CN114501312A - Indoor positioning method and system integrating WIFI and PDR positioning technologies - Google Patents
Indoor positioning method and system integrating WIFI and PDR positioning technologies Download PDFInfo
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- 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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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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Abstract
The invention discloses an indoor positioning method and system fusing WIFI and PDR positioning technologies, wherein the method comprises the following steps: acquiring a WIFI positioning result of the target to be measured at an initial time t0, and using the WIFI positioning result as an initial position of a PDR positioning technology; acquiring sensor data from t0 to an intermediate time t1, acquiring a PDR positioning result of t1, and acquiring a WIFI positioning result of t 1; judging whether the error between the PDR positioning result and the WIFI positioning result of t1 exceeds a preset threshold value or not; if yes, acquiring sensor data from t0 to the termination time tr to obtain a PDR positioning result of tr; if not, resetting the position corresponding to the WIFI positioning result of t1 as the initial position of the PDR positioning technology, and acquiring sensor data from t1 to tr to obtain a PDR positioning result of tr. By the technical scheme, the indoor positioning precision and stability are improved, and the indoor positioning cost is reduced.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to an indoor positioning method fusing WIFI and PDR positioning technologies and an indoor positioning system fusing WIFI and PDR positioning technologies.
Background
With the popularization of smart phones and the development of mobile internet, the wireless positioning technology greatly facilitates the life of people. In outdoor environment, the GPS can provide low-cost and high-precision navigation information for global users, but due to the shielding of buildings and the complexity of indoor environment, the satellite navigation system cannot be well applied indoors. In recent years, the demand of people for indoor positioning services has increased greatly, and positioning technologies in large indoor places such as markets, hospitals and banks are still in the research stage and cannot be used in a large area, so that the indoor positioning technologies become a hotspot for research under the condition of no additional equipment assistance. The positioning precision of the existing positioning technologies such as infrared rays and RFID is general, and a signal receiving device with higher precision needs to be laid in a positioning environment in advance, so that the placement position of the signal receiving device is also highly required. The positioning technologies such as ultrasonic wave and ultra-wideband have higher positioning accuracy, but the cost of the positioning device is too high, which is not convenient for technical popularization.
The indoor positioning based on the WIFI is an indoor positioning technology based on wireless signals, is one of the most widely applied modes at present, has low requirements on infrastructure, is low in cost, does not need to install additional equipment, and can cause positioning targets to be interfered to a certain extent in the positioning process due to the fluctuation of the WIFI signals and the complexity of the indoor environment. The first method is to use a distance model, calculate the distance by the signal intensity through a corresponding model formula and calculate the coordinate of a point to be detected by trilateral intersection; the second is to apply a location fingerprint model, match the signal strength received at the undetermined point with the known points in the location fingerprint database, and calculate the coordinates using a fingerprint matching algorithm, wherein the location fingerprint positioning algorithm is simpler than the distance propagation model, but requires the acquisition of a large amount of fingerprint data in advance.
On the other hand, inertial navigation systems based on inertial sensors (MEMS) are also rapidly developing, and various built-in sensors (such as accelerometers and gyroscopes) are available in common smart phones today. The pedestrian Dead reckoning (pdr) based on inertial sensors is one of the commonly used inertial navigation technologies, and is a relative position positioning technology, which can provide continuous position information of a moving body at any time. Compared with a positioning technology based on wireless signals, the technology has the advantages that the mobile terminal is generally provided with motion sensors such as a gyroscope, an acceleration sensor and an electronic compass, so that the inertial navigation technology of the mobile terminal has good popularization, and has the advantages of being not easily influenced by the environment, high in stability and the like. However, the electronic compass is easily interfered by the environment, so that the course angle is deviated, the walking distance error is caused by the gait judgment error and the step length estimation error, and the inertial system cannot perform accurate positioning for a long time due to the accumulated error, so that how to effectively eliminate the accumulated error becomes the key for solving the problem.
In a comprehensive view, the positioning results of the WIFI and the PDR have the asynchronous feedback problem in time sequence, and the positioning results are inaccurate due to overlarge errors of WIFI signals and accumulated errors of PDR positioning.
