CN112383873A - Indoor positioning system and positioning method thereof - Google Patents
Indoor positioning system and positioning method thereof Download PDFInfo
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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
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention relates to the technical field of indoor positioning, in particular to an indoor positioning system, which comprises: the system comprises a positioning base station, a mobile positioning end and a monitoring server end; the positioning base stations are arranged in a plurality of positioning areas in parallel and used for providing a mark AP and a routing function of a specific SSID identifier; the mobile positioning end is used for acquiring surrounding environment AP so as to obtain the current physical position of the mobile positioning end; the monitoring server is used for obtaining the position data of the mobile positioning end and monitoring the position data in real time. The indoor positioning method carries out positioning according to the indoor positioning system, and comprises a data transmission process between the mobile positioning end and the monitoring service end and a position matching process of the monitoring service end; by using a signal brushing and optimizing matching algorithm, the effect of realizing quick and accurate positioning of the positioning equipment is realized, and the monitoring server can control the position information of each positioning end globally in real time.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to an indoor positioning system and a positioning method thereof.
Background
According to the different main media relied on by the positioning system, the currently common indoor positioning technologies include Ultra Wideband (UWB) -based indoor positioning technology, WLAN-based indoor positioning technology, bluetooth-based positioning technology, RFID-based positioning technology, ZigBee-based positioning technology, ultrasonic-based positioning technology, infrared-based positioning technology, and the like.
A WLAN-based positioning system usually adopts a transmission model method and a position fingerprint positioning method for positioning, and although people have long studied indoor propagation model positioning technology, the propagation model positioning technology does not work well in indoor environment because electromagnetic waves are affected by multipath effect, non-line-of-sight propagation and other factors in indoor environment. In contrast, the wireless fingerprint positioning fully utilizes the fading characteristics in the indoor environment, and the environmental characteristics are used as the positioning basis, so that the positioning accuracy is higher. Location verification is typically performed by taking the RSS (received signal strength) of the signal as a location fingerprint and matching the signal characteristics perceived by the locating device to the signal fingerprints in the database. A general location fingerprint is composed of multi-dimensional RSS vectors, but in practical applications, the same set of APs is not always detected at all network points, which increases the complexity of the location algorithm in fingerprint location and reduces the accuracy of location. In view of this, an indoor positioning system and a positioning method thereof are provided.
Disclosure of Invention
The present invention is directed to an indoor positioning system and a positioning method thereof, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
an indoor positioning system, the system comprising: the system comprises a positioning base station, a mobile positioning end and a monitoring server end;
the positioning base stations are provided with a plurality of mark APs which are evenly distributed in a positioning area and used for providing specific SSID marks and providing fingerprint characteristics for fingerprint positioning, and meanwhile, the positioning base stations have a routing function and provide network links for data transmission between the mobile positioning end and the monitoring service end;
the mobile positioning terminal is used for acquiring surrounding environment APs and transmitting the screened environment APs to the monitoring server terminal through a network link so as to acquire the current physical position of the mobile positioning terminal;
the monitoring server is used for receiving the environment AP transmitted by the mobile positioning terminal, positioning the position fingerprint according to the environment AP, analyzing the position fingerprint through a fingerprint matching algorithm to obtain the position data of the mobile positioning terminal, and monitoring the position data in real time.
Preferably, the positioning base station is a wireless router;
the mobile positioning end is an ESP8266 wireless module;
the monitoring server is a background server.
Preferably, in the process that the mobile positioning terminal moves in the positioning area, the monitoring server preferentially connects the environment AP with the largest signal strength through the positioning base station, so as to ensure that the monitoring server can perform good data transmission with any position in the positioning range.
