CN111294746B - Positioning method, device and system - Google Patents

Positioning method, device and system Download PDF

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Publication number
CN111294746B
CN111294746B CN202010080648.XA CN202010080648A CN111294746B CN 111294746 B CN111294746 B CN 111294746B CN 202010080648 A CN202010080648 A CN 202010080648A CN 111294746 B CN111294746 B CN 111294746B
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floor
probability
signal
layer
wireless
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CN111294746A (en
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杨旭
郭嘉斌
刘伟
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Beijing Aibee Technology Co Ltd
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Beijing Aibee Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

The application discloses a positioning method, a device and a system, which are used for positioning floors in a building, wherein the building comprises an F layer, and F is an integer more than or equal to 2; the method comprises the following steps: obtaining a floor Fa from which a wireless signal with the strongest signal comes in the collected wireless signals of the current frame, and obtaining a floor Fb with the largest ratio in N wireless signals before the signal intensity ranking in the wireless signals of the current frame; n is an integer greater than or equal to 2; obtaining a first probability that the wireless signal with the strongest signal received by each floor belongs to the floor Fa, and obtaining a second probability that the wireless signal with the largest ratio in N signals before the signal strength ranking received by each floor belongs to the floor Fb; and determining the positioned floor according to the first probability and the second probability of each floor. The floor is determined by the signal strength ranking first and the N signals before the ranking, and various probabilities are considered from different dimensionalities by combining the probabilities that the signal strength ranking first and the N signals before the ranking of each floor receive the determined floor, so that the finally positioned floor is more accurate.

Description

Positioning method, device and system
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a positioning method, apparatus, and system.
Background
Currently, the positioning of floors is generally a positioning of closed floors, i.e. closed between each floor except for the elevator and stairway areas. The positioning of such floors is relatively simple, since the signal interference between floors is small and negligible.
However, in many buildings, for example, shopping malls, a large number of hollowed-out atrium areas, that is, hollow areas exist, so that the positioning result error generated by using the positioning method for closed floors is large, and the floor positioning accuracy of users in the shopping malls is seriously affected.
Disclosure of Invention
The application provides a positioning method, a positioning device and a positioning system, which can accurately position floors inside a building.
The application provides a positioning method, which is applied to positioning floors in a building, wherein the building comprises an F layer, and F is an integer more than or equal to 2; the method comprises the following steps:
obtaining a floor Fa from which a wireless signal with the strongest signal comes in the collected current frame wireless signals, and obtaining a floor Fb with the largest ratio in N wireless signals before the signal intensity ranking in the current frame wireless signals; n is an integer greater than or equal to 2;
obtaining a first probability that the wireless signal with the strongest signal received by each floor belongs to the floor Fa, and obtaining a second probability that the wireless signal with the largest ratio in N signals before the signal strength ranking received by each floor belongs to the floor Fb;
determining a floor to be located according to the first probability and the second probability of each floor.
Preferably, the determining a floor to be located according to the first probability and the second probability of each floor specifically includes:
obtaining a localization probability for each layer from the first probability and the second probability for the each layer, the localization probability for each layer being positively correlated with the first probability and positively correlated with the second probability;
and determining the floor corresponding to the maximum positioning probability as the positioned floor.
Preferably, the obtaining the positioning probability of each layer according to the first probability and the second probability of each layer specifically includes:
obtaining a product of the first probability and the second probability for each layer;
updating the positioning probability of the previous period of the layer by using the product corresponding to each layer to obtain the updated positioning probability of each layer; the positioning probability of the first period corresponding to each floor is the initialization probability.
Preferably, the method further comprises the following steps:
and judging the time difference of the receiving time of the current frame wireless signal and the receiving time of the previous frame wireless signal, and if the time difference is greater than a preset time period, resetting the positioning probability of each layer to be the initialization probability.
Preferably, the method further comprises the following steps: the method comprises the steps of obtaining the probability that the wireless signal with the strongest received signal of each layer belongs to each layer in advance to obtain a first set;
obtaining a first probability that the wireless signal with the strongest received signal at each floor belongs to the floor Fa, specifically comprising: and obtaining a first probability that each layer of the F layers receives the wireless signal with the strongest signal and belongs to the floor Fa from the first set according to the floor Fa.
Preferably, the obtaining in advance the probability that the wireless signal with the strongest received signal in each layer belongs to each layer specifically includes, for each layer:
collecting M frames of wireless signals on the layer, wherein each frame of wireless signals comprises at least 2 wireless signals; m is a positive integer greater than 2;
obtaining the wireless signal with the strongest signal in each frame of wireless signals in M frames to obtain M wireless signals with the strongest signals;
counting the number of wireless signals belonging to each layer in the M wireless signals with the strongest signals;
the ratio of the number corresponding to each layer to the M is the probability that the wireless signal with the strongest signal received by the layer belongs to each layer.
Preferably, the method further comprises the following steps:
obtaining in advance the probability that the wireless signal with the largest ratio among the N signals before the received signal strength ranking of each layer in the F layer belongs to each layer to obtain a second set;
obtaining a second probability that the wireless signal with the largest ratio among the N signals before the received signal strength rank of each floor belongs to the floor Fb, specifically comprising:
and obtaining a second probability that the wireless signal with the largest ratio in N signals before the signal strength ranking received by each floor belongs to the floor Fb according to the Fb from the second set.
Preferably, the obtaining in advance the probability that the wireless signal with the largest ratio among N signals before the ranking of the received signal strength of each layer in the F layers belongs to each layer specifically includes, for each layer:
collecting M frames of wireless signals on the layer, wherein each frame of wireless signals comprises at least 2 wireless signals; m is a positive integer greater than 2;
obtaining the floor to which the wireless signal with the largest signal intensity in the first N wireless signals of the signal intensity rank belongs;
obtaining the frame number corresponding to each floor in M frames according to the floor to which the wireless signal with the largest ratio belongs in each frame;
and the ratio of the number of frames corresponding to each floor to the M is the probability that the wireless signal with the largest ratio in the N signals before the signal strength ranking of the floor belongs to each floor.