Disclosure of Invention
Aiming at the problems, the invention provides an indoor positioning method fusing WIFI and PDR positioning technologies, which solves the asynchronous feedback problem of the two positioning technologies in time sequence by fusing the WIFI positioning technology and the PDR positioning technology and adopting a positioning error threshold judgment method, and simultaneously corrects the positioning results of the two positioning technologies at the same time, thereby improving the precision and stability of indoor positioning and reducing the cost of indoor positioning.
In order to achieve the above object, the present invention provides an indoor positioning method fusing WIFI and PDR positioning technologies, comprising:
step S1, acquiring a WIFI positioning result of the target to be detected by adopting a WIFI positioning technology at the starting time t0, and taking the WIFI positioning result at the starting time as the starting position of the PDR positioning technology;
step S2, acquiring sensor data from a starting time t0 to an intermediate time t1, acquiring an intermediate time PDR positioning result of the intermediate time t1 based on a PDR positioning technology, and acquiring an intermediate time WIFI positioning result of the intermediate time t1 based on a WIFI positioning technology;
step S3, comparing the error between the intermediate moment PDR positioning result and the intermediate moment WIFI positioning result, and judging whether the error exceeds a preset threshold value;
step S4, if the error exceeds the preset threshold, acquiring sensor data from the starting time t0 to the ending time tr, and accordingly obtaining a PDR positioning result at the ending time based on the PDR positioning technology;
and if the error does not exceed the preset threshold, taking the intermediate WIFI positioning result as a target positioning result of the intermediate time t1, resetting the corresponding position to the initial position of the PDR positioning technology, acquiring sensor data from the intermediate time t1 to the end time tr, and thus obtaining an end time PDR positioning result based on the PDR positioning technology.
In the above technical solution, preferably, the indoor positioning method fusing WIFI and PDR positioning technologies further includes:
step S5, when the ending time tr still needs to continue positioning, resetting the position corresponding to the ending time PDR positioning result to the starting position based on the PDR positioning technology, and continuing to execute steps S2 to S4.
In the above technical solution, preferably, the specific process of step S3 includes:
constructing a circular range by taking the corresponding position of the PDR positioning result at the middle moment as a circle center and taking the displacement of the target to be measured from the starting moment t0 to the middle moment t1 based on the PDR positioning technology as a radius;
judging whether the position corresponding to the WIFI positioning result at the middle moment is within the circular range or not;
and if the position corresponding to the WIFI positioning result at the middle moment is within the circular range, judging that the error does not exceed a preset threshold value, otherwise, judging that the error exceeds the preset threshold value.
In the foregoing technical solution, preferably, the method for acquiring the start-time WIFI positioning result or the middle-time WIFI positioning result based on the WIFI positioning technology in step S1 and step S2 includes a trilateration method, a TOA ranging method, a TDOA ranging method, and a fingerprint matching algorithm.
In the above technical solution, preferably, the specific step of obtaining the WIFI positioning result by using the fingerprint matching algorithm includes:
an off-line stage:
setting reference points in an indoor area, and collecting a WIFI signal intensity value for each reference point;
data preprocessing is carried out on the WIFI signal intensity value, and a position fingerprint database of the indoor area is established according to the WIFI signal intensity value of each reference point;
an online stage:
acquiring a WIFI signal of a target to be detected based on a WIFI positioning technology, and preprocessing data;
and matching the preprocessed WIFI signal of the target to be detected with the position fingerprint database, determining a corresponding reference point position estimation result according to the matching result, and using the reference point position estimation result as a WIFI positioning result of the target to be detected.
In the above technical solution, preferably, a sensor is installed in the target to be measured, the displacement of the target to be measured is calculated according to the acceleration sensor data and the orientation sensor data obtained in real time, and the course of the target to be measured is determined according to the orientation sensor data;
and comprehensively calculating the real-time position of the target to be detected based on a PDR positioning technology according to the displacement and the course of the target to be detected, and taking the real-time position as a PDR positioning result at the current moment.