Preferably, the location of the location fingerprint comprises two phases: an off-line training stage and an on-line positioning stage;
in the off-line training stage, a plurality of reference points with known positions are planned in a positioning area in advance, the corresponding relation between the positions of the reference points and fingerprints is established to form position fingerprints, and the position fingerprints are formed by detecting multi-dimensional vectors consisting of RSS values of a plurality of mark APs by the same reference point and recording the multi-dimensional vectors as RSSIp＝[AP1,AP2,AP3,…,APN]；
In the on-line positioning stage, a plurality of points to be measured are planned in a positioning area at the mobile positioning end, an RSS value of an AP (access point) of each point to be measured is measured, an RSS value with a specific SSID (service set identifier) is selected and reserved, the mobile positioning end firstly carries out Kalman filtering on the filtered RSS value, then forms a complete vector to be measured with the supplemented deletion data, and records the vector to be measured as follows: RSSIj＝[AP1,AP2,AP3,…,APN]；
Calculating Euclidean distance between a point to be measured and a reference point through the multi-dimensional vector and the vector to be measured, and taking the Euclidean distance as a basic reference quantity of the fingerprint matching algorithm, wherein the Euclidean distance calculation algorithm is as follows:
selection of diThe minimum K is 3 basic reference quantities, the estimated position of the point to be measured is calculated by a fingerprint matching algorithm according to different weights of the basic reference quantities, and the specific calculation method is as follows:
wherein: di-the euclidean distance of the corresponding fingerprint point;
ε -taking ε equal to 0.000001, preventing d in the formulai+ε＝0。
The invention also discloses an indoor positioning method, which carries out positioning according to the indoor positioning system and comprises a data transmission process between the mobile positioning end and the monitoring service end and a position matching process of the monitoring service end;
the data transmission process comprises the following steps:
step 11: the mobile positioning terminal reads the configuration data, connects with the WiFi network, judges whether the connection is successful or not, and reconnects if the connection is failed; initializing UDP if the connection is successful, and executing step 12;
step 12: scanning an environment AP in a positioning area, and sending data with the environment AP to a monitoring server;
step 13: judging whether the sending interval of the data is larger than a specified time interval or not, if so, sending a heartbeat packet, and executing the step 14; if not, directly executing the step 14;
step 14: judging whether the sending interval of the data is larger than the specified time interval again, if so, returning to the step 12 to scan the environment AP again; if not, continuing to judge;
the location matching process includes the steps of:
step 21: initializing data, connecting the data with a database, and establishing connection with a mobile positioning terminal through an asynchronous monitoring UDP port;
step 22: judging whether data are received or not, if so, executing a step 23; if not, continuing to judge;
step 23: judging whether the received data is the data of the environment AP or not, if so, executing a step 24, otherwise, executing a step 25;
step 24: the monitoring server analyzes the environment AP through a fingerprint matching algorithm, records the position information of the mobile positioning terminal, and refreshes a map UI updating coordinate point;
step 25: judging whether the received data is a heartbeat packet, and if so, refreshing a map UI (user interface) update coordinate point; otherwise, the step 22 is executed.
Compared with the prior art, the invention has the beneficial effects that: the invention reduces the interference of irrelevant signals in the WiFi positioning process by erecting a plurality of AP base stations in an indoor positioning area, adopts an ESP8266 wireless module as a mobile positioning end, is portable and exquisite, can realize the decoration-level wearing of personnel, realizes the effect of quick and accurate positioning of positioning equipment by using a signal brushing and optimizing matching algorithm, and can realize the real-time and overall control of the position information of each positioning end by a monitoring service end.
Drawings
FIG. 1 is a block diagram of the overall structure of the present invention;
FIG. 2 is a flow chart of a data transmission process in the present invention;
fig. 3 is a flow chart of the data transmission process of the present invention.
