CN113556666A - Floor positioning method in indoor environment - Google Patents
Floor positioning method in indoor environment Download PDFInfo
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- CN113556666A CN113556666A CN202010259623.6A CN202010259623A CN113556666A CN 113556666 A CN113556666 A CN 113556666A CN 202010259623 A CN202010259623 A CN 202010259623A CN 113556666 A CN113556666 A CN 113556666A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000009499 grossing Methods 0.000 claims abstract description 12
- 238000013507 mapping Methods 0.000 claims description 9
- 125000000205 L-threonino group Chemical group [H]OC(=O)[C@@]([H])(N([H])[*])[C@](C([H])([H])[H])([H])O[H] 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 5
- 238000012795 verification Methods 0.000 claims description 3
- 230000004807 localization Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
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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
Abstract
The invention discloses a floor positioning method in an indoor environment, which relates to the technical field of positioning and provides the following technical scheme aiming at the problems that the current floor positioning is likely to have larger errors and the floor frequently jumps during positioning, wherein the floor positioning method in the indoor environment comprises the following steps: drawing a map of the positioning area; creating a positioning model based on the map of the positioning area; carrying out floor coarse positioning on the positioning terminal based on the positioning model to obtain a positioning result of the floor coarse positioning; and smoothing the floor coarse positioning result to obtain a final floor positioning result.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a floor positioning method in an indoor environment.
Background
Indoor positioning technology has obtained more and more extensive application in people's daily life, and current mainstream indoor positioning technology has WIFI positioning technology, bluetooth positioning technology, probe positioning technology, gateway positioning technology and earth magnetism positioning technology etc. but because indoor environment is more complicated, can often appear having the fretwork region between the adjacent floor and lead to the signal to pass through, there are various buildings in the room and shelter from the problem such as signal, and then the floor frequently beats the problem when leading to the floor location probably to appear great error and location.
Disclosure of Invention
The invention mainly aims to provide a floor positioning method in an indoor environment, and aims to solve the problems that a large error possibly occurs in the conventional floor positioning and a floor frequently jumps during the positioning.
In order to achieve the purpose, the floor positioning method under the indoor environment provided by the invention comprises the following steps:
drawing a map of the positioning area;
creating a positioning model based on the map of the positioning area;
carrying out floor coarse positioning on the positioning terminal based on the positioning model to obtain a positioning result of the floor coarse positioning;
and smoothing the positioning result of the floor coarse positioning to obtain a final floor positioning result.
In an embodiment of the application, the labeling information of the map of the positioning area includes a coordinate system, a name of each POI, a coordinate corresponding to each POI, and floor information corresponding to each POI.
In an embodiment of the application, creating a localization model based on the map of the localization area further comprises:
deploying a wireless beacon based on a map of the location area,
and encoding the wireless beacon, wherein the content of the encoding at least comprises the unique identification code, the coordinates, the verification strength and the corresponding floor information of the wireless beacon.
In an embodiment of the application, said deploying the wireless beacon comprises deploying the wireless beacon inside the elevator.
In an embodiment of the present application, the performing floor coarse positioning on the positioning terminal includes filtering the wireless beacon scanned by the positioning terminal, and screening out an effective beacon.
In an embodiment of the application, the performing floor coarse positioning on the positioning terminal includes obtaining a positioning result of the floor coarse positioning based on a voting result of the effective beacon and/or a mean value of signal strengths of the effective beacons.
In an embodiment of the present application, the coarsely positioning the positioning terminal on the floor further includes:
establishing a mapping relation between each floor and corresponding voting times based on the voting result of the effective beacon;
establishing a mapping relation between each floor and the mean value of the corresponding signal intensity based on the mean value of the signal intensity of the effective beacon;
and comparing the voting times corresponding to the two floors with the maximum voting times, wherein the formula is as follows:
where, Ftmp is a positioning result of floor coarse positioning, floor a indicates a floor with the largest number of votes, floor C indicates a floor with the largest mean value of signal strength, and count a and count b sequentially indicate two numbers of votes with the largest number of votes.
In an embodiment of the application, the performing floor coarse positioning on the positioning terminal includes obtaining a positioning result of the floor coarse positioning by using a barometer arranged in the positioning terminal.
