CN113747355A - WiFi positioning method, device, equipment and medium in power plant - Google Patents

WiFi positioning method, device, equipment and medium in power plant Download PDF

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Publication number
CN113747355A
CN113747355A CN202111034496.0A CN202111034496A CN113747355A CN 113747355 A CN113747355 A CN 113747355A CN 202111034496 A CN202111034496 A CN 202111034496A CN 113747355 A CN113747355 A CN 113747355A
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point
positioning
power plant
grid
value
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武青
任鑫
李小翔
王�华
王恩民
胡雪琛
张育钧
高建忠
王超
韩佳明
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Huaneng Clean Energy Research Institute
Clean Energy Branch of Huaneng Zhejiang Energy Development Co Ltd
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Huaneng Clean Energy Research Institute
Clean Energy Branch of Huaneng Zhejiang Energy Development Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • 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
    • 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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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a power plant indoor positioning method, device, equipment and medium based on fingerprint library positioning. After AP nodes are deployed indoors, rasterizing an area to be detected in an off-line stage, then measuring RSS values of 30% grid points receiving the APs on the spot, and generating a fingerprint library of each AP on the area to be detected through a Pan-Krigin interpolation method. And in the online stage, the mobile terminal is positioned through a WKNN algorithm, and the result is displayed on the mobile terminal and a computer interface. In a complex power plant indoor environment, the invention reduces the investment of manpower and material resources in the off-line warehouse building, improves the positioning precision to centimeter level through the on-line stage, and can visually see the positioning result through the system interface.

Description

WiFi positioning method, device, equipment and medium in power plant
Technical Field
The invention relates to an indoor wireless positioning technology in a wireless communication network, in particular to a WiFi positioning method, a WiFi positioning device, WiFi positioning equipment and a WiFi positioning medium in a power plant.
Background
The indoor range of a general power plant is large, various power generation equipment in the plant is more, and pipelines are complex. Therefore, the personnel entering the working area of the factory building can avoid accidents as much as possible, and the safety of the personnel and the equipment property is guaranteed. Therefore, ensuring that power plant workers overhaul the equipment according to the designated area, preventing the workers from entering dangerous areas, and knowing the distribution condition of the workers in the plant area is an urgent problem to be solved by power plant management. GPS (Global Positioning System) and beidou are widely used as Global satellite Positioning technologies, and are widely used in many fields, however, in indoor environments, the signal intensity is seriously attenuated, and normal Positioning cannot be performed, and it is necessary to use an indoor Positioning technology to position personnel and articles in a power plant.
Indoor positioning, which is mainly WiFi, adopts a method in which a mobile terminal receives AP (Wireless Access Point) positioning signal strength, and converts the signal strength into a distance, which belongs to a ranging and positioning manner using a geometric relationship between an AP and a mobile terminal. However, the actual positioning environment in the power plant room is very complex, and various pipelines and obstacles are more, so that the mobile terminal is easily affected by multipath propagation and signal attenuation, and a positioning technology for direct distance measurement usually has larger measurement errors. Aiming at the problem, a fingerprint database positioning method adopting signal intensity matching becomes a solution method in indoor complex environments such as a power plant and the like, and the indoor positioning precision can reach centimeter level.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a WiFi positioning method, a WiFi positioning system, WiFi positioning equipment and a storage medium in a power plant.
In order to achieve the purpose, the invention adopts the following technical scheme:
a WiFi positioning method in a power plant comprises the following steps:
performing grid division in a power plant area to be positioned, and taking the center coordinate of each grid point as the coordinate of the grid point;
measuring and calculating the actual WIFI received signal intensity value of a part of grid points in the whole area, and determining the label and RSS value of the AP received by the mobile terminal according to the number of AP nodes in the area to be measured;
aiming at the value obtained by actual measurement, establishing a fingerprint library corresponding to the AP on the area to be measured by using a pan-kriging interpolation method for each AP;
and positioning the mobile terminal through a WKNN algorithm in an online stage.