In the figure: 1. positioning a base station; 2. moving the positioning end; 3. and monitoring the server.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
An indoor positioning system, as shown in fig. 1, the system comprising: positioning base station 1, mobile positioning terminal 2 and monitoring service terminal 3, wherein:
the positioning base station 1 is provided with a plurality of marks AP which are evenly arranged in a positioning area and used for providing specific SSID identification and providing fingerprint characteristics for fingerprint positioning, and meanwhile, the positioning base station 1 has a routing function and provides a network link for data transmission between the mobile positioning terminal 2 and the monitoring service terminal 3;
the mobile positioning terminal 2 is used for acquiring surrounding environment APs and transmitting the screened environment APs to the monitoring server 3 through a network link so as to acquire the current physical position of the mobile positioning terminal 2;
the monitoring server 3 is configured to receive the environment AP transmitted by the mobile positioning terminal 2, perform positioning of the position fingerprint according to the environment AP, analyze the position fingerprint through a fingerprint matching algorithm to obtain position data of the mobile positioning terminal 2, and perform real-time monitoring on the position data.
Specifically, in this embodiment, the positioning base station 1 is a wireless router, and implements an AP marking function for providing a specific SSID identifier and a wireless routing function;
the mobile positioning end 2 is an ESP8266 wireless module, and can be embedded on any article worn with one's person due to the characteristics of small size, so that the positioning of personnel in a positioning area is realized, the ESP8266 is a wireless WiFi module, and data transmission can be carried out between a usb serial port and a single chip microcomputer through a usb serial port, in the embodiment, rxd and txd of the serial port are not used, but are directly programmed on a main control chip of the ESP8266, and the control and WiFi functions are integrated and developed;
the monitoring server 3 is a background server and is used for processing the received data.
In addition, in the process that the mobile positioning terminal 2 moves in the positioning area, the monitoring server 3 preferentially connects the current environment AP with the maximum signal strength through the positioning base station 1, so as to ensure that the monitoring server 3 can perform good data transmission at any position in the positioning range.
It is worth mentioning that the localization of the location fingerprint comprises two phases: an off-line training stage and an on-line positioning stage;
an off-line training stage, which is planned in the positioning area in advanceMultiple reference points with known positions, and establishing the corresponding relationship between the positions of the reference points and the fingerprints to form a position fingerprint, wherein the position fingerprint is a multidimensional vector formed by detecting RSS values of multiple mark APs by the same reference point and is recorded as RSSIp＝[AP1,AP2,AP3,…,APN]；
In the on-line positioning stage, a plurality of points to be measured are planned in a positioning area at a mobile positioning end 2, RSS values of environment APs of the points to be measured are measured, RSS values with specific SSID marks are selected and reserved, all environment APs can not be detected at all positions in the actual positioning process, deleted data are generated, the RSS value of the weakest environment AP can be detected to be-80 dBm through actual testing, for some environment APs which can not be detected, the RSS of the environment APs is uniformly processed to be-90 dBm by the mobile positioning end 2, the filtered RSS values are firstly subjected to Kalman filtering by the mobile positioning end 2, then complete vectors to be detected are formed with the deleted data, and the complete vectors to be detected are recorded as: RSSIj＝[AP1,AP2,AP3,…,APN]；
Calculating the Euclidean distance between the point to be measured and the reference point through the multi-dimensional vector and the vector to be measured, and taking the Euclidean distance as a basic reference quantity of a fingerprint matching algorithm, wherein the calculation algorithm of the Euclidean distance is as follows:
selection of diThe minimum K is 3 basic reference quantities, the estimated position of the point to be measured is calculated by a fingerprint matching algorithm according to different weights of the basic reference quantities, and the specific calculation method is as follows:
wherein: di-the euclidean distance of the corresponding fingerprint point;
ε -taking ε equal to 0.000001, preventing d in the formulai+ε＝0。
Example 2
An indoor positioning method, as shown in fig. 2 and fig. 3, performs positioning according to the indoor positioning system, including a data transmission process between a mobile positioning terminal 2 and a monitoring service terminal 3, and a position matching process of the monitoring service terminal 3;
the data transmission process comprises the following steps:
step 11: the mobile positioning terminal 2 reads the configuration data, connects with the WiFi network, judges whether the connection is successful or not, and reconnects if the connection is failed; initializing UDP if the connection is successful, and executing step 12;
step 12: scanning an environment AP in a positioning area, and sending data with the environment AP to a monitoring server 3;
step 13: judging whether the sending interval of the data is larger than a specified time interval or not, if so, sending a heartbeat packet, and executing the step 14; if not, directly executing the step 14;
step 14: judging whether the sending interval of the data is larger than the specified time interval again, if so, returning to the step 12 to scan the environment AP again; if not, continuing to judge;
the location matching process includes the steps of:
step 21: initializing data, connecting the data with a database, and establishing connection with the mobile positioning terminal 2 through an asynchronous monitoring UDP port;
step 22: judging whether data are received or not, if so, executing a step 23; if not, continuing to judge;
step 23: judging whether the received data is the data of the environment AP or not, if so, executing a step 24, otherwise, executing a step 25;
step 24: the monitoring server 3 analyzes the environment AP through a fingerprint matching algorithm, records the position information of the mobile positioning terminal 2, and refreshes a map UI updating coordinate point;
step 25: judging whether the received data is a heartbeat packet, and if so, refreshing a map UI (user interface) update coordinate point; otherwise, the step 22 is executed.
Through the content, it is difficult to see that, through setting up a plurality of AP basic stations in indoor location area, the interference of irrelevant signal in the wiFi location process has been reduced, and adopt ESP8266 wireless module as removing location end 2, portable exquisiteness can realize personnel's wearing of decoration level to utilize signal brush to select and optimize the matching algorithm, realize the effect that positioning device realized quick accurate location, and the control service end 3 can be real-time global the positional information of each location end of controlling.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. An indoor positioning system, the system comprising: the system comprises a positioning base station (1), a mobile positioning terminal (2) and a monitoring service terminal (3);
the positioning base station (1) is provided with a plurality of mark APs which are evenly arranged in a positioning area and used for providing specific SSID identification and providing fingerprint characteristics for fingerprint positioning, and meanwhile, the positioning base station (1) has a routing function and provides a network link for data transmission between the mobile positioning terminal (2) and the monitoring service terminal (3);
the mobile positioning terminal (2) is used for collecting surrounding environment APs and transmitting the screened environment APs to the monitoring service terminal (3) through a network link so as to obtain the current physical position of the mobile positioning terminal (2);
the monitoring server (3) is used for receiving the environment AP transmitted by the mobile positioning terminal (2), positioning the position fingerprint according to the environment AP, analyzing the position fingerprint through a fingerprint matching algorithm to obtain the position data of the mobile positioning terminal (2), and monitoring the position data in real time.
2. The indoor positioning system of claim 1, wherein: the positioning base station (1) is a wireless router;
the mobile positioning end (2) is an ESP8266 wireless module;
the monitoring server (3) is a background server.
3. The indoor positioning system of claim 1, wherein: in the process that the mobile positioning terminal (2) moves in the positioning area, the monitoring service terminal (3) is preferentially connected with the environment AP with the maximum signal intensity through the positioning base station (1), so that the monitoring service terminal (3) can perform good data transmission at any position in the positioning range.
