CN111988728A - Indoor positioning method, device and equipment based on position fingerprint and storage medium - Google Patents
Indoor positioning method, device and equipment based on position fingerprint and storage medium Download PDFInfo
- Publication number
- CN111988728A CN111988728A CN201910422892.7A CN201910422892A CN111988728A CN 111988728 A CN111988728 A CN 111988728A CN 201910422892 A CN201910422892 A CN 201910422892A CN 111988728 A CN111988728 A CN 111988728A
- Authority
- CN
- China
- Prior art keywords
- fingerprint
- information
- real
- fingerprint information
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- 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 invention discloses an indoor positioning method, device, equipment and storage medium based on position fingerprints, wherein the positioning method comprises the following steps: acquiring real-time fingerprint information acquired by equipment to be positioned; acquiring first fingerprint information corresponding to each piece of position information in a position fingerprint comparison table according to the established position fingerprint data set; searching real-time position information corresponding to the real-time fingerprint information in the position fingerprint comparison table to obtain the position of the equipment to be positioned; and according to a preset probability threshold value, randomly replacing one of the plurality of pieces of second fingerprint information corresponding to the real-time position information in the position fingerprint data set by the real-time position fingerprint information. According to the indoor positioning method based on the position fingerprints, provided by the invention, the position fingerprint data set is continuously optimized to be closer to the corresponding relation of the position/fingerprint information of the actual environment, the influence of information fluctuation caused by indoor multipath effect is corrected, and the indoor positioning precision can be effectively improved.
Description
Technical Field
The invention relates to the field of indoor positioning, in particular to an indoor positioning method, device, equipment and storage medium based on position fingerprints.
Background
The GPS positioning technology provides great convenience for people to eat and live, and changes people's life outdoors from various aspects such as vehicle navigation, route planning, fire rescue positioning and the like. However, in an indoor environment, the attenuation level of the GPS signal is extremely weak, and indoor positioning cannot be performed, so that people begin to research indoor positioning technology.
Fingerprint positioning technology and calculation model positioning technology are two common indoor positioning technologies, wherein the fingerprint positioning technology is the current hot indoor positioning technology. Fingerprinting techniques generally record the signal strength values at each feature location in advance and categorize the user's real-time signal strength values to the locations corresponding to the records closest to the recorded values. In the existing wireless fingerprint positioning technology, a signal intensity value of a user is acquired in real time through a plurality of Access Points (APs) and is matched with data in a position fingerprint database to obtain a user position. The multipath effect is serious in the indoor environment, so that the fluctuation of the acquired signal strength is large. At the same time, the user signal strength is only matched with the single signal strength of each position, and the change information of the environment signal is ignored. Therefore, the error generated by indoor positioning according to the existing fingerprint positioning method is large.
The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
In view of the above, the present invention provides an indoor positioning method, apparatus, device and storage medium based on location fingerprint.
Additional features and advantages of the invention will be set forth in the detailed description which follows, or may be learned by practice of the invention.
According to an aspect of the present invention, there is provided an indoor positioning method based on location fingerprints, including: acquiring real-time fingerprint information acquired by equipment to be positioned; acquiring first fingerprint information corresponding to each piece of position information in a position fingerprint comparison table according to the established position fingerprint data set; wherein the location fingerprint data set includes a plurality of pieces of second fingerprint information respectively corresponding to the location information; the position fingerprint comparison table comprises a plurality of pieces of position fingerprint data, and each piece of position fingerprint data comprises the position information and the first fingerprint information corresponding to the position information; searching real-time position information corresponding to the real-time fingerprint information in the position fingerprint comparison table to obtain the position of the equipment to be positioned; and according to a preset probability threshold value, randomly replacing one of the second fingerprint information corresponding to the real-time position information in the position fingerprint data set by the real-time fingerprint information.
According to an embodiment of the present invention, obtaining, from the location fingerprint data set, first fingerprint information corresponding to each location information in a location fingerprint comparison table includes: averaging the second fingerprint information corresponding to the position information in the position fingerprint data set respectively to obtain the first fingerprint information corresponding to the position information in the position fingerprint comparison table respectively.