As a further improvement of the present invention, the grid division is performed in the power plant area to be located, and the center coordinate of each grid point is used as the coordinate of the grid point, which specifically includes:
deploying N AP nodes in a plant in a power plant, wherein N is more than or equal to 5; performing grid division on an area to be positioned in a power plant room, rasterizing the whole area to be positioned, and then obtaining position coordinates (x) of all grids by taking the center of a grid point as a referencei,yi)。
As a further improvement of the invention, the measurement and calculation of the actual WIFI received signal strength value are carried out on the partial grid points in the whole area, and the label and RSS value of the AP received by the mobile terminal are determined according to the number of AP nodes in the area to be measured; the method specifically comprises the following steps:
randomly selecting a part of grids from all grids as target grids for actual testing; and testing the RSS values corresponding to the N APs in the target grid, and storing the coordinates of the grid, the labels of the N APs and the corresponding RSS values into a database.
As a further improvement of the present invention, after the positioning the mobile terminal by the WKNN algorithm in the online stage, the method further includes:
the positioning result is synchronously displayed on the mobile terminal and the remote computer;
and obtaining a positioning result on the mobile terminal and a computer interface, and obtaining the track of the mobile user by a Kalman filtering method according to the positioning result, thereby monitoring and tracking the mobile terminal.
As a further improvement of the present invention,
as a further improvement of the present invention, the establishing a fingerprint library of a corresponding AP on a region to be measured for each AP by using a pan-kriging interpolation method for a value obtained by actual measurement specifically includes:
the method comprises the following steps of collecting a few WiFi receiving signal intensity values of known determined positions in a power plant through a user terminal, carrying out Pankriging interpolation processing on the collected intensity values by using a fitting function model, generating an RSS fingerprint library of a single AP node in the power plant, and specifically:
the strength of the RSS signal is collected,
rasterizing an area to be positioned of the power plant;
and combining the pan-kriging interpolation and the variation fitting function of the Gaussian model to obtain the RSS value of the discretized pan-kriging formula calculation interpolation point, and further establishing a fingerprint database.
As a further improvement of the invention, the formula of the pan-kriging interpolation is as follows:
Figure BDA0003246429190000031
Figure BDA0003246429190000032
is the point s to be interpolated0An estimate of the RSS of (f), Z(s)n) Is the RSS value, omega, obtained for n actual test pointsnIs a weight value. A Gaussian model is added to fit a variation function model in the formula:
Figure BDA0003246429190000035
C0c, a is a model coefficient to be solved, h is the distance from each actual test point to a point to be interpolated;
and finally discretizing to obtain a calculation formula:
Figure BDA0003246429190000033
Figure BDA0003246429190000034
for discretizing the point s to be interpolated0Value of (A), NhThe number of the distances from the actual test point to the point to be interpolated, Z(s)i+ h) is the value of the distance h from the actual test point to the point to be interpolated, Z(s)i) Is an interpolation point siThe value of (c).
As a further improvement of the present invention, the positioning of the mobile terminal by the WKNN algorithm specifically includes:
obtaining a weighted Euclidean distance of test points around a point to be positioned:
Figure BDA0003246429190000041
Figure BDA0003246429190000042
for signal weight, M represents the number of actual test points participating in positioning, u represents the u-th AP access point, i represents the i-th actual test point, and j represents a point to be positioned;
Figure BDA0003246429190000043
representing the signal strength value of the ith actual test point for receiving the u-th AP access point;
Figure BDA0003246429190000044
representing the signal intensity value of the u-th AP received by the to-be-positioned point; then obtaining Approximate Position Distance (APD)
Figure BDA0003246429190000045
γiFor distance weight, calculating Coordinate Weight (CW) of the point to be located, and using ω as:
Figure BDA0003246429190000046
and finally, calculating the position of the to-be-positioned point by the following formula:
Figure BDA0003246429190000047
(xi,yi) The coordinates of the i actual test points involved in the positioning are represented.