Preferably, the wireless signal is a WIFI signal, a ZigBee signal, or a bluetooth signal.
Preferably, the bluetooth signal is an iBeacon signal.
The application also provides a wireless signal positioning device which is applied to positioning floors in a building, wherein the building comprises an F layer, and F is an integer greater than or equal to 2; the method comprises the following steps:
the first determining unit is used for obtaining a floor Fa from which a wireless signal with the strongest signal comes in the acquired current frame wireless signals and obtaining a floor Fb with the largest signal intensity ratio in the first N wireless signals in the current frame wireless signals; each frame of wireless signals comprises at least two wireless signals; n is an integer greater than or equal to 2;
the obtaining unit is used for obtaining a first probability that the wireless signal with the strongest signal received by each floor belongs to the floor Fa and obtaining a second probability that the wireless signal with the largest ratio in N signals before the signal strength ranking received by each floor belongs to the floor Fb;
and the positioning unit is used for determining the positioned floor according to the first probability and the second probability of each floor.
Preferably, the positioning unit includes:
a positioning subunit, configured to obtain a positioning probability of each layer according to the first probability and the second probability of each layer, where the positioning probability of each layer is positively correlated with the first probability and positively correlated with the second probability;
and determining the floor corresponding to the maximum positioning probability as the positioned floor.
Preferably, the positioning subunit specifically includes:
a product obtaining subunit configured to obtain a product of the first probability and the second probability for each layer;
the updating subunit is configured to update the positioning probability of the previous period by using the product corresponding to each layer, and obtain an updated positioning probability of each layer; the positioning probability of the first period corresponding to each floor is the initialization probability.
Preferably, the method further comprises the following steps:
and the resetting unit is used for judging the time difference between the receiving time of the current frame wireless signal and the receiving time of the previous frame wireless signal, and if the time difference is greater than a preset time period, resetting the positioning probability of each layer to be the initialization probability.
Preferably, the method further comprises the following steps: a first set obtaining unit;
the first set obtaining unit is used for obtaining the probability that the wireless signal with the strongest received signal in each layer belongs to each layer in advance to obtain a first set;
the obtaining unit is specifically configured to obtain, from the first set according to the floor Fa, a first probability that each of the F floors receives the wireless signal with the strongest signal and belongs to the floor Fa.
Preferably, the first set obtaining unit is specifically configured to collect M frames of wireless signals on the layer for each layer, where each frame of wireless signals includes at least 2 wireless signals; m is a positive integer greater than 2; obtaining the wireless signal with the strongest signal in each frame of wireless signals in M frames to obtain M wireless signals with the strongest signals; counting the number of wireless signals belonging to each layer in the M wireless signals with the strongest signals; the ratio of the number corresponding to each layer to the M is the probability that the wireless signal with the strongest signal received by the layer belongs to each layer.
Preferably, the method further comprises the following steps: a second set obtaining unit;
the second set obtaining unit is configured to obtain in advance a probability that a radio signal with a largest ratio among N signals before ranking of the received signal strength of each layer in the F layer belongs to each layer, and obtain a second set;
the obtaining unit is specifically configured to obtain, according to the Fb, a second probability that a radio signal with a largest proportion among N signals before the signal strength ranking received by each floor belongs to the floor Fb from the obtaining second set.
Preferably, the second set obtaining unit is specifically configured to, for each layer, acquire M frames of wireless signals on the layer, where each frame of wireless signals includes at least 2 wireless signals; m is a positive integer greater than 2; obtaining the floor to which the wireless signal with the largest signal intensity in the first N wireless signals of the signal intensity rank belongs; obtaining the frame number corresponding to each floor in M frames according to the floor to which the wireless signal with the largest ratio belongs in each frame; and the ratio of the number of frames corresponding to each floor to the M is the probability that the wireless signal with the largest ratio in the N signals before the signal strength ranking of the floor belongs to each floor.
Preferably, the wireless signal is a WIFI signal, a ZigBee signal, or a bluetooth signal; when wireless signal is the bluetooth signal, specifically be the iBeacon signal.
The application also provides a positioning system which is applied to positioning floors in a building, wherein the building comprises an F layer, and F is an integer more than or equal to 2; the method comprises the following steps: the terminal and the wireless signal transmitter are arranged on each floor, and a plurality of wireless signal transmitters are distributed on each floor;
each wireless signal transmitter is used for transmitting a wireless signal;
the terminal is used for acquiring a floor Fa from which a wireless signal with the strongest signal comes in the acquired current frame wireless signals, and acquiring a floor Fb with the largest signal intensity ratio in the first N wireless signals; n is an integer greater than or equal to 2; obtaining a first probability that the wireless signal with the strongest signal received by each floor belongs to the floor Fa, and obtaining a second probability that the wireless signal with the largest ratio in N signals before the signal strength ranking received by each floor belongs to the floor Fb; determining a floor to be located according to the first probability and the second probability of each floor.
According to the technical scheme, the embodiment of the application has the following advantages:
when the floors are positioned, the floor Fa corresponding to the wireless signal with the strongest single signal in the current wireless signals is comprehensively considered, and the floor Fb with the largest signal intensity ratio in the first N wireless signals in the current wireless signals is considered. And obtaining a first probability that the wireless signal with the strongest signal received by each floor belongs to the floor Fa, obtaining a second probability that the wireless signal with the largest ratio in N signals before the signal strength ranking received by each floor belongs to the floor Fb, and determining the floor to be positioned according to the first probability and the second probability of each floor. According to the method, the floor is determined by the signal strength ranking first signal and the N signals before the ranking, the probability that each floor receives the signal strength ranking first signal and the N probability before the ranking of the determined floor is combined, and various probabilities are considered from different dimensions, so that the finally positioned floor is more accurate.