In an embodiment of the present application, smoothing the floor coarse positioning result to obtain a final floor positioning result further includes:
comparing the positioning result of the floor rough positioning with the latest floor positioning result, and recording the switching count value of the positioning result;
comparing the switch count value with a preset switch count threshold value, and expressing as:
and Ft is the final positioning result of the floor after smoothing, Fk is the latest positioning result of the floor, and counter thres is a preset switching counting threshold.
In an embodiment of the present application, comparing the positioning result of the floor coarse positioning with the latest floor positioning result, and recording the switching count value further expressed by a formula:
the invention has the following beneficial effects: the wireless beacons scanned by the positioning terminal are filtered, and the effective beacons obtained through filtering are comprehensively judged in combination with the voting result and the mean value of the signal intensity, so that the positioning result of the floor coarse positioning is obtained, and the reliability of the floor coarse positioning is improved; the positioning result of the floor coarse positioning is subjected to smoothing processing, the positioning result of the floor coarse positioning is compared with the latest floor positioning result, and whether the floor is switched or not is judged by adopting a method of comparing a switching count value with a switching count threshold in real time, so that the problem of unstable floor positioning caused by only depending on methods such as a wireless beacon and a barometer is effectively solved, and the accuracy of real-time positioning is improved, so that the reliability of navigation during floor crossing is ensured; be equipped with wireless beacon in the elevator, calculation when this wireless beacon can be used to the location also can only be as the sign of special position, scan this wireless beacon after the positioning terminal gets into the elevator promptly, then judge that positioning terminal is located the elevator, maintain the location result of floor coarse positioning this moment, restart the calculation of location again until the elevator arrives the destination, the problem that the floor location frequently beats appears when having effectively avoided positioning terminal to be located special positions such as elevator, promote user's use and experience.
Drawings
In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only exemplary embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without inventive effort, wherein:
fig. 1 is a schematic flow chart of a floor positioning method in an indoor environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of floor coarse positioning according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating a smoothing process according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only exemplary embodiments of the present invention, and not exclusive 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.
As shown in fig. 1, the floor positioning method in indoor environment provided by the present invention comprises the following steps:
s1 maps the localization area.
Specifically, the map label includes each building in the positioning area and floor information in the building, such as a coordinate system, a name of each POI, a coordinate corresponding to each POI, and floor information corresponding to each POI; the coordinate system is selected from the coordinate systems in the prior art, such as WGS84, GCJ02, BD09, etc., which is not limited by the invention. The map is used for providing navigation information and specific position information for a user.
S2 creates a localization model based on the map of the localization area.
The positioning model comprises a wireless beacon and corresponding coding content, and the positioning model is created and used for roughly positioning the floor in the invention.
S21 deploys the wireless beacon based on the map of the localization area.
Specifically, in this embodiment, a bluetooth positioning technology is adopted, that is, a wireless beacon is deployed in a positioning area based on a map of the positioning area, and the deployment mode is a mode of deployment according to a certain distance by combining the positioning area in the prior art, and may also be other deployment modes; moreover, considering that an elevator is often arranged in a multi-floor building and belongs to a relatively closed environment, when a user is positioned in the elevator, the positioning terminal is likely to be incapable of accurately scanning other wireless beacons positioned outside the elevator, so that the floor positioning continuously jumps, and the user experience is influenced.
S22 codes the wireless beacon, and the content of the code comprises the unique identification code and the coordinates of the wireless beacon.
Specifically, after the wireless beacon is deployed, the wireless beacon is coded, and the content of the coding comprises a unique identification code, coordinates, check strength and corresponding floor information of the wireless beacon; the verification strength is a signal strength value when the distance between the positioning terminal and the wireless beacon is a standard distance, and the standard distance is an empirical value in the prior art, which is not limited in the present invention. In this embodiment, a bluetooth positioning technique is adopted, so the standard distance in this embodiment is selected to be 1 meter; and taking the uuid as a unique identification code of the Bluetooth beacon, and storing the coded content in a database for calling in subsequent positioning. The database stores information of wireless beacons used for positioning in the prior art.
S3, carrying out floor coarse positioning on the positioning terminal based on the positioning model to obtain the positioning result of the floor coarse positioning.