According to an embodiment of the present invention, the indoor positioning method based on location fingerprint further includes: respectively acquiring and storing the plurality of pieces of second fingerprint information acquired from the positions corresponding to the N pieces of position information to obtain a fingerprint information training set; classifying and position labeling the second fingerprint information in the fingerprint information training set according to the position information to establish the position fingerprint data set; the second fingerprint information collected from each position is M, N is an integer larger than 1, and M is an integer larger than 1.
According to an embodiment of the present invention, the second fingerprint information is vector data obtained by collecting P signals transmitted by P signal transmitting devices, where P is an integer greater than 0.
According to an embodiment of the present invention, classifying the second fingerprint information in the fingerprint information training set according to each of the position information includes: and classifying the second fingerprint information in the fingerprint information training set by adopting a K-means clustering method according to the position information.
According to an embodiment of the present invention, randomly replacing one of the plurality of pieces of second fingerprint information corresponding to the real-time location information in the location fingerprint data set with the real-time fingerprint information according to a preset probability threshold includes: generating a random number; determining whether the random number is less than the probability threshold; and when the random number is smaller than the probability threshold, randomly replacing one of the plurality of pieces of second fingerprint information corresponding to the real-time position information in the position fingerprint data set by the real-time fingerprint information.
According to an embodiment of the present invention, the real-time fingerprint information, the first fingerprint information, and the second fingerprint information include: received signal strength and/or communication signal multipath structure.
According to another aspect of the present invention, there is provided an indoor positioning device based on location fingerprint, comprising: the information acquisition module is used for acquiring real-time fingerprint information acquired by equipment to be positioned; the information comparison module is used for acquiring first fingerprint information corresponding to each position information in the position fingerprint comparison table according to the established position fingerprint data set; wherein the location fingerprint data set includes a plurality of pieces of second fingerprint information respectively corresponding to the location information; the position fingerprint comparison table comprises a plurality of pieces of position fingerprint data, and each piece of position fingerprint data comprises the position information and the first fingerprint information corresponding to the position information; the positioning query module is used for searching the real-time position information corresponding to the real-time fingerprint information in the position fingerprint comparison table to obtain the position of the equipment to be positioned; and the information updating module is used for randomly replacing one of the second fingerprint information corresponding to the real-time position information in the position fingerprint data set by the real-time fingerprint information according to a preset probability threshold value.
According to still another aspect of the present invention, there is provided an electronic apparatus including: a memory, a processor, and executable instructions stored in the memory and executable in the processor, wherein the processor implements any of the above methods when executing the executable instructions.
According to yet another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon computer-executable instructions, wherein the executable instructions, when executed by a processor, implement any of the above-described methods.
According to the indoor positioning method based on the position fingerprints, provided by the invention, first fingerprint information in a position fingerprint comparison table for real-time positioning is obtained according to an established position fingerprint data set, so that the accuracy of real-time positioning can be improved; and then, according to a preset probability threshold value, one of a plurality of pieces of second fingerprint information corresponding to the real-time position information in the position fingerprint data set is randomly replaced by the real-time fingerprint information, the position fingerprint data set is continuously optimized to be closer to the corresponding relation of the position/fingerprint information of the actual environment, the influence of information fluctuation caused by indoor multipath effect is corrected, and the indoor positioning precision can be effectively improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 is a flowchart illustrating a method for indoor location based on location fingerprints according to an exemplary embodiment.
Fig. 2 is a flowchart illustrating another indoor location method based on location fingerprints according to an example embodiment.
FIG. 3 is a diagram illustrating obtaining a location fingerprint lookup table according to an example embodiment.
Fig. 4 is a diagram illustrating indoor positioning based on a location fingerprint comparison table according to an example embodiment.
FIG. 5 is a schematic diagram illustrating updating a location fingerprint data set based on real-time fingerprint information, according to an example embodiment.
FIG. 6 is a block diagram illustrating a location fingerprint based indoor positioning device, according to an example embodiment.
Fig. 7 is a schematic structural diagram of an electronic device according to an example embodiment.
Description of reference numerals:
x-random number
Omega-preset probability threshold
Y～YES
N～NO
Ex～Exhaust
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, apparatus, steps, and so forth. In other instances, well-known structures, methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
As described above, in the existing wireless fingerprint positioning technology, the signal strength values of the users are collected in real time through a plurality of access points, and the signal strength values are matched with data in the location fingerprint database to obtain the location of the user. The multipath effect is serious in the indoor environment, so that the fluctuation of the acquired signal strength is large. Meanwhile, only the signal intensity of the user is matched with the single signal intensity of each position, and the change information of the environmental signal is ignored, so that the error generated by indoor positioning according to the existing fingerprint positioning mode is larger.