A WiFi positioning system within a power plant, comprising:
the grid division module is used for carrying out grid division in a power plant area to be positioned, and the central coordinate of each grid point is used as the coordinate of the grid point;
the RSS value determining module is used for measuring and calculating the actual WIFI received signal intensity value of the grid points in the whole area, and determining the label and the RSS value of the AP received by the mobile terminal according to the number of the AP nodes in the area to be measured;
a fingerprint database establishing module, configured to establish, for each AP, a fingerprint database corresponding to the AP on the area to be measured, using a pan-kriging interpolation method for the value obtained by actual measurement;
and the positioning module is used for positioning the mobile terminal through a WKNN algorithm in an online stage.
An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the WiFi positioning method within the power plant when executing the computer program.
A computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of the WiFi positioning method within a power plant.
The invention has the beneficial effects that:
according to the power plant indoor positioning method based on fingerprint library positioning, after AP nodes are deployed indoors, an area to be measured is rasterized in an off-line stage, then RSS values of 30% grid points receiving the APs are measured on the spot, and a fingerprint library of each AP on the area to be measured is generated through a Pan-Krigin interpolation method. And in the online stage, the mobile terminal is positioned through a WKNN algorithm, and the result is displayed on the mobile terminal and a computer interface. In a complex power plant indoor environment, the invention reduces the investment of manpower and material resources in the off-line warehouse building, improves the positioning precision to centimeter level through the on-line stage, and can visually see the positioning result through the system interface.
Furthermore, in the method for interpolating the UK of the Pankriging, a Gaussian model is used for fitting a function model, so that the whole model of the Pankriging algorithm is more accurate and has better robustness, and a foundation is laid for a positioning stage.
Further, in the positioning stage, a new distance measurement based on RSS similarity and spatial position distance is calculated by using a WKNN (APD-WKNN) matching algorithm of approximate position distance and utilizing known position information in a positioning environment, and the positioning precision is further improved.
Drawings
FIG. 1 is a schematic flow chart of a WiFi positioning method in a power plant according to the present invention;
FIG. 2 is a fingerprint library location flow diagram;
FIG. 3 is a flow chart of a positioning process by a Pankriging interpolation method;
FIG. 4 is a schematic view of a field location configuration;
FIG. 5 is a schematic diagram of a WiFi positioning system in a power plant in accordance with a preferred embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to a preferred embodiment of the invention.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The following detailed description is exemplary in nature and is intended to provide further details of the invention. Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention.
As shown in fig. 1, the WiFi positioning method in a power plant of the present invention includes the following steps:
firstly, carrying out grid division in a power plant area to be positioned, and taking the center coordinate of each grid point as the coordinate of the grid point; then, measuring and calculating 30% of grid points in the whole area to obtain a real-time WIFI received signal strength value, and determining the label and RSS value of the AP received by the mobile terminal according to the number of AP nodes in the area to be measured; then, aiming at the value obtained by actual measurement, establishing a fingerprint database corresponding to the AP on the area to be measured by a UK interpolation method aiming at each AP; and then, positioning the mobile terminal through a WKNN algorithm in an online stage, and synchronously displaying a positioning result on the mobile terminal and a remote computer.
The method comprises the following specific steps:
step 1: n (N is more than or equal to 5) AP nodes are deployed at proper positions in a factory building in a power plant. Gridding the indoor area to be positioned in the power plant with resolutionThe positioning is performed according to the positioning requirement (for example, the grid size is 1m × 1 m). After the whole area to be measured is rasterized, the position coordinates (x) of all grids are obtained by taking the center of a grid point as a referencei,yi)。
Step 2: randomly picking 30% of all grids as the target grid for the actual test. And testing the RSS values corresponding to the N APs in the target grid, and storing the coordinates of the grid, the labels of the N APs and the corresponding RSS values into a database.
And step 3: and aiming at the AP on each area to be detected, generating and obtaining a fingerprint library of the AP on the area to be detected by using a UK interpolation method, wherein the format of the fingerprint library is as follows.