Drawings
Fig. 1 is a flowchart of a floor positioning method based on iBeacon provided in the present application;
FIG. 2 is a detailed flow chart for obtaining the first set provided herein;
FIG. 3 is a detailed flow chart for obtaining the second set provided herein;
FIG. 4 is a schematic view of an iBeacon-based floor positioning device provided herein;
fig. 5 is a schematic diagram of an iBeacon-based floor positioning system provided in the present application.
Detailed Description
Currently, because many stores have atrium or hollow areas, there is a large difference between the floor location of such stores and the floor location of a closed office building. The office building has no atrium area, the floors are closed, and signals of the floor can not penetrate or penetrate to other floors less. However, for a mall with an entrance, due to the existence of the hollow area, signals between floors can be easily transmitted to other floors, and then the floor positioning of the mall is interfered, so that the floor positioning is inaccurate.
The embodiment of the application aims to solve the technical problems, and provides floor positioning for a building based on the strength of wireless signals and mutual influence among layers. Of course, the scheme provided by the application is also suitable for positioning floors without atrium.
The wireless signal related to the present application may be any one of a WIFI signal, a ZigBee signal, and a bluetooth signal, and is not specifically limited herein.
For convenience of understanding and description, the following embodiments are described by taking the wireless signal as an iBeacon signal in the bluetooth signal as an example.
The hardware that this application is based on is iBeacon receiving terminal that the user carried, and this iBeacon receiving terminal can be any electronic equipment that supports iBeacon signal reception, can be for example cell-phone, wearing equipment etc.. And the iBeacon signal is transmitted by iBeacon transmitters located on various floors. A plurality of iBeacon transmitters can be arranged on each layer, and the specific layout density and number can be determined according to the specific application scenario and the positioning accuracy, which is not specifically limited in the embodiment of the present application.
The method comprises the following steps:
referring to fig. 1, the figure is a flowchart of a positioning method according to an embodiment of the present application.
The positioning method provided by the embodiment is applied to positioning floors in a building, wherein the building comprises F layers, and F is an integer greater than or equal to 2; the method comprises the following steps:
s101: obtaining a floor Fa from which an iBeacon signal with the strongest signal in the collected current frame iBeacon signals comes, and obtaining a floor Fb which accounts for the largest ratio in N iBeacon signals before the signal intensity ranking in the current frame iBeacon signals; each frame of iBeacon signal comprises at least two iBeacon signals;
it should be noted that the device for acquiring the iBeacon signal is an iBeacon receiving terminal carried by the user, for example, a mobile phone.
Each acquired iBeacon signal frame may include a number of iBeacon signals, including 10 iBeacon signals, for example. The strongest one of the 10 iBeacon signals has the Signal Strength, which is generally obtained by using a Received Signal Strength Indication (RSSI), and the RSSI acquisition belongs to a mature technology and is not described herein again. For example, the strongest one of the 10 iBeacon signals is from floor 3, i.e., Fa is 3.
N may be set according to actual needs, for example, when one frame of iBeacon signals includes 10 iBeacon signals, N may be set to 8, or may be set to 5, which is not specifically limited herein. However, N is required to be 2 or more. If N is equal to 1, it corresponds to the iBeacon signal with the strongest signal strength.
The specific obtaining process of the floor Fb occupying the maximum ratio in the iBeacon signals with the signal intensity ranked in the first N in the current frame iBeacon signals is as follows:
first, it is determined whether each floor from the N first ranked iBeacon signals, for example, the iBeacon signals with the signal strength ranked 5 first, 3 from 2 th, 1 from 1 st, and 1 from 3 rd, the floor with the largest ratio is 2 th, and the ratio is 3/5, that is, Fb is 2. And the ratio of the floor 1 and the floor 2 is 1/5.
It should be noted that Fa and Fb determined according to the collected current frame iBeacon signal may be the same floor or different floors, and in this embodiment, Fa and Fb are only used as different floors for example.
S102: obtaining a first probability that the iBeacon signal with the strongest signal received by each floor belongs to the floor Fa, and obtaining a second probability that the iBeacon signal with the largest signal intensity ratio in the N signals before ranking received by each floor belongs to the floor Fb; i.e. one first probability for each layer and one second probability for each layer.
This step is further described by taking Fa as 3 and Fb as 2 as an example. Taking F as 5 as an example, this step is to obtain a first probability that the iBeacon signal with the strongest received signal at each of the 5 floors belongs to the 3 th floor, and also obtain a second probability that the iBeacon signal with the largest signal intensity ratio among N signals ranked before the received signal intensity at each of the 5 floors belongs to the 2 nd floor.
It should be noted that the iBeacon signal with the strongest signal in this step is not obtained by the current frame, but is an iBeacon signal sample collected in advance, and a first probability that the iBeacon signal with the strongest signal received by each floor belongs to each floor is obtained in advance, and a second probability that the iBeacon signal with the largest ratio among N signals before the signal strength ranking received by each floor belongs to each floor is obtained in advance. These are obtained in advance, and S102 is the probability of selecting Fa corresponding to each floor from the probabilities obtained in advance according to the floors determined by Fa and Fb, and the probability of Fb corresponding to each floor.
The method comprises the steps that the iBeacon signal with the strongest signal received by each floor belongs to the first probability of each floor, namely, the first probability exists when the first floor corresponds to the first floor, the first probability exists when the first floor corresponds to the second floor, the first probability exists when the first floor corresponds to the third floor, the first probability exists when the first floor corresponds to the fourth floor, and the first probability exists when the first floor corresponds to the fifth floor. By analogy, the second floor has first probability to the first to fifth floors in proper order, the third floor has first probability to the first to fifth floors in proper order, the fourth floor has first probability to the first to fifth floors in proper order, and the fifth floor has first probability to the first to fifth floors in proper order.
