CN114234984B - Indoor positioning track smoothing method, system and equipment based on difference matrix - Google Patents

Indoor positioning track smoothing method, system and equipment based on difference matrix Download PDF

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CN114234984B
CN114234984B CN202210183175.5A CN202210183175A CN114234984B CN 114234984 B CN114234984 B CN 114234984B CN 202210183175 A CN202210183175 A CN 202210183175A CN 114234984 B CN114234984 B CN 114234984B
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何成文
李小龙
李闯
文艳华
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Hunan University of Technology
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Abstract

The invention provides a method, a system and equipment for smoothing indoor positioning track based on a difference matrix, belonging to the technical field of data processing and specifically comprising the following steps: positioning resolving is carried out to obtain a positioning coordinate; constructing an initial matrix, setting the dimensionality of the initial matrix to be N, and assigning values to all elements of the initial matrix; and multiplying the target matrix with X coordinate values and Y coordinate values of the N groups of positioning coordinates respectively to obtain N groups of new smooth coordinates, and replacing the last group of coordinates before smoothing with the last group of positioning solutions of the smooth coordinates to complete the smoothing process under the current positioning solution. And removing the latest entered positioning coordinate, reserving other solutions, constructing new N groups of positioning solution matrixes, and then executing the step S4 to obtain the smooth coordinate under the current positioning coordinate. According to the scheme of the invention, the differential matrix is subjected to certain multiplication and inversion operation, and is multiplied by the positioning solution to obtain a smooth and stable positioning result.

Description

Indoor positioning track smoothing method, system and equipment based on difference matrix
Technical Field
The invention relates to the technical field of data processing, in particular to a method, a system and equipment for smoothing indoor positioning tracks based on a difference matrix.
Background
At present, in the field of indoor sensor positioning, even if different sensors (such as RFID, UWB, bluetooth, WiFi, iBeacon, ultrasonic waves, etc.) are under the same positioning algorithm condition, there will be certain fluctuation in positioning coordinates due to the influence of indoor environment. Especially, when the environment is extremely deteriorated, for example, under the influence of NLOS errors, the positioning coordinates have a certain divergence phenomenon, so that the overall positioning track has large fluctuation to affect the industrial and domestic applications of the system.
Therefore, an indoor positioning track smoothing method based on a differential matrix, which can improve the stability and the smoothness of the positioning track of a sensor in an indoor environment, is needed.
Disclosure of Invention
In view of this, the present invention provides a method, a system, and a device for smoothing an indoor positioning track based on a difference matrix, which at least partially solve the problem in the prior art that the positioning track has poor stability and smoothness.
In a first aspect, the present invention provides a method for smoothing an indoor positioning track based on a difference matrix, including:
s1, positioning and resolving the sensor observation data according to different positioning algorithms to obtain positioning coordinates;
s2, constructing an initial matrix and setting the dimensionality of the initial matrix to be N, wherein the number of rows of the initial matrix is N-1, the number of columns of the initial matrix is N, N is a positive integer larger than 2, all elements of the initial matrix are assigned to be 0, then positions with the same row number and column number of the initial matrix are assigned to be-1, and finally the position of the next element with the element of-1 in each row vector of the initial matrix is assigned to be 1;
s3, performing matrix multiplication and inversion operation on the initial matrix to obtain a target matrix;
s4, when the number of the positioning coordinate sets is accumulated to N sets for the first time, multiplying the X coordinate value and the Y coordinate value of the target matrix and the N sets of positioning coordinates respectively to obtain N sets of new smooth coordinates, and replacing the last set of coordinates before smoothing with the last set of positioning solutions of the smooth coordinates to complete the smoothing process under the current positioning solutions;
s5, when the new positioning coordinate enters into N groups of positioning coordinates, removing the latest entering positioning coordinate, reserving other solutions, constructing a new N groups of positioning solution matrixes, and then executing the step S4 to obtain the smooth coordinate under the current positioning coordinate.
According to a specific implementation manner of the invention, the expression of the initial matrix is
Figure 103342DEST_PATH_IMAGE001
。
According to a specific implementation manner of the invention, the expression of the target matrix is
Figure 916578DEST_PATH_IMAGE002
Wherein, in the step (A),
Figure 352238DEST_PATH_IMAGE003
is an N-dimensional unit matrix and is a matrix,
Figure 327147DEST_PATH_IMAGE004
representation pair matrix
Figure 277786DEST_PATH_IMAGE005
And carrying out inversion operation.