Grid number Longitude (G) Latitude AP1 RSS_1 ··· ··· APN RSS_N
1 x y AP_1 Value_1 ··· ··· AP_N Value_N
··· ··· ··· ··· ··· ··· ··· ··· ···
n ··· ··· ··· ··· ··· ··· ··· ···
And 4, step 4: and in the online stage, positioning calculation is carried out on the RSS value measured by the mobile terminal through the WKNN algorithm to obtain a positioning coordinate.
And 5: and obtaining a positioning result on the mobile terminal and a computer interface, and obtaining the track of the mobile user by a Kalman filtering method according to the positioning result so as to monitor and track the mobile terminal.
As a preferred embodiment, as shown in fig. 3, the positioning is performed by using a fingerprint database positioning method, which includes: and in the off-line stage, an indoor fingerprint database is constructed by interpolation using Universal Kriging (UK). Specifically, a user terminal collects a few WiFi Received Signal Strength values (RSS) of known determined positions in the power plant, and a fitting function model is used for interpolating the collected Strength values to generate an RSS fingerprint database of a single AP node in the power plant.
The method specifically comprises the following steps:
the strength of the RSS signal is collected,
rasterizing an area to be positioned of the power plant;
and combining the pan-kriging interpolation and the variation fitting function of the Gaussian model to obtain the RSS value of the discretized pan-kriging formula calculation interpolation point, and further establishing a fingerprint database.
Wherein the formula of the Pankriging interpolation is as follows:
Figure BDA0003246429190000071
Figure BDA0003246429190000072
is the point s to be interpolated0An estimate of the RSS of (f), Z(s)n) Is the RSS value, omega, obtained for n actual test pointsnIs a weight value. Adding a Gaussian model fitting function model to the formula:
Figure BDA0003246429190000073
C0c, a is the model coefficient to be solved, h is the distance from each actual test point to the point to be interpolated.
And finally discretizing to obtain a calculation formula:
Figure BDA0003246429190000081
Figure BDA0003246429190000082
for discretizing the point s to be interpolated0Value of (A), NhThe number of the distances from the actual test point to the point to be interpolated, Z(s)i+ h) is the value of the distance h from the actual test point to the point to be interpolated, Z(s)i) Is an interpolation point siThe value of (c). The logarithm N of the sampling point is changed along with the change of the actual distance hhAnd also changes.
The fingerprint database generated by the method is more accurate, and meanwhile, the consumption of manpower and material resources is reduced.
As a preferred embodiment, as shown in fig. 4, WKNN (APD-WKNN) matching algorithm of approximate position distance is used for positioning. The method has low requirement on the number of WiFi strength of AP points needing to be compared, and has high positioning accuracy. The method comprises the following steps of firstly obtaining a Weighted Euclidean Distance (WED) of test points around a to-be-located point:
Figure BDA0003246429190000083
Figure BDA0003246429190000084
for signal weight, M represents the number of actual test points participating in positioning, u represents the u-th AP access point, i represents the i-th actual test point, and j represents a point to be positioned.
Figure BDA0003246429190000085
Representing the signal strength value of the ith actual test point for receiving the u-th AP access point;
Figure BDA0003246429190000086
and the signal strength value of the u-th AP access point received by the to-be-positioned point is represented. Then obtaining Approximate Position Distance (APD)
Figure BDA0003246429190000087
γiFor distance weight, calculating Coordinate Weight (CW) of the point to be located, and using ω as:
Figure BDA0003246429190000088
and finally, calculating the position of the to-be-positioned point by the following formula:
Figure BDA0003246429190000091
(xi,yi) The coordinates of the i actual test points involved in the positioning are represented.
As shown in fig. 3, in the mobile terminal used in the method, a WiFi module is provided, the computer participating in positioning and interface display also includes a WiFi module, the mobile terminal, the computer and the AP node are connected by Wi-Fi signals, and wireless communication between the devices can be realized. The positioning result is displayed on the computer and mobile phone interface through the positioning system, and the positioning error of the mobile terminal is within centimeter level.