The positioning point is roughly positioned in a manner that based on the voting result of the effective beacons, the positioning result of the floor rough positioning is obtained, namely, according to the voting result of the effective beacons scanned by the filtered positioning terminal, the floor with the largest voting frequency is used as the positioning result of the floor rough positioning, and the voting result of the effective beacons, namely the number of the effective beacons scanned by the positioning terminal on each floor; the positioning result of the floor coarse positioning can be obtained based on the mean value of the signal intensity of the effective beacons, that is, according to the mean value of the signal intensity of the effective beacons scanned by the filtered positioning terminal, the floor with the maximum mean value of the signal intensity is used as the positioning result of the floor coarse positioning; the atmospheric pressure change value can be obtained according to the barometer of the positioning terminal, so that the altitude of the positioning terminal is judged, and the floor information is judged.
S31, the wireless beacons scanned by the positioning terminal are filtered, and effective beacons are screened out.
Specifically, the wireless beacons scanned by the positioning terminal are filtered according to a preset filtering rule, where the filtering rule may be to filter the wireless beacons whose signal strength is smaller than a signal strength threshold, or may also be to filter the wireless beacons whose distance from the wireless beacons to the positioning terminal is greater than a distance threshold, so as to screen out effective beacons.
S32 sets up a mapping relationship between each floor and the corresponding number of votes based on the voting results of the effective beacons.
Specifically, the number of votes corresponding to each floor is the number of effective beacons of the floor scanned by the positioning terminal; according to the voting result of the effective beacon, establishing a mapping relation between each floor and the corresponding voting times, in this embodiment, creating a dictionary data structure, which has elements of each floor and the corresponding voting times, and is arranged from large to small according to the voting times, namely: floor map ═ floor a: count a, floor B: count B, … …, where floor a is the floor with the most votes, count a is the number of votes with the most votes, floor B is the floor with the number of votes second only than floor a or the number of votes equal to floor a, and count B is the number of votes second only than the number of votes a or the number of votes second only than the number of votes a.
S33 mapping each floor and the corresponding signal strength mean value based on the signal strength mean value of the effective beacon.
Specifically, according to the mean value of the signal intensity of the effective beacon, a mapping relationship between each floor and the mean value of the corresponding signal intensity is established, in this embodiment, a dictionary-like data structure, which has elements of each floor and the corresponding mean value of the signal intensity, and is arranged from large to small according to the floors, that is, the mapping relationship is recorded as: florssrismap ═ { floor C: rssi c, floor D: rsi D, … …, where C is the floor value of the highest floor in the location area, C is the mean of the signal strengths of the valid beacons located at floor C, D is the floor value of the floor in the location area that is next to floor C in height, and D is the mean of the signal strengths of the valid beacons located at floor D.
S34 compares the two votes with the highest number of votes, and the formula is:
and Ftmp is a positioning result of the floor coarse positioning.
Specifically, the two most votes are compared with each other by combining the database, that is, count a and count b are compared, if count a is greater than count b, the floor with the most votes is selected as the floor positioning result of the coarse positioning, that is, the floor a is selected as the floor positioning result of the coarse positioning, that is, it is determined that the positioning terminal is located on the floor a, and if count a is equal to count b, the floor with the largest mean value of the signal strength is selected as the floor positioning result of the coarse positioning, that is, the floor C is selected as the floor positioning result of the coarse positioning, that is, it is determined that the positioning terminal is located on the floor C.
S4, smoothing the positioning result of the floor coarse positioning to obtain the final floor positioning result.
S41 compares the positioning result of the floor rough positioning with the positioning result of the latest floor, and records the switching count value, which is expressed as:
wherein, counter is the switching count value, and Fk is the latest floor positioning result.
Specifically, the positioning method of the last floor positioning result is the same as the positioning method of the floor coarse positioning, if the positioning result of the current floor coarse positioning is the same as the last floor positioning result, the switching count value counter is decreased by one, if the positioning result of the current floor coarse positioning is different from the last floor positioning result, the switching count value counter is increased by one, when the switching count value counter is not 0, the floor positioning result is maintained, when the switching count value counter is 0, the last floor positioning result is output as the positioning result after the smoothing processing, the positioning result after the smoothing processing is taken as the current floor positioning result, the step S4 is repeated, that is, the switching count value counter is 0, the positioning method is quitted from accumulation, so the switching count value counter is constantly greater than 0.