According to a specific implementation manner of the invention, the expression of the smooth coordinate is
Figure 629133DEST_PATH_IMAGE006
Wherein, in the step (A),
Figure 450458DEST_PATH_IMAGE007
representing a positioning solution sequence
Figure 330690DEST_PATH_IMAGE008
All the elements in the X-axis of (1),
Figure 237466DEST_PATH_IMAGE009
representing a positioning solution sequence
Figure 392503DEST_PATH_IMAGE010
All elements of the Y axis of (1), so that said smooth coordinates
Figure 865073DEST_PATH_IMAGE011
Containing N sets of positioning coordinates.
According to a specific implementation manner of the present invention, the S5 includes:
and according to the new positioning solution matrix and the expression of the smooth coordinate, circularly calculating to obtain all smooth results and forming the smooth coordinate under the current positioning coordinate.
In a second aspect, the present invention provides an indoor positioning track smoothing system based on a differential matrix, including:
the first calculation module is used for positioning and resolving the sensor observation data according to different positioning algorithms to obtain positioning coordinates;
the device comprises a construction module, a calculation module and a calculation module, wherein the construction module is used for constructing an initial matrix and setting the dimensionality of the initial matrix to be N, the row number of the initial matrix is N-1, the column number of the initial matrix is N, N is a positive integer larger than 2, all elements of the initial matrix are assigned to be 0, then positions with the same row number and column number sequence of the initial matrix are assigned to be-1, and finally the position of the next element with the element of-1 in each row vector of the initial matrix is assigned to be 1;
the operation module is used for carrying out matrix multiplication and inversion operation on the initial matrix to obtain a target matrix;
the second calculation module is used for multiplying the X coordinate value and the Y coordinate value of the positioning coordinates of the N groups by the target matrix respectively when the number of the positioning coordinate groups is accumulated to the N groups for the first time, so as to obtain N groups of new smooth coordinates, and replacing the last group of coordinates before smoothing with the last group of positioning solutions of the smooth coordinates, so as to complete the smoothing process under the current positioning solution;
and the third calculation module is used for removing the latest entering positioning coordinate when the new positioning coordinate enters the N groups of positioning coordinates, reserving other solutions, constructing a new N groups of positioning solution matrixes, and then executing the step S4 to obtain the smooth coordinate under the current positioning coordinate.
In a third aspect, the present invention also provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of indoor differential matrix-based localization trajectory smoothing in any implementation of the first aspect or the first aspect.
The indoor positioning track smoothing scheme based on the difference matrix comprises the following steps: positioning resolving is carried out on the sensor observation data according to different positioning algorithms to obtain positioning coordinates; constructing an initial matrix and setting the dimensionality of the initial matrix to be N, wherein the number of rows of the initial matrix is N-1 and the number of columns of the initial matrix is N, wherein N is a positive integer greater than 2, all elements of the initial matrix are assigned to be 0, then positions with the same row number and column number sequence of the initial matrix are assigned to be-1, and finally the position of the next element with the element of-1 in each row vector of the initial matrix is assigned to be 1; when the number of the positioning coordinate groups is accumulated to N groups for the first time, respectively multiplying the X coordinate value and the Y coordinate value of the positioning coordinates of the N groups by the target matrix to obtain N groups of new smooth coordinates, and replacing the last group of coordinates before smoothing with the last group of positioning solutions of the smooth coordinates to finish the smoothing process under the current positioning solution; when the new positioning coordinate enters the N sets of positioning coordinates, the latest entering positioning coordinate is removed, other solutions are retained, a new N sets of positioning solution matrices are constructed, and then step S4 is executed to obtain the smooth coordinate under the current positioning coordinate.