As shown in fig. 5, another object of the present invention is to provide a WiFi positioning system in a power plant, which includes:
the grid division module is used for carrying out grid division in a power plant area to be positioned, and the central coordinate of each grid point is used as the coordinate of the grid point;
the RSS value determining module is used for measuring and calculating the actual WIFI received signal intensity value of the grid points in the whole area, and determining the label and the RSS value of the AP received by the mobile terminal according to the number of the AP nodes in the area to be measured;
a fingerprint database establishing module, configured to establish, for each AP, a fingerprint database corresponding to the AP on the area to be measured, using a pan-kriging interpolation method for the value obtained by actual measurement;
and the positioning module is used for positioning the mobile terminal through a WKNN algorithm in an online stage.
A third object of the present invention is to provide an electronic device, as shown in fig. 6, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the WiFi positioning method in the power plant when executing the computer program.
The WiFi positioning method in the power plant comprises the following steps:
performing grid division in a power plant area to be positioned, and taking the center coordinate of each grid point as the coordinate of the grid point;
measuring and calculating the actual WIFI received signal intensity value of a part of grid points in the whole area, and determining the label and RSS value of the AP received by the mobile terminal according to the number of AP nodes in the area to be measured;
aiming at the value obtained by actual measurement, establishing a fingerprint library corresponding to the AP on the area to be measured by using a pan-kriging interpolation method for each AP;
and positioning the mobile terminal through a WKNN algorithm in an online stage.
A fourth object of the invention is to provide a computer readable storage medium, which stores a computer program that, when executed by a processor, performs the steps of the WiFi positioning method within the power plant.
The WiFi positioning method in the power plant comprises the following steps:
performing grid division in a power plant area to be positioned, and taking the center coordinate of each grid point as the coordinate of the grid point;
measuring and calculating the actual WIFI received signal intensity value of a part of grid points in the whole area, and determining the label and RSS value of the AP received by the mobile terminal according to the number of AP nodes in the area to be measured;
aiming at the value obtained by actual measurement, establishing a fingerprint library corresponding to the AP on the area to be measured by using a pan-kriging interpolation method for each AP;
and positioning the mobile terminal through a WKNN algorithm in an online stage.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims (10)

1. A WiFi positioning method in a power plant is characterized by comprising the following steps:
performing grid division in a power plant area to be positioned, and taking the center coordinate of each grid point as the coordinate of the grid point;
measuring and calculating the actual WIFI received signal intensity value of a part of grid points in the whole area, and determining the label and RSS value of the AP received by the mobile terminal according to the number of AP nodes in the area to be measured;
aiming at the value obtained by actual measurement, establishing a fingerprint library corresponding to the AP on the area to be measured by using a pan-kriging interpolation method for each AP;
and positioning the mobile terminal through a WKNN algorithm in an online stage.
2. The method of claim 1,
the grid division is carried out in the power plant area to be positioned, the center coordinate of each grid point is used as the coordinate of the grid point, and the grid division method specifically comprises the following steps:
deploying N AP nodes in a plant in a power plant, wherein N is more than or equal to 5; performing grid division on an area to be positioned in a power plant room, rasterizing the whole area to be positioned, and then obtaining position coordinates (x) of all grids by taking the center of a grid point as a referencei,yi)。
3. The method of claim 1,
the method comprises the steps of measuring and calculating the actual WIFI received signal strength value of a part of grid points in the whole area, and determining the label and RSS value of an AP received by a mobile terminal according to the number of AP nodes in the area to be measured; the method specifically comprises the following steps:
randomly selecting a part of grids from all grids as target grids for actual testing; and testing the RSS values corresponding to the N APs in the target grid, and storing the coordinates of the grid, the labels of the N APs and the corresponding RSS values into a database.