4. The indoor positioning system of claim 1, wherein: the localization of the location fingerprint comprises two phases: an off-line training stage and an on-line positioning stage;
in the off-line training stage, a plurality of reference points with known positions are planned in a positioning area in advance, the corresponding relation between the positions of the reference points and fingerprints is established to form position fingerprints, and the position fingerprints are formed by detecting multi-dimensional vectors consisting of RSS values of a plurality of mark APs by the same reference point and recording the multi-dimensional vectors as RSSIp＝[AP1,AP2,AP3,…,APN]；
In the on-line positioning stage, a plurality of points to be measured are planned in a positioning area at the mobile positioning end (2), an RSS value of an environment AP of each point to be measured is measured, an RSS value with a specific SSID is selected and reserved, Kalman filtering is performed on the screened RSS value by the mobile positioning end (2), then a complete vector to be measured is formed with the supplemented deleted data, and the vector to be measured is recorded as follows: RSSIj＝[AP1,AP2,AP3,…,APN]；
Calculating Euclidean distance between a point to be measured and a reference point through the multi-dimensional vector and the vector to be measured, and taking the Euclidean distance as a basic reference quantity of the fingerprint matching algorithm, wherein the Euclidean distance calculation algorithm is as follows:
selection of diThe minimum K is 3 basic reference quantities, the estimated position of the point to be measured is calculated by a fingerprint matching algorithm according to different weights of the basic reference quantities, and the specific calculation method is as follows:
wherein: di-the euclidean distance of the corresponding fingerprint point;
ε -taking ε equal to 0.000001, preventing d in the formulai+ε＝0。
5. An indoor positioning method, which performs positioning according to any one of the indoor positioning systems of claims 1-4, and comprises a data transmission process between the mobile positioning terminal (2) and the monitoring service terminal (3), and a position matching process of the monitoring service terminal (3);
the data transmission process comprises the following steps:
step 11: the mobile positioning terminal (2) reads the configuration data, connects with the WiFi network, judges whether the connection is successful or not, and reconnects if the connection is failed; initializing UDP if the connection is successful, and executing step 12;
step 12: scanning an environment AP in a positioning area, and sending data with the environment AP to a monitoring server (3);
step 13: judging whether the sending interval of the data is larger than a specified time interval or not, if so, sending a heartbeat packet, and executing the step 14; if not, directly executing the step 14;
step 14: judging whether the sending interval of the data is larger than the specified time interval again, if so, returning to the step 12 to scan the environment AP again; if not, continuing to judge;
the location matching process includes the steps of:
step 21: initializing data, connecting the data with a database, and establishing connection with a mobile positioning terminal (2) through an asynchronous monitoring UDP port;
step 22: judging whether data are received or not, if so, executing a step 23; if not, continuing to judge;
step 23: judging whether the received data is the data of the environment AP or not, if so, executing a step 24, otherwise, executing a step 25;
step 24: the monitoring server (3) analyzes the environment AP through a fingerprint matching algorithm, records the position information of the mobile positioning terminal (2), and refreshes a map UI (user interface) to update coordinate points;
step 25: judging whether the received data is a heartbeat packet, and if so, refreshing a map UI (user interface) update coordinate point; otherwise, the step 22 is executed.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103889051A (en) * | 2014-02-18 | 2014-06-25 | 北京工业大学 | Indoor WLAN fingerprint positioning method based on AP ID filtering and Kalman filtering |
| CN104980885A (en) * | 2015-06-25 | 2015-10-14 | 上海迪爱斯通信设备有限公司 | Data processing system and method for WIFI detection and recognition |
| WO2017185828A1 (en) * | 2016-04-26 | 2017-11-02 | 中兴通讯股份有限公司 | Fingerprint positioning method and apparatus |
| CN206684309U (en) * | 2017-03-22 | 2017-11-28 | 广州七喜集团有限公司 | The service platform of multimode children alignment system and the application alignment system |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103889051A (en) * | 2014-02-18 | 2014-06-25 | 北京工业大学 | Indoor WLAN fingerprint positioning method based on AP ID filtering and Kalman filtering |
| CN104980885A (en) * | 2015-06-25 | 2015-10-14 | 上海迪爱斯通信设备有限公司 | Data processing system and method for WIFI detection and recognition |
| WO2017185828A1 (en) * | 2016-04-26 | 2017-11-02 | 中兴通讯股份有限公司 | Fingerprint positioning method and apparatus |
| CN206684309U (en) * | 2017-03-22 | 2017-11-28 | 广州七喜集团有限公司 | The service platform of multimode children alignment system and the application alignment system |
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Application publication date: 20210219 |