When Fa of S101 is determined to be 3, the first probability obtained in S102 is a probability that the iBeacon signal received by each floor with the strongest signal belongs to the third floor.
Similarly, each floor receives the second probability that the iBeacon signal with the largest ratio in the N signals before the signal intensity ranking belongs to each floor, namely, the first floor has a second probability corresponding to the first floor, the first floor has a second probability corresponding to the second floor, the first floor has a second probability corresponding to the third floor, the first floor has a second probability corresponding to the fourth floor, and the first floor has a second probability corresponding to the fifth floor. By analogy, the second floor has a second probability for the first to fifth floors in sequence, the third floor has a second probability for the first to fifth floors in sequence, the fourth floor has a second probability for the first to fifth floors in sequence, and the fifth floor has a second probability for the first to fifth floors in sequence.
When Fb determined in S101 is 2, the second probability obtained in S102 is the probability that the iBeacon signal, which accounts for the largest ratio among the N signals before the signal strength ranking, received by each floor belongs to the second floor.
S103: determining a floor to be located according to the first probability and the second probability of each floor.
Determining a located floor according to the first probability and the second probability of each floor, which can be specifically realized by the following steps:
obtaining a localization probability for each layer from the first probability and the second probability for the each layer, the localization probability for each layer being positively correlated with the first probability and positively correlated with the second probability;
and determining the floor corresponding to the maximum positioning probability as the positioned floor.
In addition, the positioning can also be performed according to other modes, for example, the first probability and the second probability are weighted respectively and then multiplied, and the positioned floor is determined according to the product. Or the first probability and the second probability are not weighted and are directly multiplied, and the positioned floor is determined according to the product. Or weighting the first probability and the second probability respectively and then adding the weighted probabilities, and determining the positioned floor according to the sum.
One implementation of which is described below.
Obtaining the positioning probability of each layer according to the first probability and the second probability of each layer, specifically comprising:
obtaining a product of the first probability and the second probability for each layer;
updating the positioning probability of the previous period of the layer by using the product corresponding to each layer to obtain the updated positioning probability of each layer; the positioning probability of the first period corresponding to each floor is the initialization probability.
The initialization probabilities corresponding to each floor are the same, that is, it may be preset that the initial positioning probabilities corresponding to each floor are the same, for example, all 1/F, where F is the total number of floors, for example, F is 5, and the initial positioning probabilities of each floor are the same, and all 0.2.
First probability P1 of each floorkAnd a second probability P2k(ii) a First probability P1kAnd a second probability P2kIs P12k。
The positioning probability of each layer is fBook (I)＝fOn the upper part*P12kWherein f isOn the upper partIs the positioning probability of the last period of the background layer, fBook (I)The updated positioning probability of the current layer.
The updated positioning probability is positively correlated with the product of the first probability and the second probability, and the larger the product of the first probability and the second probability is, the larger the updated positioning probability is. And finally, taking the maximum value of the updated positioning probability corresponding to each floor, wherein the floor corresponding to the maximum value is the positioned floor.
According to the method provided by the embodiment of the application, when the floors are positioned, the floor Fa corresponding to the iBeacon signal with the strongest single signal in the current frame iBeacon signal is comprehensively considered, and the floor Fb with the largest ratio in the N iBeacon signals before the signal intensity ranking in the current frame iBeacon signal is considered. And determining the floor to be positioned according to the first probability and the second probability of each floor, wherein the first probability is obtained in advance that the iBeacon signal with the strongest signal received by each floor in the F layer belongs to the floor Fa, and the second probability is obtained in advance that the iBeacon signal with the largest signal intensity in the N signals before the signal intensity ranking in the F layer belongs to the floor Fb. According to the method, the floor is determined by the signal strength ranking first signal and the N signals before the ranking, the probability that each floor receives the signal strength ranking first signal and the N probability before the ranking of the determined floor is combined, and various probabilities are considered from different dimensions, so that the finally positioned floor is more accurate.
The positioning method provided by the application considers a plurality of factors when positioning, so that the inaccuracy caused by only one factor when determining the positioning result can be avoided, one factor is easy to cause a problem, when making mistakes, the positioning result can be made mistakes, and the plurality of factors in the application can not make mistakes at the same time generally, so that the comprehensive error rate is lower, and the accuracy of the positioning result can be ensured.
The following mainly describes the acquisition process of the first probability and the second probability in S102.
The first probability is obtained by searching according to the floor Fa from a first set obtained in advance, and the first set is a probability set. The second probability is found from a second set obtained in advance according to the floor Fb, the second set being another probability set.
Accordingly, the method may further comprise:
the probability that the wireless signal with the strongest received signal of each layer belongs to each layer is obtained in advance, and a first set is obtained. Taking a wireless signal as an iBeacon as an example, namely, obtaining in advance the probability that the iBeacon signal with the strongest signal received by each floor in the F layer belongs to each layer in the F layer respectively to obtain a first set;
for example, if F is 5, the probability that the iBeacon signal with the strongest signal received by each of the 5 layers belongs to the first layer, the second layer, the third layer, the fourth layer, and the fifth layer needs to be obtained in advance through the acquired sample data. That is, the first set obtained includes a total of 5 × 5 — 25 probabilities. Each layer corresponds to 5 probabilities.
And obtaining a first probability that the iBeacon signal with the strongest signal received by each floor in the F layer belongs to the floor Fa from the first set according to the floor Fa.
Continuing with Fa as layer 3 as an example, S202 obtains a first probability that the iBeacon signal with the strongest signal received by each layer in the 5-layer building belongs to layer 3, that is, a probability that the iBeacon signal with the strongest signal received by each layer comes from layer 3. A total of 5 probabilities are obtained, one first probability for each layer.