Therefore, the invention provides the indoor positioning method based on the position fingerprints and combined with the unsupervised machine learning technology, and the indoor positioning precision is improved. On one hand, the key step of the unsupervised machine learning technology is off-line learning, and the method can directly use the trained position fingerprint data set for positioning, thereby ensuring the speed of data operation; preferably, the off-line training process comprises a data updating link, the influence of the indoor environment multipath effect is corrected, and the indoor positioning precision can be effectively improved.
Fig. 1 is a flowchart illustrating a method for indoor location based on location fingerprints according to an exemplary embodiment. The indoor positioning method based on location fingerprints as shown in fig. 1 may be applied to a server side, for example.
Referring to fig. 1, the indoor positioning method 10 based on location fingerprint includes:
in step S102, real-time fingerprint information collected by a device to be positioned is acquired.
For example, at least one signal transmitting device may be disposed indoors to transmit wireless signals (e.g., WiFi wireless signals). And the equipment to be positioned receives the wireless signal and collects real-time fingerprint information from the wireless signal. The device to be positioned may be, for example, a handheld terminal device, including an intelligent terminal device (such as a smart phone, a notebook computer, a netbook, a tablet computer, and the like). The device to be positioned can be in communication connection with the server end so as to send the acquired real-time fingerprint information to the server end. In some embodiments, the real-time fingerprint information may include Received Signal Strength RSS (Received Signal Strength) from a Signal transmitting device (e.g., an AP) and/or multipath structure of the communication Signal, etc.
In step S104, first fingerprint information corresponding to each piece of location information in the location fingerprint comparison table is obtained according to the established location fingerprint data set.
Wherein the location fingerprint data set includes a plurality of pieces of second fingerprint information respectively corresponding to the respective pieces of location information; the position fingerprint comparison table comprises a plurality of pieces of position fingerprint data, and each piece of position fingerprint data comprises position information and first fingerprint information corresponding to the position information.
In some embodiments, the first fingerprint information and the second fingerprint information may include received signal strength RSS from a signal transmitting device (e.g., an AP) and/or a multipath structure of the communication signal, etc.
In some embodiments, obtaining the first fingerprint information corresponding to each position information in the position fingerprint comparison table according to the established position fingerprint data set may include: and averaging a plurality of pieces of second fingerprint information corresponding to each piece of position information in the position fingerprint data set respectively to obtain first fingerprint information corresponding to each piece of position information in the position fingerprint comparison table respectively.
As described above with reference to FIG. 3, FIG. 3 is a diagram illustrating obtaining a location fingerprint lookup table according to an exemplary embodiment.
First, the server side obtains the second fingerprint information in the established location fingerprint data set 30 respectively. The set of established location fingerprint data 30 comprises: the N types of second fingerprint information 1, 2, …, N respectively correspond to the position information 1, 2, …, N, and each type of second fingerprint information respectively includes M pieces of second fingerprint information.
The server side averages the M pieces of second fingerprint information 1, 2, …, N corresponding to the location information 1, 2, …, N in the location fingerprint data set 30, and obtains the first fingerprint information 1, 2, …, N corresponding to the location information 1, 2, …, N in the location fingerprint comparison table 31, respectively. The location fingerprint comparison table 31 includes N pieces of location fingerprint data, where the location fingerprint data 1, 2, …, N includes location information 1, 2, …, N and first fingerprint information 1, 2, …, N corresponding thereto.
In some embodiments, the manner of averaging, by the server, the M pieces of second fingerprint information 1, 2, …, N corresponding to the location information 1, 2, …, N in the location fingerprint data set 30 may be any one or a combination of an arithmetic average, a weighted average, a geometric average, a root-mean-square average, or a harmonic average, but the present invention is not limited thereto.
In step S106, real-time location information corresponding to the real-time fingerprint information is searched in the location fingerprint comparison table to obtain the location of the device to be located.