The invention has the beneficial effects that: by the scheme of the invention, the differential matrix is directly subjected to certain multiplication and inversion operation and then multiplied by a positioning solution, so that a smooth positioning result can be obtained and the stability is good.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of an indoor positioning track smoothing method based on a differential matrix according to the present invention;
FIG. 2 is a schematic diagram showing comparison of effects before and after smoothing processing involved in an indoor positioning track smoothing method based on a differential matrix according to the present invention;
FIG. 3 is a schematic structural diagram of an indoor positioning track smoothing system based on a differential matrix according to the present invention;
fig. 4 is a schematic diagram of an electronic device provided in the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. 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.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be further noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of each component in actual implementation can be changed freely, and the layout of the components can be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The invention provides an indoor positioning track smoothing method based on a difference matrix, which can be applied to a positioning coordinate smoothing process of an indoor sensor positioning scene.
Referring to fig. 1, a schematic flow chart of an indoor positioning track smoothing method based on a difference matrix is provided in the present invention. As shown in fig. 1, the method mainly comprises the following steps:
s1, positioning and resolving the sensor observation data according to different positioning algorithms to obtain positioning coordinates;
in specific implementation, positioning coordinates for calculating observation data corresponding to the sensor by different positioning algorithms can be obtained first
Figure 447364DEST_PATH_IMAGE012
The positioning coordinate is composed of an X-axis coordinate and a Y-axis coordinate.
S2, constructing an initial matrix and setting the dimensionality of the initial matrix to be N, wherein the number of rows of the initial matrix is N-1, the number of columns of the initial matrix is N, N is a positive integer larger than 2, all elements of the initial matrix are assigned to be 0, then positions with the same row number and column number of the initial matrix are assigned to be-1, and finally the position of the next element with the element of-1 in each row vector of the initial matrix is assigned to be 1;
optionally, the expression of the initial matrix is
Figure 841436DEST_PATH_IMAGE013
。
In specific implementation, the dimension of the matrix can be set to be N, and a matrix is constructed
Figure 269007DEST_PATH_IMAGE014
The number of rows is N-1 and the number of columns is N. Firstly, all elements of the matrix are assigned with 0, then the positions with the same row number and column number sequence of the matrix are assigned with-1, and finally the position of the next element with the element of-1 in each row vector of the matrix is assigned with 1. Therefore, the temperature of the molten metal is controlled,
Figure 64924DEST_PATH_IMAGE014
the expression of the matrix is:
Figure 614854DEST_PATH_IMAGE015
（1）
s3, performing matrix multiplication and inversion operation on the initial matrix to obtain a target matrix;
optionally, the expression of the target matrix is
Figure 230644DEST_PATH_IMAGE016
Wherein, in the step (A),
Figure 727484DEST_PATH_IMAGE017
is an N-dimensional unit matrix and is a matrix,
Figure 112329DEST_PATH_IMAGE018
representation pair matrix
Figure 36423DEST_PATH_IMAGE019
And carrying out inversion operation.
In specific implementation, after the initial matrix is obtained, the initial matrix may be subjected to
Figure 873929DEST_PATH_IMAGE014
Carrying out certain matrix multiplication and inversion operation to obtain a new matrix
Figure 908881DEST_PATH_IMAGE020
As the target matrix:
Figure 413811DEST_PATH_IMAGE021
（2）
wherein the content of the first and second substances,
Figure 305544DEST_PATH_IMAGE017
is an N-dimensional unit matrix and is a matrix,
Figure 895925DEST_PATH_IMAGE022
representation pair matrix
Figure 734568DEST_PATH_IMAGE019
And carrying out inversion operation.
S4, when the number of the positioning coordinate sets is accumulated to N sets for the first time, multiplying the X coordinate value and the Y coordinate value of the target matrix and the N sets of positioning coordinates respectively to obtain N sets of new smooth coordinates, and replacing the last set of coordinates before smoothing with the last set of positioning solutions of the smooth coordinates to complete the smoothing process under the current positioning solutions;
optionally, the expression of the smooth coordinate is
Figure 94006DEST_PATH_IMAGE006
Wherein, in the step (A),
Figure 359902DEST_PATH_IMAGE023
representing a positioning solution sequence
Figure 437579DEST_PATH_IMAGE024
All the elements in the X-axis of (1),
Figure 611072DEST_PATH_IMAGE025
representing a positioning solution sequence
Figure 90594DEST_PATH_IMAGE026
All elements of the Y axis of (1), so that said smooth coordinates
Figure 261813DEST_PATH_IMAGE011
Containing N sets of positioning coordinates.