4. The method of claim 1,
the positioning of the mobile terminal by the WKNN algorithm in the online stage further comprises the following steps:
the positioning result is synchronously displayed on the mobile terminal and the remote computer;
and obtaining a positioning result on the mobile terminal and a computer interface, and obtaining the track of the mobile user by a Kalman filtering method according to the positioning result, thereby monitoring and tracking the mobile terminal.
5. The method of claim 1,
the method comprises the following steps of establishing a fingerprint database corresponding to each AP on a region to be measured by using a pan-kriging interpolation method according to values obtained by actual measurement, specifically:
the method comprises the following steps of collecting a few WiFi receiving signal intensity values of known determined positions in a power plant through a user terminal, carrying out Pankriging interpolation processing on the collected intensity values by using a fitting function model, generating an RSS fingerprint library of a single AP node in the power plant, and specifically:
the strength of the RSS signal is collected,
rasterizing an area to be positioned of the power plant;
and combining the pan-kriging interpolation and the variation fitting function of the Gaussian model to obtain the RSS value of the discretized pan-kriging formula calculation interpolation point, and further establishing a fingerprint database.
6. The method of claim 5,
the formula for the pan kriging interpolation is:
Figure FDA0003246429180000021
Figure FDA0003246429180000022
is the point s to be interpolated0An estimate of the RSS of (f), Z(s)n) Is the RSS value, omega, obtained for n actual test pointsnIs a weighted value; a Gaussian model is added to fit a variation function model in the formula:
Figure FDA0003246429180000023
C0c, a is a model coefficient to be solved, h is the distance from each actual test point to a point to be interpolated;
and finally discretizing to obtain a calculation formula:
Figure FDA0003246429180000024
Figure FDA0003246429180000025
for discretizing the point s to be interpolated0Value of (A), NhThe number of the distances from the actual test point to the point to be interpolated, Z(s)i+ h) is the value of the distance h from the actual test point to the point to be interpolated, Z(s)i) Is an interpolation point siThe value of (c).
7. The method of claim 1,
the method for positioning the mobile terminal through the WKNN algorithm specifically comprises the following steps:
obtaining a weighted Euclidean distance of test points around a point to be positioned:
Figure FDA0003246429180000031
Figure FDA0003246429180000032
for signal weight, M represents the number of actual test points participating in positioning, u represents the u-th AP access point, i represents the i-th actual test point, and j represents a point to be positioned;
Figure FDA0003246429180000033
representing the signal strength value of the ith actual test point for receiving the u-th AP access point;
Figure FDA0003246429180000034
representing the signal intensity value of the u-th AP received by the to-be-positioned point; then obtaining Approximate Position Distance (APD)
Figure FDA0003246429180000035
γiFor distance weight, calculating Coordinate Weight (CW) of the point to be located, and using ω as:
Figure FDA0003246429180000036
and finally, calculating the position of the to-be-positioned point by the following formula:
Figure FDA0003246429180000037
(xi,yi) The coordinates of the i actual test points involved in the positioning are represented.
8. A WiFi positioning system in a power plant, comprising:
the grid division module is used for carrying out grid division in a power plant area to be positioned, and the central coordinate of each grid point is used as the coordinate of the grid point;
the RSS value determining module is used for measuring and calculating the actual WIFI received signal intensity value of the grid points in the whole area, and determining the label and the RSS value of the AP received by the mobile terminal according to the number of the AP nodes in the area to be measured;
a fingerprint database establishing module, configured to establish, for each AP, a fingerprint database corresponding to the AP on the area to be measured, using a pan-kriging interpolation method for the value obtained by actual measurement;
and the positioning module is used for positioning the mobile terminal through a WKNN algorithm in an online stage.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing the steps of the WiFi positioning method in a power plant of any of claims 1-7.
10. A computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the WiFi positioning method in a power plant of any of claims 1-7.
CN202111034496.0A 2021-09-03 2021-09-03 WiFi positioning method, device, equipment and medium in power plant Pending CN113747355A (en)

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