The server side generates a position fingerprint comparison table on the basis of establishing a position fingerprint data set, then searches for first fingerprint information which is the same as or closest to the position fingerprint comparison table according to the real-time fingerprint information acquired by the equipment to be positioned, and obtains the position information corresponding to the first fingerprint information as the final result of the positioning. Because the first fingerprint information is obtained according to the second fingerprint information acquired for multiple times at the corresponding position, the influence of single acquisition on the positioning precision can be effectively reduced.
In addition, since the position fingerprint data set is completely established by the unsupervised learning process at the server end, the validity of the data can be further optimized by the following steps after each positioning is completed.
In step S108, one of the second fingerprint information corresponding to the real-time location information in the location fingerprint data set is randomly replaced with the real-time fingerprint information according to a preset probability threshold.
The multiple pieces of second fingerprint information corresponding to the position information in the position fingerprint data set represent the distribution situation of fingerprint information which is collected for multiple times at each position in the past, and due to the multipath effect of an indoor environment, the real-time fingerprint information collected by the equipment to be positioned can more truly represent the distribution situation of the fingerprint information at each position in the room, so that the server side can randomly replace one piece of the multiple pieces of second fingerprint information corresponding to the real-time position information in the position fingerprint data set according to a preset probability threshold value to optimize the data effectiveness of the data set. And by randomly replacing data in the data set, over-optimization of the position fingerprint data set can be avoided: even if deviation occurs in a certain positioning, the error rate of subsequent positioning operation cannot be continuously enlarged.
According to the indoor positioning method based on the position fingerprints, provided by the invention, first fingerprint information in a position fingerprint comparison table for real-time positioning is obtained according to an established position fingerprint data set, so that the accuracy of real-time positioning can be improved; and then, according to a preset probability threshold value, one of a plurality of pieces of second fingerprint information corresponding to the real-time position information in the position fingerprint data set is randomly replaced by the real-time fingerprint information, the position fingerprint data set is continuously optimized to be closer to the corresponding relation of the position/fingerprint information of the actual environment, the influence of information fluctuation caused by indoor multipath effect is corrected, and the indoor positioning precision can be effectively improved.
It should be clearly understood that the present disclosure describes how to make and use particular examples, but the principles of the present disclosure are not limited to any details of these examples. Rather, these principles can be applied to many other embodiments based on the teachings of the present disclosure.
Fig. 2 is a flowchart illustrating another indoor location method based on location fingerprints according to an example embodiment. The difference with the method 10 shown in fig. 1 is that the method 20 shown in fig. 2 further provides a method of how to build a location fingerprint data set. Likewise, the indoor positioning method based on location fingerprints as shown in fig. 2 can be applied to a server side, for example.
Referring to fig. 2, the indoor location method 20 based on location fingerprint includes:
in step S202, a plurality of pieces of second fingerprint information collected from positions corresponding to the N pieces of position information are respectively obtained and stored, and a fingerprint information training set is obtained.
Where N is an integer greater than 1, N may be equal to 8, for example.
In some embodiments, the second fingerprint information may be vector data obtained from collecting P signals transmitted by P signal transmitting devices (e.g., APs), where P is an integer greater than 0. For example, the second fingerprint information may be a received signal strength vector (RSS) obtained by collecting 4 signal strengths transmitted by 4 signal transmitting apparatuses at a position1，RSS2，RSS3，RSS4)。
In step S204, according to each piece of location information, the second fingerprint information in the fingerprint information training set is classified and location-labeled to establish a location fingerprint data set.
The second fingerprint information collected from each position is M pieces, where M is an integer greater than 1, and M may be equal to 50, for example.
In some embodiments, according to each piece of location information, a K-means clustering method may be used to classify the second fingerprint information in the fingerprint information training set, but the present invention is not limited to this clustering algorithm.
In some embodiments, it is further determined whether the number of clusters of each category is equal to the total number N of location information: if yes, storing the current classification and marking the position information; otherwise, correcting to enable the number of the classified groups to be equal to N, determining the corrected classification and marking the position information.
As described above, in the conventional fingerprint positioning technology, a position fingerprint comparison table is generated on the basis of a trained position fingerprint data set, first fingerprint information that is the same as or closest to real-time fingerprint information acquired by a device to be positioned is searched in the comparison table, and position information corresponding to the first fingerprint information is obtained as a positioning result. The generation of the position fingerprint comparison table depends on a position fingerprint data set established in an intermediate process, and the position fingerprint data set can be established by an unsupervised learning process of a fingerprint information training set obtained for the first time or optimized after one or more positioning operations and data replacement. The key of the position fingerprint comparison table for positioning operation is the first fingerprint information.