In specific implementation, the positioning coordinate is obtained when the positioning solution is
Figure 826786DEST_PATH_IMAGE027
After reaching group N (
Figure 7232DEST_PATH_IMAGE028
Range from 1 to N), N sets of positioning solutions are constructed to form a new position matrix, i.e. a new position matrix
Figure 939330DEST_PATH_IMAGE029
（3）
Will be provided with
Figure 547028DEST_PATH_IMAGE030
Multiplying the X-axis coordinate and the Y-axis coordinate in the N groups of positioning solutions respectively to obtain
Figure 130457DEST_PATH_IMAGE026
Corresponding smooth positioning solution
Figure 52276DEST_PATH_IMAGE011
。
Figure 506391DEST_PATH_IMAGE006
（4）
Wherein the content of the first and second substances,
Figure 284991DEST_PATH_IMAGE031
in a representation positioning solution
Figure 558978DEST_PATH_IMAGE026
All of the elements of the X-axis of (c),
Figure 81226DEST_PATH_IMAGE032
representation positioning solution
Figure 389848DEST_PATH_IMAGE026
All elements of the Y axis in (1), so that a new smooth positioning solution matrix
Figure 339349DEST_PATH_IMAGE011
Comprises N sets of positioning solutions, and replaces the original coordinates with the new smooth coordinatesThe trajectory becomes stable and relatively smooth, in terms of bit coordinates.
S5, when the new positioning coordinate enters N groups of positioning coordinates, removing the latest entering positioning coordinate, reserving other solutions, constructing a new N groups of positioning solution matrixes, and then executing the step S4 to obtain the smooth coordinate under the current positioning coordinate.
Further, the S5 includes:
and according to the new positioning solution matrix and the expression of the smooth coordinate, circularly calculating to obtain all smooth results and forming the smooth coordinate under the current positioning coordinate.
When embodied, when the new positioning solution
Figure 366211DEST_PATH_IMAGE033
Once obtained, it needs to be placed into sequence
Figure 160992DEST_PATH_IMAGE026
In the method, the positioning solution of the latest entering sequence is removed at the same time, so that the positioning solution is new
Figure 996224DEST_PATH_IMAGE026
The matrix can be expressed as
Figure 116626DEST_PATH_IMAGE034
（5）
Subsequently, equation (4) is executed to obtain a new smooth positioning solution. All smoothing results can be obtained by looping through steps S5 and S4.
The present solution will be described below with reference to a specific embodiment, as shown in fig. 2, a dotted line is an original positioning coordinate obtained by combining the positioning algorithm with the observation data. The coordinate values are respectively: (2.00, -0.39),(1.97, -0.48),(1.95, -0.42),(1.96, -0.36),(1.90, -0.41),(1.60, -0.46),(1.36, -0.05),(1.15, -0.15),(0.98, -0.27),(0.72, -0.26),(0.51, -0.30),(0.36, -0.41),(0.19, -0.29),(-0.34, -0.48),(0.47, -0.96),(0.45, -1.10),(0.31, -1.34),(0.36, -1.58),(0.40, -1.66),(0.32, -1.89),(0.52, -2.25),(0.94, -2.08),(1.19, -2.02),(1.47, -2.05),(1.90, -2.38),(1.88, -2.09),(2.10, -1.89),(2.38, -1.74),(2.38, -1.69),(2.26, -1.47),(3.03, -1.68),(3.35, -1.35),(3.03, -1.08),(2.95, -0.97),(2.82, -0.76),(2.80, -0.64),(2.73, -0.45),(2.87, -0.42),(2.86, -0.22),(2.60,0.44),(2.33,0.10),(2.10,0.02),(2.10,0.03),(2.13,0.00),(1.96,0.03),(1.88,0.95),(1.83, -0.03),(1.83, -0.01),(1.65,0.35),(1.83,0.06),(1.83,0).