S42 compares the switch count value with a preset switch count threshold value, and is expressed as:
wherein, Ft is the final positioning result of the smoothed floor, and counter thres is the switching count threshold.
Specifically, when the switching count value counter is not 0, comparing the switching count value counter with a preset switching count threshold value counter thres, if the switching count value counter is greater than the preset switching count threshold value counter thres, determining that the floor is switched, outputting a switched floor positioning result, and repeating step S4 with the switched floor positioning result as a current floor positioning result, thereby achieving the purpose of real-time positioning, otherwise, maintaining the current floor positioning result.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the present invention may be made by those skilled in the art without departing from the principle of the present invention, and such modifications and embellishments should also be considered as within the scope of the present invention.
Claims (10)
1. A floor positioning method in an indoor environment is characterized by comprising the following steps:
drawing a map of the positioning area;
creating a positioning model based on the map of the positioning area;
carrying out floor coarse positioning on the positioning terminal based on the positioning model to obtain a positioning result of the floor coarse positioning;
and smoothing the positioning result of the floor coarse positioning to obtain a final floor positioning result.
2. A floor positioning method in an indoor environment as claimed in claim 1, wherein the labeled information of the map of the positioning area comprises a coordinate system, a name of each POI, coordinates corresponding to each POI, and floor information corresponding to each POI.
3. The method of claim 2, wherein creating a positioning model based on the map of the positioning area further comprises:
deploying a wireless beacon based on a map of the location area,
and encoding the wireless beacon, wherein the content of the encoding at least comprises the unique identification code, the coordinates, the verification strength and the corresponding floor information of the wireless beacon.
4. A floor positioning method in an indoor environment as recited in claim 3 wherein said deploying a wireless beacon comprises deploying a wireless beacon within an elevator.
5. The method as claimed in claim 1, wherein the coarse floor positioning of the positioning terminal comprises filtering the wireless beacons scanned by the positioning terminal to select valid beacons.
6. The floor positioning method in the indoor environment according to claim 5, wherein the performing floor coarse positioning on the positioning terminal includes obtaining a positioning result of floor coarse positioning based on the voting result of the effective beacons and/or the mean value of the signal strengths of the effective beacons.
7. The method of claim 6, wherein the coarse floor positioning of the positioning terminal further comprises:
establishing a mapping relation between each floor and corresponding voting times based on the voting result of the effective beacon;
establishing a mapping relation between each floor and the mean value of the corresponding signal intensity based on the mean value of the signal intensity of the effective beacon;
and comparing the voting times corresponding to the two floors with the maximum voting times, wherein the formula is as follows:
where, Ftmp is a positioning result of floor coarse positioning, floor a indicates a floor with the largest number of votes, floor C indicates a floor with the largest mean value of signal strength, and count a and count b sequentially indicate two numbers of votes with the largest number of votes.
8. The method as claimed in claim 1, wherein the step of performing the coarse floor positioning on the positioning terminal comprises obtaining a positioning result of the coarse floor positioning by using a barometer installed in the positioning terminal.
9. A floor positioning method in an indoor environment according to any of claims 1-8, wherein smoothing the coarse floor positioning result to obtain a final floor positioning result further comprises:
comparing the positioning result of the floor rough positioning with the latest floor positioning result, and recording the switching count value of the positioning result;
comparing the switch count value with a preset switch count threshold value, and expressing as:
and Ft is the final positioning result of the floor after smoothing, Fk is the latest positioning result of the floor, counter is the switching count value, and counter thres is the preset switching count threshold.
10. A floor positioning method in an indoor environment as defined in claim 9, wherein the positioning result of the floor rough positioning is compared with the most recent floor positioning result, and the recorded switch count value is further formulated as:
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| CN202010259623.6A CN113556666A (en) | 2020-04-03 | 2020-04-03 | Floor positioning method in indoor environment |
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| CN202010259623.6A CN113556666A (en) | 2020-04-03 | 2020-04-03 | Floor positioning method in indoor environment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116528359A (en) * | 2023-06-30 | 2023-08-01 | 广东省新一代通信与网络创新研究院 | Indoor positioning method, system and device |
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