The invention also provides an indoor positioning system fusing the WIFI and the PDR positioning technologies, and an indoor positioning method fusing the WIFI and the PDR positioning technologies, which is disclosed by any one of the above technical schemes, is applied, and comprises the following steps:
the starting time positioning module is used for acquiring a WIFI positioning result of the target to be detected by adopting a WIFI positioning technology at a starting time t0, and taking the starting time WIFI positioning result as a starting position of a PDR positioning technology;
the middle time positioning module is used for acquiring sensor data from a starting time t0 to a middle time t1, acquiring a middle time PDR positioning result of a middle time t1 based on a PDR positioning technology, and acquiring a middle time WIFI positioning result of a middle time t1 based on a WIFI positioning technology;
the positioning error judgment module is used for comparing an error between the middle moment PDR positioning result and the middle moment WIFI positioning result and judging whether the error exceeds a preset threshold value or not;
the PDR correction WIFI module is used for acquiring sensor data from a starting time t0 to an ending time tr when the error exceeds a preset threshold value, and accordingly, a PDR positioning result at the ending time based on the PDR positioning technology is obtained;
and the WIFI resetting PDR module is used for taking the middle moment WIFI positioning result as a target positioning result of a middle moment t1 when the error does not exceed a preset threshold, resetting the corresponding position to the initial position of the PDR positioning technology, acquiring sensor data from the middle moment t1 to the end moment tr, and thus obtaining an end moment PDR positioning result based on the PDR positioning technology.
In the foregoing technical solution, preferably, the indoor positioning system fusing WIFI and PDR positioning technologies further includes a recursive resetting positioning module, configured to, when the termination time tr still needs to continue positioning, reset a position corresponding to the PDR positioning result at the termination time to an initial position based on the PDR positioning technology, and continue to execute the intermediate time positioning module, the positioning error determination module, the PDR WIFI correction module, and the WIFI resetting PDR module.
In the foregoing technical solution, preferably, the positioning error determining module is specifically configured to:
constructing a circular range by taking the corresponding position of the PDR positioning result at the middle moment as a circle center and taking the displacement of the target to be measured from the starting moment t0 to the middle moment t1 based on the PDR positioning technology as a radius;
judging whether the position corresponding to the WIFI positioning result at the middle moment is within the circular range or not;
and if the position corresponding to the WIFI positioning result at the middle moment is within the circular range, judging that the error does not exceed a preset threshold value, otherwise, judging that the error exceeds the preset threshold value.
In the above technical solution, preferably, the start time positioning module and the intermediate time positioning module include an offline stage and an online stage in a process of acquiring a WIFI positioning result by using a fingerprint matching algorithm;
an off-line stage:
setting reference points in an indoor area, and collecting a WIFI signal intensity value for each reference point;
data preprocessing is carried out on the WIFI signal intensity value, and a position fingerprint database of the indoor area is established according to the WIFI signal intensity value of each reference point;
an online stage:
acquiring a WIFI signal of a target to be detected based on a WIFI positioning technology, and preprocessing data;
and matching the preprocessed WIFI signal of the target to be detected with the position fingerprint database, determining a corresponding reference point position estimation result according to the matching result, and using the reference point position estimation result as a WIFI positioning result of the target to be detected.
Compared with the prior art, the invention has the beneficial effects that: the WIFI positioning technology and the PDR positioning technology are fused, the asynchronous feedback problem of the two positioning technologies in time sequence is solved by adopting a positioning error threshold value judgment method, meanwhile, the positioning results of the two positioning technologies at the same moment are mutually corrected, the indoor positioning precision and stability are improved, and the indoor positioning cost is reduced.
Drawings
Fig. 1 is a schematic flowchart of an indoor positioning method that integrates WIFI and PDR positioning technologies according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a positioning principle of a fingerprint matching algorithm based on a WIFI positioning technology according to an embodiment of the present invention;
fig. 3 is a schematic block diagram of an indoor positioning system that integrates WIFI and PDR positioning technologies according to an embodiment of the present invention.