As shown in fig. 2, the solid line shows the effect of the smoothing method on the original positioning coordinates. The positioning result is as follows: (1.90, -0.49),(1.98, -0.43),(2.00, -0.39),(1.97, -0.48),(1.95, -0.42),(1.96, -0.36),(1.90, -0.41),(1.60, -0.46),(1.36, -0.05),(1.47, -0.24),(1.30, -0.25),(1.09, -0.25),(0.88, -0.27),(0.69, -0.32),(0.51, -0.31),(0.20, -0.37),(0.29, -0.58),(0.35, -0.76),(0.33, -0.97),(0.34, -1.19),(0.35, -1.36),(0.34, -1.55),(0.40, -1.80),(0.59, -1.91),(0.81, -1.95),(1.05, -1.99),(1.35, -2.13),(1.54, -2.12),(1.74, -2.04), (1.97, -1.94),(2.12, -1.85),(2.18, -1.72),(2.49, -1.70),(2.80, -1.57),(2.89, -1.40),(2.92, -1.24),(2.89, -1.07),(2.8, -0.91),(2.82, -0.74),(2.84, -0.63),(2.85, -0.48),(2.76, -0.15),(2.61, -0.05),(2.42, -0.03),(2.30,0.00),(2.24,0.00),(2.14,0.01),(2.05,0.35),(1.97,0.22),(1.92,0.14),(1.82,0.22),(1.82,0.16),(1.82,0.10).
As can be seen, the method proposed by the present invention is smoother and more stable on the curve than the original positioning curve.
The indoor positioning track smoothing method based on the difference matrix provided by the embodiment can obtain a smooth positioning result by directly multiplying and inverting the difference matrix to a certain extent and then multiplying the result by a positioning solution. The method is very simple and convenient, has good smooth effect and has important reference value for industrial application.
Corresponding to the above method embodiment, referring to fig. 3, the present invention further provides an indoor positioning track smoothing system 30 based on a difference matrix, including:
the first calculation module 301 is configured to perform positioning calculation on sensor observation data according to different positioning algorithms to obtain positioning coordinates;
a constructing module 302, configured to construct an initial matrix and set a dimension of the initial matrix to be N, where the number of rows of the initial matrix is N-1 and the number of columns of the initial matrix is N, where N is a positive integer greater than 2, assign 0 to all elements of the initial matrix, then assign-1 to positions where the sequence numbers of the rows and columns of the initial matrix are the same, and finally assign 1 to a next element position where an element in each row vector of the initial matrix is-1;
an operation module 303, configured to perform matrix multiplication and inverse operation on the initial matrix to obtain a target matrix;
a second calculating module 304, configured to, when the number of positioning coordinate sets is accumulated to N sets for the first time, obtain N new sets of smooth coordinates by multiplying the target matrix by X coordinate values and Y coordinate values of the N sets of positioning coordinates, respectively, and replace the last set of coordinates before smoothing with the last set of positioning solutions of the smooth coordinates, thereby completing a smoothing process under the current positioning solution;
a third calculating module 305, configured to remove the latest entered positioning coordinate when a new positioning coordinate enters into the N sets of positioning coordinates, retain other solutions, construct a new N sets of positioning solution matrices, and then execute step S4 to obtain smooth coordinates under the current positioning coordinate.
The system shown in fig. 3 may correspondingly execute the content in the above method embodiment, and details of the part not described in detail in this embodiment refer to the content described in the above method embodiment, which is not described again here.
Referring to fig. 4, the present invention also provides an electronic device 40, comprising: at least one processor and a memory communicatively coupled to the at least one processor. Wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of indoor localization trajectory smoothing based on difference matrix in the above method embodiments.
The present invention also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the difference matrix-based indoor localization trajectory smoothing method in the aforementioned method embodiments.
The present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the difference matrix based indoor positioning trajectory smoothing method of the aforementioned method embodiments.
Referring now to FIG. 4, there is shown a schematic block diagram of an electronic device 40 suitable for use in implementing the present invention. The electronic device in the present invention may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a vehicle-mounted terminal (e.g., a car navigation terminal), etc., and a stationary terminal such as a digital TV, a desktop computer, etc. The electronic device shown in fig. 4 is only an example, and should not bring any limitation to the function and the scope of use of the present invention.
As shown in fig. 4, the electronic device 40 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 401 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage means 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic apparatus 40 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, tape, hard disk, etc.; and a communication device 409. The communication device 409 may allow the electronic device 40 to communicate wirelessly or by wire with other devices to exchange data. While the figures illustrate an electronic device 40 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
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 may be downloaded and installed from a network via the communication device 409, or from the storage device 408, or from the ROM 402. The computer program performs the above-mentioned functions defined in the method of the invention when executed by the processing means 401.