Fig. 4 is a diagram illustrating indoor positioning based on a location fingerprint comparison table according to an example embodiment.
In conjunction with the above indoor positioning method 10, refer to fig. 4: firstly, the server side queries in the position fingerprint comparison table 41 according to real-time fingerprint information 1 acquired by an intelligent terminal device such as a smart phone, a notebook computer, a netbook or a tablet computer, and finds first fingerprint information a which is the same as or closest to the real-time fingerprint information 1, wherein a is any integer from 1 to N. In some embodiments, the real-time fingerprint information 1 includes received signal strength RSS from at least one signal transmitting device (e.g., AP) disposed indoors and/or multi-path structure of communication signals, etc. Then, the server feeds back the location information a corresponding to the found first fingerprint information a to the intelligent terminal device through the communication connection channel, for example, the location information a may be fed back to an application client loaded in the intelligent terminal device, and the application client is used as the real-time location information 1 of the intelligent terminal device. The application client analyzes the real-time position information 1, determines the position 1 of the intelligent terminal equipment, and completes one-time indoor positioning.
In some embodiments, a combination of multiple positioning technologies, such as fingerprint positioning technology and computational model positioning technology, may be used to further improve indoor positioning accuracy. Taking the above as an example, through the trained location fingerprint data set 40, the server side counts the attenuation of the real-time fingerprint information 1 of the intelligent terminal device relative to the second fingerprint information in the data set 40, and inputs the information attenuation formula used by the computational model positioning technology to solve the location 1' of the intelligent terminal device relative to the signal transmitting device (such as AP).
FIG. 5 is a schematic diagram illustrating updating a location fingerprint data set based on real-time fingerprint information, according to an example embodiment.
Reference is again made to the indoor positioning method 10 described above. In some embodiments, randomly replacing one of the plurality of pieces of second fingerprint information corresponding to the real-time location information in the location fingerprint data set with the real-time fingerprint information according to a preset probability threshold includes: generating a random number; determining whether the random number is less than a probability threshold; and when the random number is smaller than the probability threshold, randomly replacing one of a plurality of pieces of second fingerprint information corresponding to the real-time position information in the position fingerprint data set by the real-time fingerprint information.
As described above, with reference to fig. 5: firstly, the server side queries the position fingerprint comparison table 51 according to the real-time fingerprint information 2 acquired by the intelligent terminal device, such as a smart phone, a notebook computer, a netbook or a tablet computer, and finds first fingerprint information B which is the same as or closest to the real-time fingerprint information 2, wherein B is any integer from 1 to N. In some embodiments, the real-time fingerprint information 2 includes received signal strength RSS from at least one signal transmitting device (e.g., AP) disposed indoors and/or multi-path structure of communication signals, etc. Then, the server feeds back the location information B corresponding to the found first fingerprint information B to the intelligent terminal device through the communication connection channel, for example, the location information B may be fed back to an application client loaded in the intelligent terminal device, and the application client is used as the real-time location information 2 of the intelligent terminal device. The application client analyzes the real-time position information 2, determines the position 2 of the intelligent terminal equipment, and completes one-time indoor positioning.
After the positioning is completed, the server may generate a random number X, for example, any fractional value between 0 and 1. Then, the server side judges whether the random number X is smaller than a preset probability threshold ω: when the random number X is not smaller than the probability threshold omega, the server abandons the acquired real-time fingerprint information 2; when the random number X is smaller than the probability threshold ω, the server randomly replaces one of the M pieces of second fingerprint information B corresponding to the position information B corresponding to the real-time position information 2 in the position fingerprint data set 50 with the real-time fingerprint information 2 to update the position fingerprint data set 50.
Those skilled in the art will appreciate that all or part of the steps implementing the above embodiments are implemented as computer programs executed by a CPU. The computer program, when executed by the CPU, performs the functions defined by the method provided by the present invention. The program may be stored in a computer readable storage medium, which may be a read-only memory, a magnetic or optical disk, or the like.
Furthermore, it should be noted that the above-mentioned figures are only schematic illustrations of the processes involved in the method according to exemplary embodiments of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.