In the drawings, the correspondence between each component and the reference numeral is:
11. the positioning module comprises an initial moment positioning module, 12 an intermediate moment positioning module, 13 a positioning error judgment module, 14 a WIFI correction module for PDR, 15 a PDR resetting module for WIFI, and 16 a recursion resetting positioning module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is described in further detail below with reference to the attached drawing figures:
as shown in fig. 1, the indoor positioning method fusing WIFI and PDR positioning technologies provided in the present invention includes:
step S1, acquiring a WIFI positioning result of the target to be detected by adopting a WIFI positioning technology at the starting time t0, and taking the WIFI positioning result at the starting time as the starting position of the PDR positioning technology;
step S2, acquiring sensor data from a starting time t0 to an intermediate time t1, acquiring an intermediate time PDR positioning result of the intermediate time t1 based on a PDR positioning technology, and acquiring an intermediate time WIFI positioning result of the intermediate time t1 based on a WIFI positioning technology;
step S3, comparing errors between the PDR positioning result at the middle moment and the WIFI positioning result at the middle moment, and judging whether the errors exceed a preset threshold phi or not;
step S4, if the error exceeds the preset threshold, acquiring sensor data from the starting time t0 to the ending time tr, and accordingly obtaining a PDR positioning result at the ending time based on the PDR positioning technology;
and if the error does not exceed the preset threshold, taking the intermediate WIFI positioning result as a target positioning result of the intermediate time t1, resetting the corresponding position to the initial position of the PDR positioning technology, acquiring sensor data from the intermediate time t1 to the end time tr, and thus obtaining an end time PDR positioning result based on the PDR positioning technology.
In the embodiment, the WIFI positioning technology and the PDR positioning technology are fused, the asynchronous feedback problem of the two positioning technologies in the time sequence is solved by adopting the positioning error threshold value judgment method, and meanwhile, the positioning results of the two positioning technologies at the same moment are mutually corrected, so that the accuracy and the stability of indoor positioning are improved, and the cost of indoor positioning is reduced.
In the first mode, a distance model is used, the distance is calculated by signal intensity through a corresponding model formula, and the coordinate of a point to be determined is calculated by trilateral intersection; the second is to apply a location fingerprint model, match the signal strength received at the undetermined point with the known points in the location fingerprint database, and calculate the coordinates using a fingerprint matching algorithm, wherein the location fingerprint positioning algorithm is simpler than the distance propagation model, but requires the acquisition of a large amount of fingerprint data in advance.
In this embodiment, preferably, the methods of acquiring the start-time WIFI positioning result or the middle-time WIFI positioning result based on the WIFI positioning technology in steps S1 and S2 include a trilateration method, a TOA ranging method, a TDOA ranging method, and a fingerprint matching algorithm.
As shown in fig. 2, specifically, the specific step of obtaining the WIFI positioning result by using the fingerprint matching algorithm includes:
an off-line stage:
setting reference points in an indoor area, and collecting a WIFI signal intensity value for each reference point;
data preprocessing is carried out on the WIFI signal intensity value, and a position fingerprint database of an indoor area is established according to the WIFI signal intensity value of each reference point;
an online stage:
acquiring a WIFI signal of a target to be detected based on a WIFI positioning technology, and preprocessing data;
and matching the preprocessed WIFI signal of the target to be detected with the position fingerprint database, determining a corresponding reference point position estimation result according to the matching result, and taking the reference point position estimation result as a WIFI positioning result of the target to be detected.
In the above embodiment, preferably, a sensor is installed in the target to be measured, the displacement of the target to be measured is calculated according to the acceleration sensor data and the orientation sensor data obtained in real time, and the heading of the target to be measured is determined according to the orientation sensor data;
and comprehensively calculating the real-time position of the target to be detected based on the PDR positioning technology according to the displacement and the course of the target to be detected, and taking the real-time position as the PDR positioning result at the current moment.
Wherein the sensor data includes acceleration, declination, and angular velocity of the target object as it moves. The acceleration data obtains the step length and the step number of the object with the mobile terminal, and further obtains the displacement of the mobile terminal; magnetometers and gyroscopes may be used to move the direction of travel of the terminal. The sensor data can be collected in real time, data is generally collected through collection software (the sampling rate is generally 10-100 Hz), graphs are drawn, and the target position based on the PDR is calculated.
In the above embodiment, preferably, the specific process of step S3 includes:
constructing a circular range by taking the corresponding position of the PDR positioning result at the middle moment as the center of a circle and taking the displacement s of the target to be measured from the starting moment t0 to the middle moment t1 based on the PDR positioning technology as the radius;
judging whether the position corresponding to the WIFI positioning result at the middle moment is within a circular range or not;
if the position corresponding to the WIFI positioning result at the intermediate moment is within the circular range, judging that the error does not exceed a preset threshold value phi, wherein phi is pi s2Otherwise, judging that the error exceeds a preset threshold phi.