It should be noted that the computer readable medium of 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, either 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: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to perform the steps associated with the method embodiments.
Alternatively, the computer readable medium carries one or more programs, which when executed by the electronic device, enable the electronic device to perform the relevant steps of the above method embodiments.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
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 and/or flowchart illustration, and combinations of blocks in the block diagrams and/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 present invention can be implemented by software or hardware.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (6)

1. An indoor positioning track smoothing method based on a difference matrix is characterized by comprising the following steps:
s1, positioning and resolving the sensor observation data according to different positioning algorithms to obtain positioning coordinates;
s2, constructing an initial matrix and setting the dimensionality of the initial matrix to be N, wherein the number of rows of the initial matrix is N-1, the number of columns of the initial matrix is N, N is a positive integer larger than 2, all elements of the initial matrix are assigned to be 0, then positions with the same row number and column number of the initial matrix are assigned to be-1, and finally the position of the next element with the element of-1 in each row vector of the initial matrix is assigned to be 1;
s3, matrix multiplication and inversion operation are carried out on the initial matrix to obtain a target matrix, wherein the expression of the target matrix is Q ═ I + DTD)-1Wherein I is an N-dimensional unit matrix, (J)-1Representing the inversion operation on the matrix J;
s4, when the number of the positioning coordinate sets is accumulated to N sets for the first time, multiplying the X coordinate value and the Y coordinate value of the target matrix and the N sets of positioning coordinates respectively to obtain N sets of new smooth coordinates, and replacing the last set of coordinates before smoothing with the last set of positioning solutions of the smooth coordinates to complete the smoothing process under the current positioning solutions;
s5, when the new positioning coordinate enters into N groups of positioning coordinates, removing the initial entering positioning coordinate, reserving other solutions, constructing a new N groups of positioning solution matrixes, and then executing the step S4 to obtain the smooth coordinate under the current positioning coordinate.
2. The method of claim 1, wherein the initial matrix is expressed as
Figure FDA0003589503670000011
3. The method of claim 2, wherein the expression of the smooth coordinate is P'N＝[Q·PN,1,Q·PN,2]Wherein P isN,1Representing a positioning solution sequence PNAll elements of X axis in (1), PN,2Representing a positioning solution sequence PNAll elements of Y-axis of (1), so the smooth coordinate P'NContaining N sets of positioning coordinates.
4. The method according to claim 3, wherein the S5 includes:
and according to the new positioning solution matrix and the expression of the smooth coordinate, circularly calculating to obtain all smooth results and forming the smooth coordinate under the current positioning coordinate.
5. An indoor positioning track smoothing system based on a difference matrix, comprising:
the first calculation module is used for positioning and resolving the sensor observation data according to different positioning algorithms to obtain positioning coordinates;
the device comprises a construction module, a calculation module and a calculation module, wherein the construction module is used for constructing an initial matrix and setting the dimensionality of the initial matrix to be N, the number of rows of the initial matrix is N-1, the number of columns of the initial matrix is N, N is a positive integer larger than 2, all elements of the initial matrix are assigned to be 0, then positions with the same row number and column number sequence of the initial matrix are assigned to be-1, and finally the position of the next element with the element of-1 in each row vector of the initial matrix is assigned to be 1;
an operation module, configured to perform matrix multiplication and inverse operation on the initial matrix to obtain a target matrix, where an expression of the target matrix is Q ═ I + DTD)-1Wherein I is an N-dimensional unit matrix (J)-1Representing the inversion operation on the matrix J;
the second calculation module is used for multiplying the X coordinate value and the Y coordinate value of the positioning coordinates of the N groups by the target matrix respectively when the number of the positioning coordinate groups is accumulated to the N groups for the first time, so as to obtain N groups of new smooth coordinates, and replacing the last group of coordinates before smoothing with the last group of positioning solutions of the smooth coordinates, so as to complete the smoothing process under the current positioning solution;
and the third calculation module is used for removing the latest entered positioning coordinate when the new positioning coordinate enters the N groups of positioning coordinates, reserving other solutions, constructing a new N groups of positioning solution matrixes, and then executing the step S4 to obtain the smooth coordinate under the current positioning coordinate.
6. An electronic device, characterized in that the electronic device comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the difference matrix based indoor localization trajectory smoothing method of any of the preceding claims 1-4.
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