried out on original data, in order to improve the accuracy of the data and reduce the influence of human factors such as jitter and the like on reading when equipment is held, a plurality of pieces of data can be recorded in one-time collection, therefore, difference filtering is carried out firstly, points with overlarge fluctuation in the data are removed, and the data represented by the median of the residual data is found out.
And 5: calculating the modulus of each geomagnetic vector, wherein the calculation formula is as follows:
。
step 6: calculating the modulus of the geomagnetic vector and the change rate of the geomagnetic vector on three components between adjacent data on each track, in (A), (B), (C), (D), (E
,
,
,
) Is represented by the set of dataThe change of the earth magnetic field on the track. The acquisition of the indoor geomagnetic field information is completed, and the actual positions represented by the sum data constitute the geomagnetic position fingerprint of the indoor area.
And 7: when positioning is carried out, a server side creates a socket, a client side initiates a connection request, and network connection is established between the client side and the created Scoket.
And 8: the smart phone collects real-time geomagnetic field information, and when a 'positioning' button is clicked, data are sent to the server side.
And step 9: the server side selects different positioning calculation methods according to the type of the data,
step 10: for a single piece of geomagnetic data, a piece of data with the minimum distance, namely the highest similarity, is found out by calculating the Euclidean distance between the piece of data and each piece of corresponding geomagnetic fingerprint data, and is used as a positioning result.
Step 11: and for a plurality of pieces of continuously acquired data, calculating the geomagnetic change rate in the process, taking the geomagnetic change rate as a group of data, calculating the data with the data set of each track acquired in advance, finding out a group with the minimum Hausdorff distance, namely a group of data with the highest matching degree, taking the track as a positioning result, and determining the position of the track by the last piece of data acquired on the smart phone.
Step 12: and the server side sends the result to the smart phone, and marks a positioning result in the corresponding area according to the division of the grids in a plan view of the area displayed on the smart phone.
Claims (5)
1. The utility model provides an indoor positioning system based on indoor geomagnetic field information and smart mobile phone which characterized in that: the system comprises a data acquisition module, a data processing module, a positioning calculation module and a communication module; wherein:
the data acquisition module is used for reading readings of various sensors such as a geomagnetic sensor and a direction sensor on the smart phone;
the data processing module is used for processing indoor plane images and sensor readings acquired in advance at different indoor positions, and comprises the steps of carrying out processing, extracting data required for positioning from original data, reducing errors by using methods such as a filtering algorithm and the like, and then storing the data;
the positioning calculation module is used for realizing the calculation of the position and calculating according to a designed matching algorithm between the information acquired in real time and the data stored in the system to obtain a positioning result;
the communication module is used for establishing connection between the smart phone and the server by utilizing WiFi or cellular mobile communication technology to transmit data, and comprises the steps of transmitting data acquired by the smart phone to the server and returning a positioning result to the smart phone.
2. The indoor geomagnetic field information and indoor positioning system of the smart phone according to claim 1, wherein the data acquisition module is specifically: and calling an interface with the function of the smart phone sensor, acquiring real-time readings of the geomagnetic sensor, the direction sensor, the acceleration sensor and the gyroscope on the smart phone, and outputting the result in a text form.
3. The indoor geomagnetic field information and indoor positioning system of a smartphone according to claim 1, wherein the data processing module is characterized by:
establishing a plan view of a region to be positioned, subdividing the region into grids, and setting possible walking paths;
the method comprises the steps of collecting readings of geomagnetic sensors in different directions of the mobile phone on each grid and geomagnetic field information along tracks, removing data with overlarge fluctuation by using a filtering algorithm such as median filtering, calculating a mode of a geomagnetic vector, calculating the change condition of the geomagnetic vector on each track, and storing the data in a database in a gathering mode or in a file in a text mode to serve as a position fingerprint image of a region.
4. The indoor geomagnetic field information and indoor positioning system of a smartphone according to claim 1, wherein the positioning calculation module is characterized by:
a positioning calculation algorithm, wherein a nearest neighbor method based on Euclidean distance and Housdov distance is respectively designed for two positioning methods of point matching and track matching;
and after receiving the real-time geomagnetic information, obtaining a positioning result through a positioning calculation algorithm and returning the positioning result.
5. The indoor geomagnetic field information and indoor positioning system of the smart phone according to claim 1, wherein the positioning method comprises the following steps:
step 1: dividing the area into grids according to a plan view of the area to be positioned;
step 2: collecting geomagnetic field information of the mobile phone in different directions at the central position of each grid, and collecting the geomagnetic field information along a set track;
and step 3: collecting and storing geomagnetic field information at all positions, and associating each piece of data with one piece of position information to prepare a position fingerprint map;
and 4, step 4: when positioning is carried out, the network connection is established between the smart phone and the server, the real-time geomagnetic field information is collected, matching calculation is carried out between the server side and the collected data, and the most possible position result is obtained;
and 5: and the server side sends the result to the smart phone, and marks a positioning result on the smart phone.
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