In the above embodiment, if the error result exceeds the threshold, the sensor data from the start time t0 to the end time tr is acquired, and the end time PDR positioning result obtained by the PDR positioning technology is used as the target positioning result at the time tr.
And if the error result does not exceed the threshold, taking the positioning result of the intermediate time t1 based on WIFI as the positioning result of the target to be measured at the time, resetting the positioning result to the initial position of the PDR positioning technology, acquiring sensor data from the intermediate time t1 to the termination time tr, and taking the PDR positioning result of the termination time obtained by the PDR positioning technology according to the data as the positioning result of the target to be measured at the time tr.
In this embodiment, in the PDR positioning technology, the current position state is related to the information of the previous position, and this recursive relationship may cause the error to accumulate over time, so when the error is within the threshold value range Φ, the positioning start position of the PDR positioning technology is reset by the positioning result of the WIFI positioning technology, and the PDR positioning error caused by time accumulation may be effectively eliminated. When the error exceeds the threshold phi, the inaccurate positioning caused by the interference of the WIFI signal can be made up by using the relatively accurate positioning result of the PDR positioning technology, and the mutual correction effect is achieved.
In the foregoing embodiment, preferably, the indoor positioning method fusing WIFI and PDR positioning technologies further includes:
step S5, when the positioning still needs to be continued at the ending time tr, the corresponding position of the PDR positioning result at the ending time is reset to the new starting position based on the PDR positioning technology, and the process returns to step S2 to step S4 again.
And when the termination time tr does not need to be positioned continuously, directly taking the termination time PDR positioning result obtained in the step S4 as the positioning result of the target to be measured, and ending the positioning.
As shown in fig. 3, the present invention further provides an indoor positioning system fusing WIFI and PDR positioning technologies, and an indoor positioning method applying the WIFI and PDR positioning technologies disclosed in any of the above embodiments includes:
the initial time positioning module 11 is configured to acquire a WIFI positioning result of the target to be detected by using a WIFI positioning technology at an initial time t0, and use the initial time WIFI positioning result as an initial position of a PDR positioning technology;
the middle time positioning module 12 is configured to acquire sensor data from a start time t0 to a middle time t1, obtain a middle time PDR positioning result of the middle time t1 based on the PDR positioning technology, and acquire a middle time WIFI positioning result of the middle time t1 based on the WIFI positioning technology;
the positioning error judgment module 13 is configured to compare an error between the middle-time PDR positioning result and the middle-time WIFI positioning result, and judge whether the error exceeds a preset threshold;
the PDR calibration WIFI module 14 is configured to obtain sensor data from a start time t0 to an end time tr when an error exceeds a preset threshold, and thus obtain an end time PDR positioning result based on a PDR positioning technology;
and the WIFI resetting PDR module 15 is configured to, when the error does not exceed the preset threshold, use the intermediate-time WIFI positioning result as the target positioning result at the intermediate time t1, reset the corresponding position to the initial position of the PDR positioning technology, acquire sensor data from the intermediate time t1 to the end time tr, and thereby obtain an end-time PDR positioning result based on the PDR positioning technology.
In the embodiment, the WIFI positioning technology and the PDR positioning technology are fused, the asynchronous feedback problem of the two positioning technologies in the time sequence is solved by adopting the positioning error threshold value judgment method, and meanwhile, the positioning results of the two positioning technologies at the same moment are mutually corrected, so that the accuracy and the stability of indoor positioning are improved, and the cost of indoor positioning is reduced.
In the foregoing embodiment, preferably, the start time positioning module 11 and the intermediate time positioning module 12 include an offline stage and an online stage in the process of acquiring the WIFI positioning result by using the fingerprint matching algorithm;
an off-line stage:
setting reference points in an indoor area, and collecting a WIFI signal intensity value for each reference point;
data preprocessing is carried out on the WIFI signal intensity value, and a position fingerprint database of an indoor area is established according to the WIFI signal intensity value of each reference point;
an online stage:
acquiring a WIFI signal of a target to be detected based on a WIFI positioning technology, and preprocessing data;
and matching the preprocessed WIFI signal of the target to be detected with the position fingerprint database, determining a corresponding reference point position estimation result according to the matching result, and taking the reference point position estimation result as a WIFI positioning result of the target to be detected.