The following are embodiments of the apparatus of the present invention that may be used to perform embodiments of the method of the present invention. For details which are not disclosed in the embodiments of the apparatus of the present invention, reference is made to the embodiments of the method of the present invention.
FIG. 6 is a block diagram illustrating a location fingerprint based indoor positioning device, according to an example embodiment.
Referring to fig. 6, the indoor positioning device 60 includes: an information acquisition module 602, an information comparison module 604, a location query module 606, and an information update module 608.
The information obtaining module 602 is configured to obtain real-time fingerprint information collected by a device to be positioned.
The information comparison module 604 is configured to obtain first fingerprint information corresponding to each piece of location information in the location fingerprint comparison table according to the established location fingerprint data set.
Wherein the location fingerprint data set includes a plurality of pieces of second fingerprint information respectively corresponding to the respective pieces of location information; the position fingerprint comparison table comprises a plurality of pieces of position fingerprint data, and each piece of position fingerprint data comprises position information and first fingerprint information corresponding to the position information.
In some embodiments, the information collation module 604 further includes: and the preprocessing unit is used for respectively acquiring and storing a plurality of pieces of second fingerprint information acquired from positions corresponding to the N pieces of position information, and classifying all pieces of second fingerprint information according to each piece of position information. And classifying all the second fingerprint information by adopting a K-means clustering method.
As mentioned above, the information comparing module 604 is further configured to average the plurality of pieces of second fingerprint information (i.e., the classified second fingerprint information of each group) corresponding to each piece of location information in the location fingerprint data set, respectively, so as to obtain the first fingerprint information corresponding to each piece of location information in the location fingerprint comparison table, respectively. The second fingerprint information may be averaged by any one or a combination of arithmetic average, weighted average, geometric average, root mean square average, or harmonic average, for example.
The positioning query module 606 is configured to search the real-time location information corresponding to the real-time fingerprint information in the location fingerprint comparison table to obtain a location of the device to be positioned.
The information updating module 608 is configured to randomly replace one of the plurality of pieces of second fingerprint information corresponding to the real-time location information in the location fingerprint data set with the real-time fingerprint information according to a preset probability threshold.
In some embodiments, the information update module 608 further comprises: the judging unit is used for generating a random number and judging whether the random number is smaller than a preset probability threshold value: when the random number is not less than the probability threshold, discarding the acquired real-time fingerprint information; and when the random number is smaller than the probability threshold, executing to randomly replace one of the plurality of pieces of second fingerprint information corresponding to the position information corresponding to the real-time position information in the position fingerprint data set with the real-time fingerprint information so as to update the position fingerprint data set.
According to the indoor positioning device based on the position fingerprints, provided by the invention, first fingerprint information in a position fingerprint comparison table for real-time positioning is obtained according to the established position fingerprint data set, so that the accuracy of real-time positioning can be improved; and then, according to a preset probability threshold value, one of a plurality of pieces of second fingerprint information corresponding to the real-time position information in the position fingerprint data set is randomly replaced by the real-time fingerprint information, the position fingerprint data set is continuously optimized to be closer to the corresponding relation of the position/fingerprint information of the actual environment, the influence of information fluctuation caused by indoor multipath effect is corrected, and the indoor positioning precision can be effectively improved.
It is noted that the block diagrams shown in the above figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
Fig. 7 is a schematic structural diagram of an electronic device according to an example embodiment. It should be noted that the electronic device shown in fig. 7 is only an example of a computer system, and should not bring any limitation to the function and the scope of the application of the embodiment of the present invention.
As shown in fig. 7, the logistics advance warning apparatus 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the apparatus 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to an embodiment of the present invention, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 701.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present invention may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a transmitting unit, an obtaining unit, a determining unit, and a first processing unit. The names of these units do not in some cases constitute a limitation to the unit itself, and for example, the sending unit may also be described as a "unit sending a picture acquisition request to a connected server side".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise:
acquiring real-time fingerprint information acquired by equipment to be positioned; acquiring first fingerprint information corresponding to each piece of position information in a position fingerprint comparison table according to the established position fingerprint data set; wherein the location fingerprint data set includes a plurality of pieces of second fingerprint information respectively corresponding to the respective pieces of location information; the position fingerprint comparison table comprises a plurality of pieces of position fingerprint data, and each piece of position fingerprint data comprises position information and first fingerprint information corresponding to the position information; searching real-time position information corresponding to the real-time fingerprint information in a position fingerprint comparison table to obtain the position of the equipment to be positioned; and according to a preset probability threshold value, randomly replacing one of a plurality of pieces of second fingerprint information corresponding to the real-time position information in the position fingerprint data set by the real-time fingerprint information.