The specific acquisition process of the first set is described below.
Referring to fig. 2, a detailed flow chart for obtaining the first set is shown.
The following method is suitable for each layer, namely the method for obtaining the corresponding first probability of each layer is the same, the first probability of the first layer is obtained, 5 layers are obtained, the first layer corresponds to 5 first probabilities, and M frames of iBeacon signals need to be collected in the first layer in advance. For example, for the first layer, the first probability of the first layer is obtained using M frames of iBeacon signals acquired at the first layer. And analogizing in sequence, and respectively collecting M frames of iBeacon signals on each layer.
The method for obtaining the probability that the iBeacon signal with the strongest received signal in each layer of the F layer belongs to each layer of the F layer is the same, and the method for obtaining the probability that the iBeacon signal with the strongest received signal in each layer belongs to each layer is described in this embodiment by taking one layer as an example.
For each layer, specifically comprising:
s2011: acquiring M frames of iBeacon signals on the layer, wherein each frame of iBeacon signal comprises at least 2 iBeacon signals; m is a positive integer greater than 2;
it should be noted that the first probability of each layer is obtained in advance, and is directly used by querying the first probability in the positioning. For example, after the first probability of each layer is obtained in advance, the corresponding relationship between each layer and the first probability may be stored, and the first probability may be directly searched for use when the positioning is to be performed. The format of the pre-collected M frame data is similar to that of the current frame iBeacon signal, and is not described herein again.
It should be noted that M-frame iBeacon signals are obtained in each layer, and specifically, the M-frame iBeacon signals may be acquired at different positions of the layer, and the acquisition time of each frame may be the same or different. For example, the acquisition time of each frame is greater than 1 minute, and the length of each frame of data may be equal or unequal. The number of iBeacon signals included in each frame may be equal or unequal. All of the above applications are not specifically limited, and can be set according to actual needs.
S2012: obtaining the iBeacon signal with the strongest signal in each frame of iBeacon signals in M frames to obtain the iBeacon signals with the strongest M signals;
s2013: counting the number of each layer in the iBeacon signals with the strongest M signals;
s2014: the ratio of the number corresponding to each layer to M is the probability that the iBeacon signal with the strongest signal received by the layer belongs to each layer.
The following specifically exemplifies the implementation process of S2012-S2014.
For example, taking the first floor as an example, if M is 100, 100 frames of data are collected in the first floor, and each frame includes an iBeacon signal with the strongest signal, so that the number a of iBeacon signals from the first floor, the number b of second floor, the number c of third floor, the number d of fourth floor, and the number e of fifth floor in 100 iBeacon signals with the strongest signal need to be counted. Then, the first probabilities of the first layer corresponding to the first to fifth layers are a/100, b/100, c/100, d/100, e/100, respectively.
And the first probabilities corresponding to other floors are analogized, and are not described herein again.
The specific procedure for obtaining the second probability is described below.
The second probability is found from a second set obtained in advance by searching the floor Fb, and the process of obtaining the second set is described below.
Accordingly, the method may further comprise: obtaining the probability that the iBeacon signal with the largest ratio in N signals before the received signal strength ranking of each layer in the F layers belongs to each layer in advance to obtain a second set;
and obtaining a second probability that the iBeacon signal with the largest ratio in N signals before the signal strength ranking received by each floor belongs to the floor Fb according to the Fb and the second set.
The process of obtaining the second set is described in more detail below in conjunction with fig. 3.
Referring to fig. 3, a detailed flow chart for obtaining the second set is provided herein.
Obtaining the probability that the largest iBeacon signal in N signals before the received signal strength ranking of each layer in the F layer belongs to each layer, and specifically comprising the following steps for each layer:
s401: acquiring M frames of iBeacon signals in the layer, wherein each frame of iBeacon signal comprises at least 2 iBeacon signals; m is a positive integer greater than 2;
continue to take M as 100.
S401: obtaining a floor to which the iBeacon with the largest ratio belongs in N iBeacon signals before the signal intensity ranking in each frame of iBeacon signals;
for example, if 5 of the iBeacon signals ranked 8 first in signal strength in the first frame are from the second floor, 2 are from the first floor, and 1 is from the third floor, the floor corresponding to the largest floor with the ratio of 5/8 is the second floor. By analogy, each frame corresponds to one occupation ratio which is the largest, and 100 frames correspond to 100 occupation ratios.
S401: obtaining the frame number corresponding to each floor in the M frames according to the floor to which the iBeacon with the largest proportion belongs in each frame;
for example, 100 accounts correspond to 80 for the second floor, 10 for the first floor, 8 for the third floor, 2 for the fourth floor, and 0 for the fifth floor.
S401: the ratio of the number of frames corresponding to each floor to M is the probability that the iBeacon signal which occupies the largest ratio in the N signals before the signal strength ranking of the floor belongs to each floor.
The probability P2 that the iBeacon signal with the largest ratio in the N signals before the signal strength ranking in the layer belongs to the layers 1-5 respectivelykComprises the following steps: p21＝10/100＝0.1、P2280/100＝0.8、P23＝8/100＝0.08、P24＝2/100＝0.02、P25＝0/100＝0。
The above is only described by taking any one of the layers as an example, and the probability obtaining process of each layer is similar, which is not described herein again.
The corresponding positioning probability of each floor is f during the positioningBook (I)＝fOn the upper part*P12k(ii) a Obtaining f of each layerBook (I)Five stories can obtain 5 fBook (I)The value of (c). Wherein f isBook (I)The floor corresponding to the maximum value of (a) is the floor to be positioned, for example, f of the second floorBook (I)And if the floor is maximum, the second floor is determined as a floor.
In addition, in order to avoid the updated positioning probability from falling into a local extreme value, the positioning probability of each floor is initialized and reset at intervals of a preset time period.
During positioning, the time difference between the receiving time of the current frame wireless signal and the receiving time of the previous frame wireless signal needs to be judged, and if the time difference is greater than a preset time period, the positioning probability of each layer is reset to be the preset initialization probability. The positioning probabilities of the first periods are the same, as already described above. The preset time period may be set according to needs, and is not particularly limited in the embodiment of the present application, and may be, for example, several seconds (3s to 8s), and may be, for example, 3 s.
Based on the positioning method provided by the implementation, the application also provides a positioning device, which is described in detail below with reference to the accompanying drawings.
Referring to fig. 4, a schematic view of a positioning device provided herein is shown.
In this embodiment, a wireless signal is also taken as iBeacon for example.
The positioning device provided by the embodiment of the application is applied to positioning floors in a building, wherein the building comprises an F layer, and F is an integer greater than or equal to 2; the method comprises the following steps:
the first determining unit 601 is configured to obtain a floor Fa from which an iBeacon signal with the strongest signal in the acquired current frame iBeacon signals comes, and obtain a floor Fb occupying the largest ratio in N iBeacon signals before the signal intensity ranking in the current frame iBeacon signals; each frame of iBeacon signal comprises at least two iBeacon signals; n is an integer greater than or equal to 2;
an obtaining unit 602, configured to obtain a first probability that the iBeacon signal with the strongest signal received at each floor belongs to the floor Fa, and obtain a second probability that the iBeacon signal with the largest ratio among N signals before ranking of the signal strength received at each floor belongs to the floor Fb;
a positioning unit 603 configured to determine a floor to be positioned according to the first probability and the second probability of each floor.
The device that this application embodiment provided, when fixing a position the floor, the floor Fa that the strongest iBeacon signal of single signal corresponds in the current frame iBeacon signal has been considered in the synthesis, has considered again to account for than the biggest floor Fb in the N iBeacon signal before signal strength rank in the current frame iBeacon signal. And determining the floor to be positioned according to the first probability and the second probability of each floor, wherein the first probability is obtained in advance that the iBeacon signal with the strongest signal received by each floor in the F layer belongs to the floor Fa, and the second probability is obtained in advance that the iBeacon signal with the largest signal intensity in the N signals before the signal intensity ranking in the F layer belongs to the floor Fb. According to the method, the floor is determined by the signal strength ranking first signal and the N signals before the ranking, the probability that each floor receives the signal strength ranking first signal and the N probability before the ranking of the determined floor is combined, and various probabilities are considered from different dimensions, so that the finally positioned floor is more accurate.
The utility model provides a plurality of factors have been considered when the location to positioner, from can avoiding only confirming the inaccuracy when fixing a position the result with a factor, a factor goes wrong easily, when makeing mistakes, the location result just can make mistakes, and a plurality of factors in this application generally can not make mistakes simultaneously, consequently, the comprehensive error rate is lower to can guarantee the accuracy of location result.
The positioning unit includes:
a positioning subunit, configured to obtain a positioning probability of each layer according to the first probability and the second probability of each layer, where the positioning probability of each layer is positively correlated with the first probability and positively correlated with the second probability;
and determining the floor corresponding to the maximum positioning probability as the positioned floor.
The positioning subunit specifically includes:
a product obtaining subunit configured to obtain a product of the first probability and the second probability for each layer;
the updating subunit is configured to update the positioning probability of the previous period by using the product corresponding to each layer, and obtain an updated positioning probability of each layer; the positioning probability of the first period corresponding to each floor is the initialization probability.
Further comprising:
and the resetting unit is used for judging the time difference between the receiving time of the current frame wireless signal and the receiving time of the previous frame wireless signal, and if the time difference is greater than a preset time period, resetting the positioning probability of each layer to be the initialization probability.
Further comprising: a first set obtaining unit;
the first set obtaining unit is used for obtaining the probability that the wireless signal with the strongest received signal in each layer belongs to each layer in advance to obtain a first set;
the obtaining unit is specifically configured to obtain, from the first set according to the floor Fa, a first probability that each of the F floors receives the wireless signal with the strongest signal and belongs to the floor Fa.
The first set obtaining unit is specifically used for collecting M frames of wireless signals on the layer for each layer, and each frame of wireless signals comprises at least 2 wireless signals; m is a positive integer greater than 2; obtaining the wireless signal with the strongest signal in each frame of wireless signals in M frames to obtain M wireless signals with the strongest signals; counting the number of iBeacon signals belonging to each layer in the M wireless signal iBeacon signals with the strongest signals; the ratio of the number corresponding to each layer to the M is the probability that the wireless signal with the strongest signal received by the layer belongs to each layer.
Further comprising: a second set obtaining unit;
the second set obtaining unit is configured to obtain in advance a probability that a radio signal with a largest ratio among N signals before ranking of the received signal strength of each layer in the F layer belongs to each layer, and obtain a second set;
the obtaining unit is specifically configured to obtain, according to the Fb, a second probability that a radio signal with a largest proportion among N signals before the signal strength ranking received by each floor belongs to the floor Fb from the obtaining second set.
The second set obtaining unit is specifically used for collecting M frames of wireless signals on the layer for each layer, and each frame of wireless signals comprises at least 2 wireless signals; m is a positive integer greater than 2; obtaining the floor to which the wireless signal with the largest signal intensity in the first N wireless signals of the signal intensity rank belongs; obtaining the frame number corresponding to each floor in M frames according to the floor to which the wireless signal with the largest ratio belongs in each frame; and the ratio of the number of frames corresponding to each floor to the M is the probability that the wireless signal with the largest ratio in the N signals before the signal strength ranking of the floor belongs to each floor.
The wireless signal is a WIFI signal, a ZigBee signal or a Bluetooth signal; when wireless signal is the bluetooth signal, specifically be the iBeacon signal.