In the foregoing embodiment, preferably, the positioning error determination module 13 is specifically configured to:
constructing a circular range by taking the corresponding position of the PDR positioning result at the middle moment as the center of a circle and taking the displacement of the target to be measured from the starting moment t0 to the middle moment t1 based on the PDR positioning technology as the radius;
judging whether the position corresponding to the WIFI positioning result at the intermediate moment is within a circular range or not;
and if the position corresponding to the WIFI positioning result at the intermediate moment is within the circular range, judging that the error does not exceed a preset threshold value, otherwise, judging that the error exceeds the preset threshold value.
In the foregoing embodiment, preferably, the indoor positioning system fusing WIFI and PDR positioning technologies further includes a recursive resetting positioning module 16, configured to reset a position corresponding to the PDR positioning result at the termination time to an initial position based on the PDR positioning technology when the termination time tr still needs to continue positioning, and continue to execute the intermediate time positioning module 12, the positioning error determination module 13, the PDR WIFI correction module 14, and the WIFI resetting PDR module 15.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An indoor positioning method fusing WIFI and PDR positioning technologies is characterized by comprising the following steps:
step S1, acquiring a WIFI positioning result of the target to be detected by adopting a WIFI positioning technology at the starting time t0, and taking the WIFI positioning result at the starting time as the starting position of a PDR positioning technology;
step S2, acquiring sensor data from a starting time t0 to an intermediate time t1, acquiring an intermediate time PDR positioning result of the intermediate time t1 based on a PDR positioning technology, and acquiring an intermediate time WIFI positioning result of the intermediate time t1 based on a WIFI positioning technology;
step S3, comparing the error between the intermediate moment PDR positioning result and the intermediate moment WIFI positioning result, and judging whether the error exceeds a preset threshold value;
step S4, if the error exceeds the preset threshold, acquiring sensor data from the starting time t0 to the ending time tr, and accordingly obtaining a PDR positioning result at the ending time based on the PDR positioning technology;
and if the error does not exceed the preset threshold, taking the intermediate WIFI positioning result as a target positioning result of the intermediate time t1, resetting the corresponding position to the initial position of the PDR positioning technology, acquiring sensor data from the intermediate time t1 to the end time tr, and thus obtaining an end time PDR positioning result based on the PDR positioning technology.
2. The indoor positioning method fusing WIFI and PDR positioning technologies as claimed in claim 1, further comprising:
step S5, when the ending time tr still needs to continue positioning, resetting the position corresponding to the ending time PDR positioning result to the starting position based on the PDR positioning technology, and continuing to execute steps S2 to S4.
3. The indoor positioning method fusing WIFI and PDR positioning technologies as claimed in claim 1, wherein the specific process of step S3 includes:
constructing a circular range by taking the corresponding position of the PDR positioning result at the middle moment as a circle center and taking the displacement of the target to be measured from the starting moment t0 to the middle moment t1 based on the PDR positioning technology as a radius;
judging whether the position corresponding to the WIFI positioning result at the middle moment is within the circular range or not;
and if the position corresponding to the WIFI positioning result at the middle moment is within the circular range, judging that the error does not exceed a preset threshold value, otherwise, judging that the error exceeds the preset threshold value.
4. The indoor positioning method integrating WIFI and PDR positioning technologies as claimed in claim 1, wherein the method for obtaining the start moment WIFI positioning result or the middle moment WIFI positioning result based on WIFI positioning technology in steps S1 and S2 includes trilateration, TOA ranging, TDOA ranging and fingerprint matching algorithm.
5. The indoor positioning method fusing WIFI and PDR positioning technologies as claimed in claim 4, wherein the specific step of obtaining a WIFI positioning result by using the fingerprint matching algorithm comprises:
an off-line stage:
setting reference points in an indoor area, and collecting a WIFI signal intensity value for each reference point;
data preprocessing is carried out on the WIFI signal intensity value, and a position fingerprint database of the indoor area is established according to the WIFI signal intensity value of each reference point;
an online stage:
acquiring a WIFI signal of a target to be detected based on a WIFI positioning technology, and preprocessing data;
and matching the preprocessed WIFI signal of the target to be detected with the position fingerprint database, determining a corresponding reference point position estimation result according to the matching result, and using the reference point position estimation result as a WIFI positioning result of the target to be detected.
6. The indoor positioning method integrating WIFI and PDR positioning technologies as claimed in claim 1, wherein a sensor is installed in the target to be measured, the displacement of the target to be measured is calculated according to acceleration sensor data and orientation sensor data acquired in real time, and the course of the target to be measured is determined according to the orientation sensor data;
and comprehensively calculating the real-time position of the target to be detected based on a PDR positioning technology according to the displacement and the course of the target to be detected, and taking the real-time position as a PDR positioning result at the current moment.
7. An indoor positioning system fusing WIFI and PDR positioning technologies, wherein the indoor positioning method fusing WIFI and PDR positioning technologies as claimed in any one of claims 1 to 6 is applied, and comprises the following steps:
the starting time positioning module is used for acquiring a WIFI positioning result of the target to be detected by adopting a WIFI positioning technology at a starting time t0, and taking the starting time WIFI positioning result as a starting position of a PDR positioning technology;
the middle time positioning module is used for acquiring sensor data from a starting time t0 to a middle time t1, acquiring a middle time PDR positioning result of a middle time t1 based on a PDR positioning technology, and acquiring a middle time WIFI positioning result of a middle time t1 based on a WIFI positioning technology;
the positioning error judgment module is used for comparing an error between the middle moment PDR positioning result and the middle moment WIFI positioning result and judging whether the error exceeds a preset threshold value or not;
the PDR correction WIFI module is used for acquiring sensor data from a starting time t0 to an ending time tr when the error exceeds a preset threshold value, and accordingly, a PDR positioning result at the ending time based on the PDR positioning technology is obtained;
and the WIFI resetting PDR module is used for taking the middle moment WIFI positioning result as a target positioning result of a middle moment t1 when the error does not exceed a preset threshold, resetting the corresponding position to the initial position of the PDR positioning technology, acquiring sensor data from the middle moment t1 to the end moment tr, and thus obtaining an end moment PDR positioning result based on the PDR positioning technology.
8. The indoor positioning system integrating WIFI and PDR positioning technologies as claimed in claim 7, further comprising a recursive reset positioning module, configured to reset the location corresponding to the PDR positioning result at the termination time to a starting location based on the PDR positioning technology when the location still needs to be continued at the termination time tr, and continue to execute the middle time positioning module, the positioning error determination module, the PDR calibration WIFI module, and the WIFI reset PDR module.
9. The indoor positioning system fusing WIFI and PDR positioning technologies as claimed in claim 7, wherein said positioning error determination module is specifically configured to:
constructing a circular range by taking the corresponding position of the PDR positioning result at the middle moment as a circle center and taking the displacement of the target to be measured from the starting moment t0 to the middle moment t1 based on the PDR positioning technology as a radius;
judging whether the position corresponding to the WIFI positioning result at the middle moment is within the circular range or not;
and if the position corresponding to the WIFI positioning result at the middle moment is within the circular range, judging that the error does not exceed a preset threshold value, otherwise, judging that the error exceeds the preset threshold value.
10. The indoor positioning system integrating WIFI and PDR positioning technologies as recited in claim 7, wherein said start time positioning module and said intermediate time positioning module comprise an offline stage and an online stage in the process of obtaining WIFI positioning results using fingerprint matching algorithm;
an off-line stage:
setting reference points in an indoor area, and collecting a WIFI signal intensity value for each reference point;
data preprocessing is carried out on the WIFI signal intensity value, and a position fingerprint database of the indoor area is established according to the WIFI signal intensity value of each reference point;
an online stage:
acquiring a WIFI signal of a target to be detected based on a WIFI positioning technology, and performing data preprocessing;
and matching the preprocessed WIFI signal of the target to be detected with the position fingerprint database, determining a corresponding reference point position estimation result according to the matching result, and using the reference point position estimation result as a WIFI positioning result of the target to be detected.
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| CN109005503A (en) * | 2018-08-13 | 2018-12-14 | 电子科技大学 | A kind of fusion and positioning method based on WiFi and PDR |
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