Exemplary embodiments of the present invention are specifically illustrated and described above. It is to be understood that the invention is not limited to the precise construction, arrangements, or instrumentalities described herein; on the contrary, the invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. An indoor positioning method based on location fingerprints is characterized by comprising the following steps:
acquiring real-time fingerprint information acquired by equipment to be positioned;
acquiring first fingerprint information corresponding to each piece of position information in a position fingerprint comparison table according to the established position fingerprint data set; wherein the location fingerprint data set includes a plurality of pieces of second fingerprint information respectively corresponding to the location information; the position fingerprint comparison table comprises a plurality of pieces of position fingerprint data, and each piece of position fingerprint data comprises the position information and the first fingerprint information corresponding to the position information;
searching real-time position information corresponding to the real-time fingerprint information in the position fingerprint comparison table to obtain the position of the equipment to be positioned; and
and according to a preset probability threshold value, randomly replacing one of the second fingerprint information corresponding to the real-time position information in the position fingerprint data set by the real-time fingerprint information.
2. The method of claim 1, wherein obtaining first fingerprint information corresponding to each location information in a location fingerprint comparison table from the location fingerprint data set comprises: averaging the second fingerprint information corresponding to the position information in the position fingerprint data set respectively to obtain the first fingerprint information corresponding to the position information in the position fingerprint comparison table respectively.
3. The method of claim 2, further comprising: respectively acquiring and storing the plurality of pieces of second fingerprint information acquired from the positions corresponding to the N pieces of position information to obtain a fingerprint information training set; and
classifying and position labeling the second fingerprint information in the fingerprint information training set according to the position information to establish the position fingerprint data set;
the second fingerprint information collected from each position is M, N is an integer larger than 1, and M is an integer larger than 1.
4. The method according to claim 3, wherein the second fingerprint information is vector data obtained by collecting P signals transmitted by P signal transmitting devices, wherein P is an integer greater than 0.
5. The method of claim 3, wherein classifying the second fingerprint information in the training set of fingerprint information according to the respective location information comprises: and classifying the second fingerprint information in the fingerprint information training set by adopting a K-means clustering method according to the position information.
6. The method of claim 3, wherein randomly replacing one of the plurality of pieces of second fingerprint information corresponding to the real-time location information in the location fingerprint data set with the real-time fingerprint information according to a preset probability threshold comprises:
generating a random number;
determining whether the random number is less than the probability threshold; and
and when the random number is smaller than the probability threshold, randomly replacing one of the second fingerprint information corresponding to the real-time position information in the position fingerprint data set by the real-time fingerprint information.
7. The method of any of claims 1-6, wherein the live fingerprint information, the first fingerprint information, and the second fingerprint information comprise: received signal strength and/or communication signal multipath structure.
8. An indoor positioning device based on location fingerprints, comprising:
the information acquisition module is used for acquiring real-time fingerprint information acquired by equipment to be positioned;
the information comparison module is used for acquiring first fingerprint information corresponding to each position information in the position fingerprint comparison table according to the established position fingerprint data set; wherein the location fingerprint data set includes a plurality of pieces of second fingerprint information respectively corresponding to the location information; the position fingerprint comparison table comprises a plurality of pieces of position fingerprint data, and each piece of position fingerprint data comprises the position information and the first fingerprint information corresponding to the position information;
the positioning query module is used for searching the real-time position information corresponding to the real-time fingerprint information in the position fingerprint comparison table to obtain the position of the equipment to be positioned; and
and the information updating module is used for randomly replacing one of the plurality of pieces of second fingerprint information corresponding to the real-time position information in the position fingerprint data set by the real-time fingerprint information according to a preset probability threshold.
9. An electronic device, comprising: memory, processor and executable instructions stored in the memory and executable in the processor, characterized in that the processor implements the method according to any of claims 1-7 when executing the executable instructions.