Since the positioning apparatus and the positioning method introduced in the method embodiment correspond to each other, the specific implementation process is not described herein again, and specific details may be referred to the description of the method embodiment.
Based on the positioning method and device provided by the implementation, the application also provides a positioning system, which is described in detail below with reference to the accompanying drawings.
Referring to fig. 5, a schematic diagram of a positioning system provided herein is shown.
The positioning system provided by the embodiment is applied to positioning floors in a building, wherein the building comprises F layers, and F is an integer greater than or equal to 2; the method comprises the following steps: the system comprises a terminal 701 and iBeacon transmitters arranged on each floor, wherein a plurality of iBeacon transmitters are distributed on each floor;
each iBeacon transmitter is used for transmitting an iBeacon signal;
continuing with the example of a building including 5 floors, iBeacon transmitters 702 in the figure represent all iBeacon transmitters disposed on the first floor, and so on, 703 represents all iBeacon transmitters disposed on the second floor, 704 represents all iBeacon transmitters disposed on the third floor, 705 represents all iBeacon transmitters disposed on the fourth floor, and 706 represents all iBeacon transmitters disposed on the fifth floor.
The terminal 701 is used for obtaining a floor Fa from which an iBeacon signal with the strongest signal in the collected current frame iBeacon signals comes, and obtaining a floor Fb which accounts for the largest ratio in N iBeacon signals before the signal intensity ranking in the current frame iBeacon signals; n is an integer greater than or equal to 2; and obtaining a first probability that the iBeacon signal with the strongest signal received by each floor belongs to the floor Fa, obtaining a second probability that the iBeacon signal with the largest signal intensity ratio in the N signals before the signal intensity ranking received by each floor belongs to the floor Fb, and determining the floor to be positioned according to the first probability and the second probability of each floor.
According to the method provided by the embodiment of the application, when the floors are positioned, the floor Fa corresponding to the iBeacon signal with the strongest single signal in the current frame iBeacon signal is comprehensively considered, and the floor Fb with the largest ratio in the N iBeacon signals before the signal intensity ranking in the current frame iBeacon signal is considered. And determining the floor to be positioned according to the first probability and the second probability of each floor, wherein the first probability is obtained in advance that the iBeacon signal with the strongest signal received by each floor in the F layer belongs to the floor Fa, and the second probability is obtained in advance that the iBeacon signal with the largest signal intensity in the N signals before the signal intensity ranking in the F layer belongs to the floor Fb. According to the method, the floor is determined by the signal strength ranking first signal and the N signals before the ranking, the probability that each floor receives the signal strength ranking first signal and the N probability before the ranking of the determined floor is combined, and various probabilities are considered from different dimensions, so that the finally positioned floor is more accurate.
The positioning method provided by the application considers a plurality of factors when positioning, and can avoid the inaccuracy when determining the positioning result only by one factor, one factor is easy to go wrong, when making mistakes, the positioning result can be made mistakes, and a plurality of factors in the application can not make mistakes at the same time generally, so that the comprehensive error rate is lower, and the accuracy of the positioning result can be ensured.
Since the system corresponds to the positioning apparatus and the method described above one to one, the specific implementation process is not described herein again, and specific details may be referred to in the description of the method embodiment.
In the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (16)

1. The positioning method is characterized by being applied to positioning floors in a building, wherein the building comprises F layers, and F is an integer greater than or equal to 2; the method comprises the following steps:
obtaining a floor Fa from which a wireless signal with the strongest signal comes in the collected current frame wireless signals, and obtaining a floor Fb with the largest ratio in N wireless signals before the signal intensity ranking in the current frame wireless signals; n is an integer greater than or equal to 2;
the method comprises the steps of obtaining the probability that the wireless signal with the strongest received signal of each layer belongs to each layer in advance to obtain a first set; the probability that the wireless signal with the largest ratio in N signals before ranking of the received signal strength of each layer belongs to each layer is obtained in advance, and a second set is obtained;
obtaining a first probability that the wireless signal with the strongest received signal of each floor belongs to the floor Fa from the first set according to the floor Fa, and obtaining a second probability that the wireless signal with the largest proportion among N signals before the signal strength ranking of each floor belongs to the floor Fb from the second set according to the floor Fb;
determining a floor to be located according to the first probability and the second probability of each floor.
2. The method according to claim 1, wherein the determining the located floor according to the first probability and the second probability of each floor comprises:
obtaining a localization probability for each layer from the first probability and the second probability for the each layer, the localization probability for each layer being positively correlated with the first probability and positively correlated with the second probability;
and determining the floor corresponding to the maximum positioning probability as the positioned floor.
3. The method according to claim 2, wherein the obtaining the positioning probability of each layer according to the first probability and the second probability of each layer specifically comprises:
obtaining a product of the first probability and the second probability for each layer;
updating the positioning probability of the previous period of the layer by using the product corresponding to each layer to obtain the updated positioning probability of each layer; the positioning probability of the first period corresponding to each floor is the initialization probability.
4. The method of claim 3, further comprising:
and judging the time difference of the receiving time of the current frame wireless signal and the receiving time of the previous frame wireless signal, and if the time difference is greater than a preset time period, resetting the positioning probability of each layer to be the initialization probability.
5. The method according to claim 1, wherein the pre-obtaining the probability that the radio signal with the strongest signal received at each layer belongs to each layer comprises, for each layer:
collecting M frames of wireless signals on the layer, wherein each frame of wireless signals comprises at least 2 wireless signals; m is a positive integer greater than 2;
obtaining the wireless signal with the strongest signal in each frame of wireless signals in M frames to obtain M wireless signals with the strongest signals;
counting the number of wireless signals belonging to each layer in the M wireless signals with the strongest signals;
the ratio of the number corresponding to each layer to the M is the probability that the wireless signal with the strongest signal received by the layer belongs to each layer.
6. The method according to claim 1, wherein the obtaining in advance the probability that the radio signal with the largest ratio among N signals before the received signal strength ranking in each of the F layers belongs to each layer specifically includes, for each layer:
collecting M frames of wireless signals on the layer, wherein each frame of wireless signals comprises at least 2 wireless signals; m is a positive integer greater than 2;
obtaining the floor to which the wireless signal with the largest signal intensity in the first N wireless signals of the signal intensity rank belongs;
obtaining the frame number corresponding to each floor in M frames according to the floor to which the wireless signal with the largest ratio belongs in each frame;
and the ratio of the number of frames corresponding to each floor to the M is the probability that the wireless signal with the largest ratio in the N signals before the signal strength ranking of the floor belongs to each floor.
7. The method of any one of claims 1-4, wherein the wireless signal is a WIFI signal, a ZigBee signal, or a Bluetooth signal.
8. The method of claim 7, wherein the Bluetooth signal is an iBeacon signal.
9. A wireless signal positioning device is applied to positioning floors in a building, wherein the building comprises F layers, and F is an integer greater than or equal to 2; the method comprises the following steps:
the first determining unit is used for obtaining a floor Fa from which a wireless signal with the strongest signal comes in the acquired current frame wireless signals and obtaining a floor Fb with the largest signal intensity ratio in the first N wireless signals in the current frame wireless signals; each frame of wireless signals comprises at least two wireless signals; n is an integer greater than or equal to 2;
a first set obtaining unit, configured to obtain in advance probabilities that the wireless signal with the strongest received signal in each layer belongs to each layer, and obtain a first set;
a second set obtaining unit, configured to obtain in advance probabilities that radio signals with the largest ratio among N signals before ranking of received signal strength of each layer belong to each layer, and obtain a second set;
an obtaining unit, configured to obtain, according to the floor Fa, a first probability that a wireless signal with a strongest received signal at each floor belongs to the floor Fa from the first set, and obtain, according to the floor Fb, a second probability that a wireless signal with a largest ratio among N signals before ranking of the received signal strength at each floor belongs to the floor Fb from the second set;
and the positioning unit is used for determining the positioned floor according to the first probability and the second probability of each floor.
10. The apparatus of claim 9, wherein the positioning unit comprises:
a positioning subunit, configured to obtain a positioning probability of each layer according to the first probability and the second probability of each layer, where the positioning probability of each layer is positively correlated with the first probability and positively correlated with the second probability;
and determining the floor corresponding to the maximum positioning probability as the positioned floor.
11. The device according to claim 10, wherein the positioning subunit comprises:
a product obtaining subunit configured to obtain a product of the first probability and the second probability for each layer;
the updating subunit is configured to update the positioning probability of the previous period by using the product corresponding to each layer, and obtain an updated positioning probability of each layer; the positioning probability of the first period corresponding to each floor is the initialization probability.
12. The apparatus of claim 11, further comprising:
and the resetting unit is used for judging the time difference between the receiving time of the current frame wireless signal and the receiving time of the previous frame wireless signal, and if the time difference is greater than a preset time period, resetting the positioning probability of each layer to be the initialization probability.
13. The apparatus according to claim 9, wherein the first set obtaining unit is configured to, for each layer, specifically collect M frames of wireless signals in the layer, where each frame of wireless signals includes at least 2 wireless signals; m is a positive integer greater than 2; obtaining the wireless signal with the strongest signal in each frame of wireless signals in M frames to obtain M wireless signals with the strongest signals; counting the number of wireless signals belonging to each layer in the M wireless signals with the strongest signals; the ratio of the number corresponding to each layer to the M is the probability that the wireless signal with the strongest signal received by the layer belongs to each layer.
14. The apparatus according to claim 9, wherein the second set obtaining unit is configured to, for each layer, specifically collect M frames of wireless signals in the layer, where each frame of wireless signals includes at least 2 wireless signals; m is a positive integer greater than 2; obtaining the floor to which the wireless signal with the largest signal intensity in the first N wireless signals of the signal intensity rank belongs; obtaining the frame number corresponding to each floor in M frames according to the floor to which the wireless signal with the largest ratio belongs in each frame; and the ratio of the number of frames corresponding to each floor to the M is the probability that the wireless signal with the largest ratio in the N signals before the signal strength ranking of the floor belongs to each floor.
15. The device of any one of claims 9-12, wherein the wireless signal is a WIFI signal, a ZigBee signal, or a bluetooth signal; when wireless signal is the bluetooth signal, specifically be the iBeacon signal.
16. The positioning system is applied to positioning floors in a building, wherein the building comprises F layers, and F is an integer greater than or equal to 2; the method comprises the following steps: the terminal and the wireless signal transmitter are arranged on each floor, and a plurality of wireless signal transmitters are distributed on each floor;
each wireless signal transmitter is used for transmitting a wireless signal;
the terminal is used for acquiring a floor Fa from which a wireless signal with the strongest signal comes in the acquired current frame wireless signals, and acquiring a floor Fb with the largest signal intensity ratio in the first N wireless signals; n is an integer greater than or equal to 2; the method comprises the steps of obtaining the probability that the wireless signal with the strongest received signal of each layer belongs to each layer in advance to obtain a first set; the probability that the wireless signal with the largest ratio in N signals before ranking of the received signal strength of each layer belongs to each layer is obtained in advance, and a second set is obtained; obtaining a first probability that the wireless signal with the strongest received signal of each floor belongs to the floor Fa from the first set according to the floor Fa, and obtaining a second probability that the wireless signal with the largest proportion among N signals before the signal strength ranking of each floor belongs to the floor Fb from the second set according to the floor Fb; determining a floor to be located according to the first probability and the second probability of each floor.
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