10. A computer-readable storage medium having stored thereon computer-executable instructions that, when executed by a processor, implement the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910422892.7A CN111988728A (en) | 2019-05-21 | 2019-05-21 | Indoor positioning method, device and equipment based on position fingerprint and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910422892.7A CN111988728A (en) | 2019-05-21 | 2019-05-21 | Indoor positioning method, device and equipment based on position fingerprint and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111988728A true CN111988728A (en) | 2020-11-24 |
Family
ID=73436952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910422892.7A Pending CN111988728A (en) | 2019-05-21 | 2019-05-21 | Indoor positioning method, device and equipment based on position fingerprint and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111988728A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016023190A1 (en) * | 2014-08-13 | 2016-02-18 | 华为技术有限公司 | Method and device for locating ap |
| US20160150380A1 (en) * | 2014-11-25 | 2016-05-26 | Korea Advanced Institute Of Science And Technology | Automated wlan radio map construction method and system |
| CN105960021A (en) * | 2016-07-07 | 2016-09-21 | 济南东朔微电子有限公司 | Improved position fingerprint indoor positioning method |
| CN108534779A (en) * | 2018-03-09 | 2018-09-14 | 华中科技大学 | One kind is corrected based on track and the improved indoor positioning map constructing method of fingerprint |
| CN108769969A (en) * | 2018-06-20 | 2018-11-06 | 吉林大学 | A kind of RFID indoor orientation methods based on depth confidence network |
-
2019
- 2019-05-21 CN CN201910422892.7A patent/CN111988728A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016023190A1 (en) * | 2014-08-13 | 2016-02-18 | 华为技术有限公司 | Method and device for locating ap |
| US20160150380A1 (en) * | 2014-11-25 | 2016-05-26 | Korea Advanced Institute Of Science And Technology | Automated wlan radio map construction method and system |
| CN105960021A (en) * | 2016-07-07 | 2016-09-21 | 济南东朔微电子有限公司 | Improved position fingerprint indoor positioning method |
| CN108534779A (en) * | 2018-03-09 | 2018-09-14 | 华中科技大学 | One kind is corrected based on track and the improved indoor positioning map constructing method of fingerprint |
| CN108769969A (en) * | 2018-06-20 | 2018-11-06 | 吉林大学 | A kind of RFID indoor orientation methods based on depth confidence network |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102111872B (en) | Location method and device based on fingerprint location technology | |
| CN105608179B (en) | The method and apparatus for determining the relevance of user identifier | |
| CN108280477B (en) | Method and apparatus for clustering images | |
| US20100120422A1 (en) | Positioning service utilizing existing radio base stations | |
| WO2015154438A1 (en) | Positioning method and device | |
| WO2019228494A1 (en) | Method and device for determining type of wireless access point | |
| CN107423754B (en) | Automatic radiation source identification system based on parameter multi-attribute autonomous intelligent decision | |
| EP3396400A1 (en) | A system and method for clustering wi-fi fingerprints for indoor-outdoor detection | |
| WO2021190470A1 (en) | Electronic device positioning method and apparatus, and server, system and storage medium | |
| CN109327887B (en) | Method and apparatus for generating information | |
| CN106776867A (en) | Information-pushing method and device | |
| US20230104047A1 (en) | Track fusion method and device for unmanned surface vehicle | |
| CN110348516B (en) | Data processing method, data processing device, storage medium and electronic equipment | |
| CN112770265A (en) | Pedestrian identity information acquisition method, system, server and storage medium | |
| CN113099384A (en) | Indoor positioning method, device, equipment and computer storage medium | |
| CN110427574B (en) | Route similarity determination method, device, equipment and medium | |
| CN102178511A (en) | Disease prevention warning system and implementation method | |
| CN112052848A (en) | Method and device for acquiring sample data in street labeling | |
| US7895206B2 (en) | Search query categrization into verticals | |
| CN111182460A (en) | Hybrid indoor positioning method and device, computer equipment and storage medium | |
| CN111132027B (en) | Scene recognition network graph drawing method, scene recognition method and device | |
| CN111988728A (en) | Indoor positioning method, device and equipment based on position fingerprint and storage medium | |
| CN111654808A (en) | Method and system for updating fingerprint database and wifi positioning method and system | |
| CN114970495A (en) | Name disambiguation method and device, electronic equipment and storage medium | |
| Bai | RETRACTED ARTICLE: Data cleansing method of talent management data in wireless sensor network based on data mining technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |