CN114760591A - Indoor personnel track positioning and joint sealing personnel query method based on fusion positioning - Google Patents

Abstract

The invention provides an indoor personnel trajectory positioning and joint sealing personnel query method based on fusion positioning, which comprises the following steps: step 1, deploying WiFi-AP equipment; step 2, collecting data; step 3, constructing a positioning characteristic equation; step 4, primary positioning calculation; and 5, correcting and positioning. According to the method, people can carry the smart phone, the standard Bluetooth communication function and the WiFi communication function in the mobile internet era, and the construction of the positioning foundation environment can be completed by combining the WiFi network arranged in a large public building, so that the construction cost is low, the speed is high, and the popularization is easy; the monitoring background system, the mobile application program and the fusion positioning algorithm provided by the method can complete high-precision real-time positioning of the movement track of people and the joint sealing personnel, and the positioning process is insensitive to the positioned personnel and does not need to set a constraint mechanism, so that the user experience is good and the application efficiency is high.

Description

Indoor personnel track positioning and joint sealing personnel query method based on fusion positioning

Technical Field

The invention relates to an indoor personnel trajectory positioning and joint sealing personnel query method based on fusion positioning.

Background

The personnel trajectory tracking and the intensive personnel investigation are mainly divided into a part, one part is the trajectory of people during outdoor activities and the investigation of tight-connected personnel, the other part is the trajectory of people during indoor activities and the investigation of tight-connected personnel, and the first part is mainly used for realizing accurate positioning of personnel through positioning technologies such as GPS, Beidou and mobile communication and obtaining the position based on the positioning to inquire the tight-connected personnel, and is widely used at present. And the second part is caused by the shielding of buildings, the positioning accuracy is greatly reduced and even fails based on GPS, Beidou and mobile communication, and the two-dimension code positioning, video monitoring positioning and the like are commonly used at present.

The prior art has the following defects:

1. two-dimensional code location

The method is the method which is most applied at present, the two-dimensional code with the position mark is mainly pasted on an indoor place, people can scan the two-dimensional code pasted on the doorway of the people for registration by using various epidemic prevention APPs through a smart phone when passing by, before using the epidemic prevention APPs, the people need to complete user registration to input personal identity information into the epidemic prevention APPs, after the code scanning is completed, the epidemic prevention APPs transmit the personal identity identification information of the people, the scanned two-dimensional code position information and the code scanning time to a background system of the epidemic prevention APPs, the background system records the code scanning registered positions of the people in time sequence, the positions are connected together to obtain the moving track of the people, and the close contact people are searched through track overlapping. The obtained track precision and the accuracy of the sealing personnel depend on the pasting density of the two-dimensional codes and the completion degree of code scanning of people, the pasting quantity of the two-dimensional codes is limited due to the fact that code scanning is time-consuming and low in efficiency, and further the positioning precision is limited, meanwhile, other constraint mechanisms such as personnel watching and video monitoring need to be set for supervising and guiding the personnel to complete code scanning, and the problems that the positioning precision is low, the effect is poor and the like are caused in the practice of the method at present.

2. Video monitoring positioning

The video monitoring and positioning method comprises the steps of carrying out real-time monitoring and video recording on a moving area of people by installing a camera indoors, and obtaining a person track and a person in close contact through a manual video recording checking method or a machine automatic image recognition method, wherein the manual video recording checking method is long in time consumption, large in workload and poor in effect, generally, the time required for completing the video data investigation of one day recorded by one camera is several hours, and the investigation effect also depends on the performance of the camera, the shooting angle, the eyesight of the staff and other factors; the method has extremely high cost and low feasibility, the main mode of acquiring the personal identity information through image recognition at present is face recognition, but people basically wear a mask or other epidemic prevention equipment under an epidemic prevention state, so that the recognition accuracy is greatly reduced, a large number of high-performance cameras are required to be installed for completing full-coverage recognition, the installation positions and angles are very exquisite, a large amount of computer computing resources are required to be invested for realizing quick or real-time recognition, and millions of computer computing resources are required to be invested for generally completing the real-time recognition of 50 paths of 400-million-pixel cameras.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to solve the technical problem of providing an indoor personnel trajectory positioning and joint sealing personnel query method based on fusion positioning aiming at the defects of the prior art, solving the problems of precision and efficiency of personnel trajectory positioning and joint sealing personnel query, and solving the problems of difficult implementation and high cost of the traditional scheme.

The invention comprises the following steps:

step 1, deploying WiFi-AP equipment;

step 2, collecting data;

step 3, constructing a positioning characteristic equation;

step 4, primary positioning calculation;

and 5, correcting and positioning.

The step 1 comprises the following steps: installing WiFi-AP equipment in an area needing epidemic prevention monitoring, recording the MAC address of each WiFi-AP equipment if W WiFi-AP equipment are installed, and setting the MAC address of the W-th AP equipment as MAC_AP(w)，w∈{1，2，3，......，W}；

Establishing a three-dimensional coordinate system for a building, selecting a southwest angle of a first floor of the building as an origin of the coordinate system, recording the installation position of each WiFi-AP device based on the coordinate system, wherein the northward direction is the positive Y-axis direction, the eastern direction is the positive X-axis direction, the upright direction is the positive Z-axis direction, and the installation position of the w-th AP device is set as P_AP(MAC_AP(w)), the value of which is expressed as follows:

P_AP(MAC_AP(w))＝(X_ap(MAC_AP(w))，Y_ap(MAC_AP(w))，Z_ap(MAC_AP(w))) (1)

wherein:

X_ap(MAC_AP(w)) indicates that the MAC address is MAC_AP(w) an X-coordinate value of the WiFi-AP device;

Y_ap(MAC_AP(w)) indicates that the MAC address is MAC_AP(w) a Y-coordinate value of the WiFi-AP device;

Z_ap(MAC_AP(w)) indicates that the MAC address is MAC_AP(w) a Z coordinate value of the WiFi-AP device;

after the WiFi-AP equipment is installed, data packets with own WiFi communication MAC addresses are continuously broadcasted to the surrounding.

The step 2 comprises the following steps:

step 2-1, acquiring personnel identification information through a smart phone of a person, wherein the personnel identification information is expressed as follows:

Phone(s)＝(s，n，MAC_BT) (2)

wherein: phone(s) indicates that the serial number is s smart phone correspondenceThe identification information combination of (2); n is personal identification information; MAC_BTIs the MAC address of the Bluetooth communication of the smart phone;

combining all phones(s) registered with the smart phone to obtain a smart phone identification information set, which is represented by a QPphone, and the values of the QPphone are as follows:

QPhone＝{Phone(1)，Phone(2)，......，Phone(s)，...}

and 2-2, collecting a positioning signal.

Step 2-2 comprises: when a person carries a smart phone to enter a monitoring area, a WiFi signal and a Bluetooth signal switch of the smart phone are turned on, and the following steps are executed:

step 2-2-1, initialization: the method comprises the following steps that a Bluetooth module of the smart phone is set to work in a slave machine working mode and a master machine working mode at the same time, wherein the slave machine working mode is that the Bluetooth module of the smart phone continuously broadcasts a data packet containing a Bluetooth communication MAC address of the smart phone to the periphery, but cannot be connected with central equipment; the working mode of the host machine is that the smart phone Bluetooth module can scan peripheral Bluetooth equipment and acquire a data packet broadcasted by the peripheral Bluetooth equipment and Bluetooth signal intensity of the data packet;

step 2-2-2, the smart phone circularly acquires WiFi signal intensity values of all WiFi-AP equipment broadcast data around the smart phone and Bluetooth signal intensity values of other smart phone Bluetooth module broadcast data at the current position of the smart phone according to a uniform acquisition period T, and WiFi signal intensity values of I (k) WiFi-AP equipment broadcast data and Bluetooth signal intensity values of J (k) other smart phone Bluetooth module broadcast data are acquired at an acquisition moment k;

selecting 3 WiFi signal strength values with the largest values from the WiFi signal strength values of the broadcast data of I (k) WiFi-AP equipment to form a set QRSI_WiFi(s) (k), the values of which are expressed as follows:

QRSSI_WiFi(s)(k)＝ {RSSI_WiFi(s)(k)(MAC_AP(max₁))，RSSI_WiFi(s)(k)(MAG_AP(max₂))，RSSI_WiFi(s)(k)(MAC_AP(max₃))} (3)

wherein: k is the acquisition time, the acquisition is carried out once every T, and the initial acquisition time value can be divided by T;

RSSI_WiFi(s)(k)(MAC_AP(max₁) The smart phone with the number s acquires the WiFi communication MAC address as MAC at the k acquisition time_AP(max₁) The WiFi-AP device broadcasting a WiFi signal strength value of the data, wherein the MAC_AP(max₁) Indicates the WiFi communication MAC address of the broadcasting equipment WiFi-AP equipment corresponding to the signal value, wherein max₁Device number, max, representing the strongest WiFi-AP device of the 3 strongest signal strength values₁∈ {1，2，3，......，W}；

RSSI_WiFi(s)(k)(MAC_AP(max₂) The smart phone with the number s acquires the WiFi communication MAC address as MAC at the k acquisition time_AP(max₂) The WiFi-AP device broadcasting a WiFi signal strength value of the data, wherein the MAC_AP(max₂) Indicates the WiFi communication MAC address of the broadcasting equipment WiFi-AP equipment corresponding to the signal value, wherein max₂Device number, max, representing the second strongest WiFi-AP device of the 3 strongest signal strength values₂∈ {1，2，3，......，W}；

RSSI_WiFi(s)(k)(MAC_AP(max₃) The smart phone with the number s acquires the WiFi communication MAC address as MAC at the k acquisition time_AP(max₃) The WiFi-AP device broadcasting a WiFi signal strength value of the data, wherein the MAC_AP(max₃) Indicates the WiFi communication MAC address of the broadcasting equipment WiFi-AP equipment corresponding to the signal value, wherein max₃Device number, max, representing the 3 rd strong WiFi-AP device of the 3 strongest signal strength values₃∈{1，2，3，......，W}；

Sequencing the collected Bluetooth signal intensity values broadcasted by J (k) other Bluetooth modules of the smart phone from large to small, and generating a number for each Bluetooth signal intensity value, wherein the number is expressed by a(s) (k) and (j), s is the number of the data collection smart phone, k is the collection time, and j is an integer j belonging to {1, 2., (j) (k) }; combining the Bluetooth signal strength values to obtain a set QRSI_BT(s) (k), the values of which are expressed as follows:

wherein: RSSI_BT(s)(k)(MAC_BT(a(s) (k) (j)) shows that the smart phone with the number s acquires the Bluetooth communication MAC address as MAC at the k acquisition time_BT(a),(s), (k), (j) and (d) the Bluetooth signal strength value of the smart phone broadcast data, wherein MAC_BT(a),(s), (k), (j) and (d) show the broadcast smartphone bluetooth communication MAC address value.

The step 3 comprises the following steps:

step 3-1, establishing a relation equation between WiFi signal strength and distance;

and 3-2, establishing a relation equation between the Bluetooth signal intensity and the distance.

Step 3-1 comprises: the formula of the signal propagation model Shadowing model is as follows:

wherein: RSSI_RIs the signal strength value received by the receiving point; RSSI₀Is a signal strength value received at a reference point; γ is the transmission medium factor; d is the distance of the receiving point from the emitting point; d is a radical of₀Is the distance of the reference point from the emission point;

then the following steps are carried out:

step a1, selecting a position l meters away from the WiFi-AP equipment in the monitoring area as a reference point, namely d₀Is 1 meter;

step a2, detecting and recording the WiFi signal strength value transmitted by the WiFi-AP equipment at a distance of 1 meter, namely RSSI₀A value of (d);

step a3, detecting and recording the WiFi signal strength value transmitted by the WiFi-AP equipment at a distance of 5 meters from the WiFi-AP equipment, namely obtaining a group of d and RSSI_R；

Step a4, mixing d₀、RSSI₀、d、RSSI_RObtaining WiFi-AP equipment in the detection environment by substituting formula (5)The value of transmission medium factor γ;

the formula of the signal propagation strength and the distance of each WiFi-AP is obtained through the steps a1 to a4, as follows:

wherein: RSSI_WiFi(s)(k)(MAC_AP(w)) the smart phone with the serial number s acquires the WiFi communication MAC address as MAC in the k acquisition period_AP(w) a WiFi signal strength value of the WiFi-AP device broadcast data;

RSSI_WiFi(MAC_AP(w))₀indicating distance to WiFi communication MAC address as MAC_AP(w) the WiFi-AP device transmitting a WiFi signal strength value at 1 meter;

γ(MAC_AP(w)) indicates that the WiFi communication MAC address is MAC_AP(w) a transmission medium factor of the WiFi-AP device within the monitored area;

d_WiFi(s)(k)(MAC_AP(w)) indicates that the distance between the smart phone with the number s and obtained based on the WiFi signal strength ranging is MAC from the WiFi communication MAC address in the k acquisition period_AP(w) a distance value of the WiFi-AP device;

the equation (6) is arranged to obtain the following equation, and the equation of the relationship between the signal propagation signal strength and the distance of each WiFi-AP device is obtained:

step 3-2 comprises: the relation equation of the wireless signal strength and the distance of the Bluetooth communication of the smart phone is expressed as follows:

wherein: d_BT(s)(k)(MAC_BT(a(s), (k) (j)) shows that the distance between the smart phone with the number s and obtained based on Bluetooth signal strength ranging at the moment of k acquisitionThe Bluetooth communication MAC address is MAC_BT(a),(s), (k), (j) and (d).

Step 4 comprises the following steps:

step 4-1, initially positioning the position of the smart phone: converting QRSI_WiFiThe elements in the(s) (k) set are respectively substituted into the formula (7) to obtain d_WiFi(s)(k)(MAC_AP(max₁))、d_WiFi(s)(k)(MAC_AP(max₂) And d) and_WiFi(s)(k)(MAC_AP(max₃))；

the position of the smart phone is calculated by applying a maximum interpretation estimation method, and the value of the position is expressed as follows:

P_c(s)(k)＝(A^TA)^-1A^Tb (9)

wherein: p_c(s) (k) represents the coordinates obtained by the preliminary positioning calculation of the smart phone with the serial number s in the k acquisition period, and the value is

Wherein X_c(s)(k)、Y_c(s)(k)、Z_c(s) (k) respectively representing X-axis coordinate values, Y-axis coordinate values, and Z-axis coordinate values;

a is a matrix with a value of

b is a matrix with a value of

Wherein b (1) ═ X_AP(MAC_AP(max₁))²-X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max₁))²- Y_AP(MAC_AP(max₃))²+Z_AP(MAC_AP(max₁))²-Z_AP(MAC_AP(max₃))²+ d_WiFi(s)(k)(MAC_AP(max₃))²-d_WiFi(s)(k)(MAC_AP(max₁))²， b(2)＝X_AP(MAC_AP(max₂))²-X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max2))²- Y_AP(MAC_AP(max₃))²+Z_AP(MAC_AP(max₂))²-Z_AP(MAC_AP(max₃))²+ d_WiFi(s)(k)(MAC_AP(max₃))²-d_WiFi(s)(k)(MAC_AP(max₂))²

Recording the coordinates of the smart phone with the number s of k at the acquisition time as P(s) (k), wherein the values are set as follows:

P(s)(k)＝(X_c(s)(k)，Y_c(s)(k)，Z_c(s)(k)) (10)；

step 4-2, calculating the distance between the smart phones:

converting QRSI_BTElements in(s) (k) are sequentially substituted into formula (8) to obtain a value to form a new set, namely a set QdRSSI of distance values obtained by ranging the smart phone at the acquisition time k with other surrounding smart phones based on Bluetooth signals_BT(s) (k), the values of which are expressed as follows:

wherein: QdRSSI_BTAnd(s) (k) represents a set of distance values obtained by the smart phone with the number s and other smart phones around based on Bluetooth signal distance measurement at the time k.

In step 4-2, the seal person can be queried by the following method:

the query conditions are set as follows: the identification information of the person to be inquired is Pr, and the inquiry time range is t₁，t₂]，t₁For time-enquiry of the lower limit value, t₂Setting all the acquisition moments covered by the time range as { k ] as the upper limit value of the time query range₁，k₂，...，k_eIn which k is₁≥t₁，k_e≤t₂If the close contact distance is within L meters, the query method is as follows:

step b1, finding all elements with personal identification information Pr from the QPhone set, setting to find F elements, extracting the smart phone numbers in the elements to form a new set, and recording the new set as { s }₁，s₂，...，s_F}；s_FThe number of the smart phone of the F-th element in the F elements with the personal information of Pr found from the QPhone set is determined;

step b2, finding out the value of the collection time as k₁，k₂，...，k_eIs numbered at { s }₁，s₂，...，s_FThe set Qs of distance values obtained by ranging of all the smart phones in the station and other smart phones around based on the bluetooth signals is represented as follows:

step b3, find each subset QdRSSI in the set Qs_BT(s_f)(k_e) Elements whose median value is equal to or less than L are grouped into a new set Qsm whose values are expressed as follows:

wherein: JJ(s)_f)(k_e) Representation set QdRSSI_BT(s_f)(k_e) The number of the middle elements is less than or equal to the number of the elements of L;

step b4, extracting the index MAC of all elements in the set Qsm_BT(a(s_f)(k_e) (j)) constitutes a new set Qsmm, whose values are expressed as follows:

step b5, finding out all the elements of the Bluetooth communication MAC address value in the QPhone set element in the set Qsmm, and extracting the personal identification information in the elements to form a new set, wherein the set is the personal identification information set of the joint seal person meeting the query condition.

The step 5 comprises the following steps:

step 5-1, finding out QdRSSI_BTD is the element with the smallest value in the(s) (k) set_BT(s)(k)(MAC_BT(s)(k)(a(s)(k)(min)))，min∈{1，2，...，J(k)}；

Step 5-2, inquiring the MAC address of the Bluetooth communication in the set QPhone as MAC_BTThe smart phone number value of(s) (k) (a(s) (k) (min)) element is set as s_min；

And 5-3, calculating the distance dp between the smart phone with the serial number s and the smart phone closest to the smart phone by using a three-dimensional space distance formula based on the coordinate obtained by WiFi primary positioning_WiFi(s)(k)(s_min) Expressed as follows:

step 5-4, sequentially mixing d_WiFi(s)(k)(MAC_AP(max₁))、d_WiFi(s)(k)(MAC_AP(max₂))、 d_WiFi(s)(k)(MAC_AP(max₃) Multiply by)

Obtaining their correction values, respectively d_{WiFi_fix}(s)(k)(MAC_AP(max₁))、d_{WiFi_fix}(s)(k)(MAC_AP(max₂))、 d_{WiFi_fix}(s)(k)(MAC_AP(max₃) ) represents;

and 5-5, calculating a corrected value of the coordinate of the position where the smart phone is located by applying the maximum interpretation estimation algorithm again based on the corrected distance measurement value, wherein the corrected value is represented as follows:

P_fix(s)(k)＝(A^TA)^-1A^Tb_fix (16)

wherein: p is_fix(s) (k) represents coordinate values obtained by correcting and positioning the position of the smart phone with the number s in the k acquisition period,

wherein X_fix(s)(k)、Y_fix(s)(k)、Z_fix(s) (k) respectively indicating the coordinate values of the X axis, Y axis and Z axis;

b_fixis a matrix of values

Wherein

b_fix(1)＝X_AP(MAC_AP(max₁))²-X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max₁))²- Y_AP(MAC_AP(max₃))²+Z_AP(MAC_AP(max₁))²-Z_AP(MAC_AP(max₃))²+ d_{WiFi_fix}(s)(k)(MAC_AP(max₃))²-d_{WiFi_fix}(s)(k)(MAC_AP(max₁))²，

b_fix(2)＝X_AP(MAC_AP(max₂))²-X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max₂))² -Y_AP(MAC_AP(max₃))²+Z_AP(MAC_AP(max₂))²-Z_AP(MAC_AP(max₃))² +d_{WiFi_fix}(s)(k)(MAC_AP(max₃))²-d_{WiFi_fix}(s)(k)(MAC_AP(max₂))²

Updating the coordinates of the smart phone with the serial number s, which is k at the acquisition time, into:

P(s)(k)＝(X_fix(s)(k)，Y_fix(s)(k)，Z_fix(s)(k)) (17)

and combining the coordinate values according to the sequence of the acquisition time to obtain the movement track of the smart phone in the monitoring area.

Has the advantages that: according to the method, people can carry the smart phone, the standard Bluetooth communication function and the WiFi communication function in the mobile internet era, and the construction of the positioning foundation environment can be completed by combining the WiFi network arranged in a large public building, so that the construction cost is low, the speed is high, and the popularization is easy; the monitoring background system, the mobile application program and the fusion positioning algorithm provided by the method can complete high-precision real-time positioning of the movement track of people and close-contact personnel, and the positioning process is insensitive to the positioned personnel and does not need to set a constraint mechanism, so that the user experience is good and the application efficiency is high.

Drawings

The foregoing and/or other advantages of the invention will become further apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.

FIG. 1 is an architectural diagram of the present invention.

FIG. 2 is a flow chart of the method of the present invention.

Fig. 3 is a schematic structural view.

Detailed Description

As shown in FIG. 1, the method of the present invention includes a WiFi-AP device (WiFi-AP: WiFi wireless network access device, i.e. wireless router device), a smart phone (supporting Bluetooth and WiFi communications), a monitoring background system, and a mobile application.

The WiFi-AP equipment is responsible for providing a reference and WiFi positioning signals for track tracking positioning;

the smart phone is responsible for completing detection of WiFi signals and Bluetooth signals and providing hardware and communication support for mobile application operation;

the mobile application program is responsible for completing user registration, WiFi and Bluetooth signal acquisition and positioning calculation and transmitting registration information and positioning information to the monitoring background system;

the monitoring background system is responsible for completing registration information management, completing personnel track and joint sealing personnel list construction based on the positioning information and providing external query service.

Deploying WiFi-AP devices

(1) WiFi-AP equipment installation and coordinate recording

Installing WiFi-AP equipment in an area needing epidemic prevention monitoring or delaying the use of the existing AP equipment in a building to ensure that the area needing to be detected has at least signal coverage of more than 3 WiFi-APs, setting W WiFi-AP equipment to be installed, recording the MAC address of each AP equipment, and setting the MAC address as MAC_AP(W), W ∈ {1, 2, 3...., W }; establishing a three-dimensional coordinate system for a building, (generally, selecting a southwest corner of a first floor of the building as an origin of the coordinate system, a northward direction as a positive Y-axis direction, a northward direction as a positive X-axis direction and a vertical upward direction as a positive Z-axis direction), recording the installation position of each WiFi-AP device based on the coordinate system, and setting the installation position as P_AP(MAC_AP(w)), the value of which is expressed as follows:

P_AP(MAC_AP(w))＝(X_ap(MAC_AP(w))，Y_ap(MAC_AP(w))，Z_ap(MAC_AP(w))) (1)

wherein:

P_AP(MAC_AP(w)): indicating the MAC address as MAC_AP(w) coordinate values of WiFi-AP;

X_ap(MAC_AP(w)): indicating the MAC address as MAC_AP(w) an X coordinate value of WiFi-AP;

Y_ap(MAC_AP(w)): indicating the MAC address as MAC_AP(w) a Y-coordinate value of WiFi-AP;

Z_ap(MAC_AP(w)): indicating a MAC address as MAC_AP(w) a Z coordinate value of WiFi-AP;

(2) after the WiFi-AP equipment is installed, the WiFi equipment can continuously broadcast data packets with the WiFi communication MAC addresses of the WiFi equipment to the surrounding;

collecting data

The method comprises the following steps of collecting personnel identification information, the strength value of WiFi signals of WiFi-AP equipment broadcast data in a current position environment and the signal strength value of Bluetooth signals of other smart phone equipment broadcast data, and transmitting collected information to a monitoring backward moving system, wherein the steps are completed by a mobile application program, the mobile application program can be in a smart phone APP or applet form, and the specific collection steps are as follows:

(1) collecting personnel identification information

Before entering a monitoring area, people need to download and register a mobile application program on a smart phone in advance, the mobile application program needs to acquire the setting authority of WiFi communication and Bluetooth communication of the smart phone during registration, meanwhile, the registrant needs to input personnel identification information (such as an identification card, a smart phone number, human face characteristics and the like), and n is used for setting the personnel identification information_hDenotes, subscript h is a number; after the registration is finished, the mobile application program automatically acquires the Bluetooth communication MAC address of the smart phone used during the registration, packages the information and the identity identification information of the associated personnel and transmits the information to the monitoring background system through the mobile communication network of the smart phone; the monitoring background program combines the information, and generates a number of the information combination in a self-increment mode by taking the Bluetooth communication MAC address of the smart phone as an identifier, wherein the number is set as s, the combination is expressed as Phone(s), and the values of the combination are as follows:

Phone(s)＝(s，n，MAC_BT) (2)

wherein:

phone(s): the serial number is s identification information combination corresponding to the smart phone;

n: the personal identification information can be a smart phone number or an identity card number;

MAC_BT: the MAC address of the Bluetooth communication of the smart phone;

combining all phones(s) registered with the smart phone to obtain a smart phone identification information set, which is represented by a QPphone, and the values of the QPphone are as follows:

QPhone＝{Phone(1)，Phone(2)，......，Phone(s)，...}

(2) collecting positioning signals

When a person carries a registered smart phone to enter a monitoring area, a WiFi signal and a Bluetooth signal switch of the smart phone are turned on, a mobile application program (which can run in a background) is turned on, and then the following steps are completed by the mobile application program:

initialization

The method comprises the following steps that a Bluetooth module of the smart phone is set to work in a slave machine working mode and a master machine working mode at the same time, wherein the slave machine working mode is that the Bluetooth module of the smart phone continuously broadcasts a data packet containing a Bluetooth communication MAC address of the smart phone to the periphery, but cannot be connected with central equipment; and the working mode of the host computer is that the Bluetooth module of the smart phone can scan peripheral Bluetooth equipment and acquire data packets broadcasted by the peripheral Bluetooth equipment and the Bluetooth signal intensity of the data packets.

Data is collected again

After initialization is completed, mobile application programs deployed on used smart phone equipment are cyclically acquired according to a uniform acquisition period T (T can be set according to the real-time requirement of monitoring and is generally set to be 2 seconds), WiFi signal intensity values of WiFi-AP equipment broadcast data around the smart phone detected at the current position of the smart phone and Bluetooth signal intensity values of other smart phone Bluetooth module broadcast data of the smart phone are acquired at an acquisition moment k, and I (k) WiFi signal intensity values of WiFi-AP equipment broadcast data and J (k) Bluetooth signal intensity values of other smart phone Bluetooth module broadcast data are acquired; selecting 3 WiFi signal strength values with the maximum value from the WiFi signal strength values of the broadcast data of I (k) WiFi-AP equipment to form a set, and using QRSI_WiFi(s) (k), the values of which are expressed as follows:

QRSSI_WiFi(s)(k)＝ {RSSI_WiFi(s)(k)(MAC_AP(max₁))，RSSI_WiFi(s)(k)(MAC_AP(max₂))，RSSI_WiFi(s)(k)(MAC_AP(max₃))} (3)

wherein:

k is the acquisition time, the acquisition is carried out once every T, and the initial acquisition time value can be divided by T;

QRSSI_WiFi(s) (k): the smart phone with the number s is represented to acquire a set of 3 strongest signal strength values in WiFi signals of surrounding WiFi-AP equipment broadcast data at the k acquisition time;

RSSI_WiFi(s)(k)(MAC_AP(max₁)): the smart phone with the number s acquires the WiFi communication MAC address as MAC at the k acquisition moment_AP(max₁) The WiFi-AP device broadcasting a WiFi signal strength value of the data, wherein the MAC_AP(max₁) Indicates the WiFi communication MAC address of the broadcasting equipment WiFi-AP equipment corresponding to the signal value, wherein max₁Device number, max, representing the strongest WiFi-AP device of the 3 strongest signal strength values₁∈{1，2，3，......，W}；

RSSI_WiFi(s)(k)(MAC_AP(max₂)): the smart phone with the number s acquires the WiFi communication MAC address as MAC at the k acquisition moment_AP(max₂) The WiFi-AP device broadcasting a WiFi signal strength value of the data, wherein the MAC_AP(max₂) Indicates the WiFi communication MAC address of the broadcasting equipment WiFi-AP equipment corresponding to the signal value, wherein max₂Device number, max, representing the WiFi-AP device that is the second strongest of the 3 strongest signal strength values₂∈{1，2，3，......，W}；

RSSI_WiFi(s)(k)(MAC_AP(max₃)): the smart phone with the number s acquires the WiFi communication MAC address as MAC at the k acquisition moment_AP(max₃) The WiFi-AP device broadcasting a WiFi signal strength value of the data, wherein the MAC_AP(max₃) Indicates the WiFi communication MAC address of the broadcasting equipment WiFi-AP equipment corresponding to the signal value, wherein max₃Device number, max, representing the 3 rd strong WiFi-AP device of the 3 strongest signal strength values₃∈{1，2，3，......，W}；

Sequencing the collected Bluetooth signal intensity values broadcasted by J (k) other Bluetooth modules of the smart phone from large to small, and generating a number for each Bluetooth signal intensity value, wherein the number is expressed by a(s) (k) and (j), s is the number of the data collection smart phone, k is the collection time, and j is an integer j belonging to {1, 2., (j) (k) }; combining the Bluetooth signal strength values to obtain a set, using QRSI_BT(s) (k), the values of which are expressed as follows:

wherein:

QRSSI_BT(s) (k): representing a set of Bluetooth signal intensity values of other smart phone Bluetooth module broadcast data around acquired by the smart phone with the number s at the k acquisition time;

RSSI_BT(s)(k)(MAC_BT(a(s), (k) (j)): the smart phone with the number s acquires the Bluetooth communication MAC address as MAC at the k acquisition time_BT(a(s) a Bluetooth signal strength value of smart phone broadcast data, wherein MAC_BT(a)(s), (k) (j) shows the MAC address value of the Bluetooth communication of the smart phone broadcasting the Bluetooth signal;

constructing a localization feature equation

The method adopts an RSSI-based trilateral positioning method for positioning, so that positioning characteristic equations are a WiFi signal strength and distance relation equation and a Bluetooth signal strength and distance relation equation, the equation construction is completed by a monitoring background system, and the construction methods are respectively as follows.

(1) Establishing a relation equation between WiFi signal strength and distance

The method mainly comprises the step of establishing a relation equation between the signal intensity of each WiFi-AP device and the distance, wherein the relation equation between the signal intensity of each WiFi-AP device and the distance is established by adopting a commonly used experimental method based on a signal propagation model Shadowing model. The formula of the signal propagation model Shadowing model is as follows:

wherein:

RSSI_R: receiving a signal strength value received by a point;

RSSI₀: a signal strength value received by the reference point;

γ: a transmission medium factor;

d: the distance of the receiving point from the emitting point;

d₀: the distance of the reference point from the emission point;

the experimental method comprises the following steps:

(a1) selecting a position 1 meter away from the WiFi-AP equipment in the monitoring area as a reference point, namely d₀Is 1 meter;

(a2) detecting and recording the WiFi signal strength value transmitted by the WiFi-AP equipment at a distance of 1 meter from the WiFi-AP equipment, namely the RSSI₀A value of (d);

(a3) detecting and recording the WiFi signal strength value transmitted by the WiFi-AP equipment at a distance of 5 meters from the WiFi-AP equipment to obtain a group of d and RSSI_R；

(a4) Will d₀、RSSI₀、d、RSSI_RSubstituting formula (5) to obtain the value of the transmission medium factor gamma of the WiFi-AP equipment in the detection environment;

the formula of the signal propagation strength and the distance of each WiFi-AP can be obtained through the experimental method, and the formula is shown as follows:

wherein:

RSSI_WiFi(s)(k)(MAC_AP(w)): the smart phone with the number s acquires the WiFi communication MAC address as MAC in the k acquisition period_AP(w) a WiFi signal strength value of the WiFi-AP device broadcast data;

RSSI_WiFi(MAC_AP(w))₀: MAC address is a distance from WiFi communication_AP(w) the WiFi-AP device transmitting WiFi signal strength value at 1 meter, obtained in the above experimental method;

γ(MAC_AP(w)): WiFi communication MAC address is MAC_AP(w) the transmission medium factor of the WiFi-AP device in the monitored area is obtained in the above experimental method;

d_WiFi(s)(k)(MAC_AP(w)): the number s of the smart phone obtained based on the WiFi signal strength ranging is shown to be MAC from the WiFi communication MAC address in the k acquisition period_AP(w) a distance value of the WiFi-AP device;

the equation (6) is arranged to obtain the following equation, and the equation of the relationship between the signal propagation signal strength and the distance of each WiFi-AP device is obtained:

(2) establishing a relation equation between Bluetooth signal intensity and distance

The relation equation of the Bluetooth signal intensity and the distance is an equation of the intensity and the distance of each Bluetooth communication wireless signal of the smart phone, and is also established based on a signal propagation model Shadowing model, a point with a distance of 1 meter from a sending point is selected as a reference point, the signal intensity value of the reference point is set to be an empirical value-59, and the factor value of a transmission medium is set to be an empirical value 2, so that the relation equation of the intensity and the distance of the Bluetooth communication wireless signals of the smart phone can be expressed as follows:

wherein:

d_BT(s)(k)(MAC_BT(a(s), (k) (j)): the distance between the smart phone with the serial number s and obtained based on Bluetooth signal strength ranging and the Bluetooth communication MAC address at the k acquisition moment is MAC_BT(a)(s), (k) (j) distance value of the smartphone;

initial positioning calculation

The primary positioning calculation is mainly used for completing primary positioning of the position of the smart phone and distance calculation between the smart phones and is completed by a monitoring background system, and the specific calculation process is as follows:

(1) primary positioning of smartphone position

This step is mainly based on the distance value that the wiFi signal obtained and fixes a position the smart mobile phone, and the main step is as follows:

QRSI_WiFiThe elements in the(s) (k) set are respectively substituted into the formula (7) to obtain d_WiFi(s)(k)(MAC_AP(max₁))、 d_WiFi(s)(k)(MAC_AP(max₂) And d) and_WiFi(s)(k)(MAC_AP(max₃))；

the position of the smart phone can be calculated by applying a maximum interpretation estimation method, and the value of the position is as follows:

P_c(s)(k)＝(A^TA)^-1A^Tb (9)

wherein:

P_c(s) (k): the coordinate obtained by the preliminary positioning calculation of the smart phone with the number s in the k acquisition period is represented as

Wherein X_c(s)(k)、Y_c(s)(k)、Z_c(s) (k) indicating the coordinate values of the X-axis, Y-axis and Z-axis, respectively;

a is a matrix with a value of

b: is a matrix of values

Wherein b (1) ═ X_AP(MAC_AP(max₁))²-X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max₁))²- Y_AP(MAC_AP(max₃))²+Z_AP(MAC_AP(max₁))²-Z_AP(MAC_AP(max₃))²+ d_WiFi(s)(k)(MAC_AP(max₃))²-d_WiFi(s)(k)(MAC_AP(max₁))²， b(2)＝X_AP(MAC_AP(max₂))²-X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max₂))²- Y_AP(MAC_AP(max₃))²+Z_AP(MAC_AP(max₂))²-Z_AP(MAC_AP(max₃))²+ d_WiFi(s)(k)(MAC_AP(max₃))²-d_WiFi(s)(k)(MAC_AP(max₂))²

And recording the coordinates of the smart phone with the number s of k at the acquisition time as P(s) (k), wherein the values are set as follows:

P(s)(k)＝(X_c(s)(k)，Y_c(s)(k)，Z_c(s)(k)) (10)

(2) calculating distance between smart phones

The method mainly comprises the following steps of calculating the distance value between the smart phones through the Bluetooth signal intensity through the equivalent positioning characteristic equation:

converting QRSI_BTThe elements in(s) (k) are sequentially substituted into formula (8) to obtain a value to form a new set, namely a set of distance values obtained by the smart phone and other surrounding smart phones based on Bluetooth signal distance measurement at the acquisition time k is obtained, and QdRSSI is used_BT(s) (k), the values of which are expressed as follows:

wherein:

QdRSSI_BT(s) (k): and the set of distance values obtained by the smart phone with the number s and other smart phones around based on Bluetooth signal distance measurement at the moment k is shown.

Therefore, the tight-lock personnel in any time or time range and any tight-lock distance range can be inquired through the personnel identification information input during registration of the mobile application program, namely the tight-lock personnel inquiry method. The query method comprises the following steps:

the query conditions are set as follows: the identification information of the person to be inquired is Pr, and the inquiry time range is t₁，t₂]Let all the acquisition moments covered be { k }₁，k₂，...，k_eIn which k is₁≥t₁，k_e≤t₂If the close contact distance is within L meters, the query method is as follows:

(1) finding out all elements with 'personal identification information' being Pr from QPhone set, setting F elements, extracting smartphone numbers in the elements to form a new set, and recording the new set as { s₁，s₂，...，s_F}；

(2) Find out the value of the collection time as k₁，k₂，...，k_eIs numbered at { s }₁，s₂，...，s_FThe distance values between all smart phones in the station and other smart phones around the station obtained based on bluetooth signal distance measurement are collected, and the obtained results are grouped into a set, represented by Qs, and the values can be represented as follows:

(3) finding out each subset QdRSSI in the set Qs_BT(s_f)(k_e) Elements whose median value is equal to or less than L are grouped into a new set represented by Qsm, whose values are expressed as follows:

wherein:

JJ(s_f)(k_e): representation set QdRSSI_BT(s_f)(k_e) The number of the middle elements is less than or equal to the number of the elements of L;

(4) extracting labels MAC for all elements in set Qsm_BT(a(s_f)(k_e) (j)) constitutes a new set, denoted by Qsmm, whose value can be expressed as follows:

(5) finding out all elements of the Bluetooth communication MAC address value in the QPhone set element in the set Qsmm, and extracting 'personal identification information' in the elements to form a new set, wherein the set is the 'personal identification information' set of the joint seal personnel meeting the query condition.

Correction positioning

The step is mainly based on the primary positioning calculation result to carry out correction calculation, and is completed by a monitoring background system, if dRSSI_BTIf there is an element in(s) (k), executing the step, otherwise, skipping the step, wherein the specific calculation process of the step is as follows:

(1) finding QdRSSI_BTD is the element with the smallest value in the(s) (k) set_BT(s)(k)(MAC_BT(s)(k)(a(s)(k)(min)))，min∈{1，2，...，J(k)}；

(2) Inquiring the MAC address of the Bluetooth communication in the set QPhone as MAC_BTThe "smartphone number" value of the(s) (k) (a(s) (k) (min)) element is set to s_min；

(3) Calculating the distance between the smart phone with the serial number s and the smart phone closest to the smart phone by applying a three-dimensional space distance formula based on the coordinate obtained by WiFi primary positioning, and setting the value as dp_WiFi(s)(k)(s_min) The values are expressed as follows:

(4) sequentially mixing d_WiFi(s)(k)(MAC_AP(max₁))、d_WiFi(s)(k)(MAC_AP(max₂))、 d_WiFi(s)(k)(MAC_AP(max₃) Multiply by)

Obtaining the correction values thereof, respectively using d_{WiFi_fix}(s)(k)(MAC_AP(max₁))、d_{WiFi_fix}(s)(k)(MAC_AP(max₂))、d_{WiFi_fix}(s)(k)(MAC_AP(max 3));

(5) and calculating a correction value of the coordinate of the position where the smart phone is located by applying a maximum interpretation algorithm again based on the corrected ranging value, wherein the value of the correction value is represented as follows:

P_fix(s)(k)＝(A^TA)^-1A^Tb_fix (16)

wherein:

P_fix(s) (k) represents a coordinate value obtained by correcting and positioning the position of the smart phone with the number s in the k acquisition cycle, and the coordinate value is

Wherein X_fix(s)(k)、Y_fix(s)(k)、Z_fix(s) (k) respectively represent coordinate values of X-axis, Y-axis and Z-axis thereof;

b_fix: is a matrix of values

Wherein b is_fix(1)＝X_AP(MAC_AP(max₁))²- X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max₁))²-Y_AP(MAC_AP(max₃))²+ Z_AP(MAC_AP(max₁))²-Z_AP(MAC_AP(max₃))²+d_{WiFi_fix}(s)(k)(MAC_AP(max₃))²- d_{WiFi_fix}(s)(k)(MAC_AP(max₁))²， b_fix(2)＝X_AP(MAC_AP(max₂))²-X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max₂))²- Y_AP(MAC_AP(max₃))²+Z_AP(MAC_AP(max₂))²-Z_AP(MAC_AP(max₃))²+ d_{WiFi_fix}(s)(k)(MAC_AP(max₃))²-d_{WiFi_fix}(s)(k)(MAC_AP(max₂))²

Updating the coordinates of the smart phone with the serial number s, which is k at the acquisition time, into:

P(s)(k)＝(X_fix(s)(k)，Y_fix(s)(k)，Z_fix(s)(k)) (17)

and combining the coordinate values according to the sequence of the acquisition time to obtain the movement track of the smart phone in the monitoring area.

Application success

The method is applied to a3 ten thousand square meters exhibition venue, WiFi-AP equipment which provides WiFi service for the public in the venue is used, meanwhile, the participating audience is required to upload and download the positioning APP provided by the method on the smart phone carried with the participating audience when entering the venue, the Bluetooth and WiFi switches are turned on, the positioning period is 2 seconds, the comprehensive test shows that the method has the positioning precision of 4 meters for the track of personnel in the venue, the query accuracy of 100 percent for close-connected personnel within 10 meters and the close-connected distance precision within 2 meters.

The moving track of the smart phone of one viewer and the positioning track of the method are randomly selected to be paired, as shown in fig. 3.

The maximum positioning error is 2.89 meters, and the minimum positioning error is 0.72 meter;

the following table 1 shows the actual person and distance in contact with the object at coordinates (30, 12.5, 1.3) and the list of the distance detected by the method of the present invention:

TABLE 1

In conclusion, the method has the advantages that the calculation accuracy of the personnel track and the distance between the close contact personnel is high, the real-time performance is good, the detection is accurate, meanwhile, the method is implemented without special hardware, only the existing WiFi-AP equipment and the smart phones carried by the personnel are deployed or used in the area needing to be monitored, the construction cost is low, the implementation is fast, the monitored personnel are monitored in a non-inductive mode in the monitoring process, and the application experience is good.

The present invention provides a method for indoor personnel trajectory positioning and close-coupled personnel query based on fusion positioning, and a plurality of methods and approaches for implementing the technical scheme, and the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.

Claims (10)

1. An indoor personnel track positioning and joint sealing personnel query method based on fusion positioning is characterized by comprising the following steps:

step 1, deploying WiFi-AP equipment;

step 2, collecting data;

step 3, constructing a positioning characteristic equation;

step 4, primary positioning calculation;

and 5, correcting and positioning.

2. The method of claim 1, wherein step 1 comprises: installing WiFi-AP equipment in an area needing epidemic prevention monitoring, recording the MAC address of each WiFi-AP equipment if W WiFi-AP equipment are installed, and setting the MAC address of the W-th AP equipment as MAC_AP(w)，w∈{1，2，3，......，W}；

Establishing a three-dimensional coordinate system for a building, selecting a southwest angle of a first floor of the building as an origin of the coordinate system, recording the installation position of each WiFi-AP device based on the coordinate system, wherein the northward direction is the positive Y-axis direction, the eastern direction is the positive X-axis direction, the upright direction is the positive Z-axis direction, and the installation position of the w-th AP device is set as P_AP(MAC_AP(w)), the value of which is expressed as follows:

P_AP(MAC_AP(w))＝(X_ap(MAC_AP(w))，Y_ap(MAC_AP(w))，Z_ap(MAC_AP(w))) (1)

wherein:

X_ap(MAC_AP(w)) indicates that the MAC address is MAC_AP(w) an X-coordinate value of the WiFi-AP device;

Y_ap(MAC_AP(w)) indicates that the MAC address is MAC_AP(w) Y coordinate of WiFi-AP deviceA value;

Z_ap(MAC_AP(w)) indicates that the MAC address is MAC_AP(w) a Z-coordinate value of the WiFi-AP device;

after the WiFi-AP equipment is installed, data packets with own WiFi communication MAC addresses are continuously broadcasted to the surrounding.

3. The method of claim 2, wherein step 2 comprises:

step 2-1, acquiring personnel identification information through a smart phone of a person, wherein the personnel identification information is expressed as follows:

Phone(s)＝(s，n，MAC_BT) (2)

wherein: phone(s) represents the identification information combination corresponding to the smart phone with the serial number s; n is personal identification information; MAC_BTThe address is the MAC address of the Bluetooth communication of the smart phone;

combining all phones(s) registered with the smart phone to obtain a smart phone identification information set, which is represented by a QPphone, and the values of the QPphone are as follows:

QPhone＝{Phone(1)，Phone(2)，......，Phone(s)，...} (3)

and 2-2, collecting a positioning signal.

4. The method of claim 3, wherein step 2-2 comprises: when a person carries a smart phone to enter a monitoring area, a WiFi signal and a Bluetooth signal switch of the smart phone are turned on, and the following steps are executed:

step 2-2-1, initialization: the method comprises the following steps that a Bluetooth module of the smart phone is set to work in a slave machine working mode and a master machine working mode at the same time, wherein the slave machine working mode is that the Bluetooth module of the smart phone continuously broadcasts a data packet containing a Bluetooth communication MAC address of the smart phone to the periphery, but cannot be connected with central equipment; the working mode of the host machine is that the smart phone Bluetooth module can scan peripheral Bluetooth equipment and acquire a data packet broadcasted by the peripheral Bluetooth equipment and Bluetooth signal intensity of the data packet;

step 2-2-2, the smart phone circularly acquires WiFi signal intensity values of all WiFi-AP equipment broadcast data around the smart phone and Bluetooth signal intensity values of other smart phone Bluetooth module broadcast data at the current position of the smart phone according to a uniform acquisition period T, and WiFi signal intensity values of I (k) WiFi-AP equipment broadcast data and Bluetooth signal intensity values of J (k) other smart phone Bluetooth module broadcast data are acquired at an acquisition moment k;

selecting 3 WiFi signal strength values with the largest values from the WiFi signal strength values of the broadcast data of I (k) WiFi-AP equipment to form a set QRSI_WiFi(s) (k), the values of which are expressed as follows:

QRSSI_WiFi(s)(k)＝

{RSSI_WiFi(s)(k)(MAC_AP(max₁))，RSSI_WiFi(s)(k)(MAC_AP(max₂))，RSSI_WiFi(s)(k)(MAC_AP(max₃))} (3)

wherein: k is the acquisition time, the acquisition is carried out once every T, and the initial acquisition time value can be divided by T;

RSSI_WiFi(s)(k)(MAC_AP(max₁) The smart phone with the number s acquires the WiFi communication MAC address as MAC at the k acquisition time_AP(max₁) The WiFi-AP device broadcasting a WiFi signal strength value of the data, wherein the MAC_AP(max₁) Indicates the WiFi communication MAC address of the broadcasting equipment WiFi-AP equipment corresponding to the signal value, wherein max₁Device number, max, representing the strongest WiFi-AP device of the 3 strongest signal strength values₁∈{1，2，3，......，W}；

RSSI_WiFi(s)(k)(MAC_AP(max₂) The smart phone with the number s acquires the WiFi communication MAC address as MAC at the k acquisition time_AP(max₂) The WiFi-AP device broadcasting a WiFi signal strength value of the data, wherein the MAC_AP(max₂) Indicates the WiFi communication MAC address of the broadcasting equipment WiFi-AP equipment corresponding to the signal value, wherein max₂Device number, max, representing the second strongest WiFi-AP device of the 3 strongest signal strength values₂∈{1，2，3，......，W}；

RSSI_WiFi(s)(k)(MAC_AP(max₃) A smart hand denoted by the number sThe machine acquires the WiFi communication MAC address as MAC at the k acquisition moment_AP(max₃) The WiFi-AP device broadcasting a WiFi signal strength value of the data, wherein the MAC_AP(max₃) Indicates the WiFi communication MAC address of the broadcasting equipment WiFi-AP equipment corresponding to the signal value, wherein max₃Device number, max, representing the 3 rd strong WiFi-AP device of the 3 strongest signal strength values₃∈{1，2，3，......，W}；

Sorting the collected Bluetooth signal strength values broadcasted by J (k) other Bluetooth modules of the smart phone from large to small, and generating a number for each Bluetooth signal strength value, which is represented by a(s) (k) (j), wherein s is the number of the data collection smart phone, k is the collection time, and j is an integer j epsilon {1, 2., (j) (k) }; combining the Bluetooth signal strength values to obtain a set QRSI_BT(s) (k), the values of which are expressed as follows:

wherein: RSSI_BT(s)(k)(MAC_BT(a(s) (k) (j)) representing that the smart phone with the number s acquires the Bluetooth communication MAC address as MAC at the k acquisition time_BT(a),(s), (k), (j) and (d) the Bluetooth signal strength value of the smart phone broadcast data, wherein MAC_BT(a),(s), (k), (j) and (d) show the broadcast smartphone bluetooth communication MAC address value.

5. The method of claim 4, wherein step 3 comprises:

step 3-1, establishing a relation equation between WiFi signal strength and distance;

and 3-2, establishing a relation equation between the Bluetooth signal intensity and the distance.

6. The method of claim 5, wherein step 3-1 comprises: the formula of the signal propagation model Shadowing model is as follows:

wherein: RSSI_RIs the signal strength value received by the receiving point; RSSI₀Is a signal strength value received at a reference point; γ is the transmission medium factor; d is the distance of the receiving point from the emitting point; d is a radical of₀Is the distance of the reference point from the emission point;

then the following steps are carried out:

step a1, selecting a position 1 meter away from the WiFi-AP equipment in the monitoring area as a reference point, namely d₀Is 1 meter;

step a2, detecting and recording the WiFi signal strength value transmitted by the WiFi-AP equipment at a distance of 1 meter, namely RSSI₀A value of (d);

step a3, detecting and recording the WiFi signal strength value transmitted by the WiFi-AP equipment at a distance of 5 meters from the WiFi-AP equipment, namely obtaining a group of d and RSSI_R；

Step a4, mixing d₀、RSSI₀、d、RSSI_RSubstituting formula (5) to obtain the value of the transmission medium factor gamma of the WiFi-AP equipment in the detection environment;

the formula of the signal propagation strength and distance of each WiFi-AP is obtained through the steps a1 to a4, as follows:

wherein: RSSI_WiFi(s)(k)(MAC_AP(w)) the smart phone with the serial number s acquires the WiFi communication MAC address as MAC in the k acquisition period_AP(w) the WiFi-AP device broadcasting a WiFi signal strength value for the data;

RSSI_WiFi(MAC_AP(w))₀indicating distance to WiFi communication MAC address as MAC_AP(w) the WiFi-AP device at 1 meter its transmit WiFi signal strength value;

γ(MAC_AP(w)) indicates that the WiFi communication MAC address is MAC_AP(w) a transmission medium factor of the WiFi-AP device within the monitored area;

d_WiFi(s)(k)(MAC_AP(w)) indicates that the distance from the WiFi communication MAC address to the smart phone with the number s obtained based on WiFi signal strength ranging is MAC in the k acquisition cycle_AP(w) a distance value of the WiFi-AP device;

the equation (6) is arranged to obtain the following equation, and the equation of the relationship between the signal propagation signal strength and the distance of each WiFi-AP device is obtained:

7. the method of claim 6, wherein step 3-2 comprises: the relation equation of the wireless signal strength and the distance of the Bluetooth communication of the smart phone is expressed as follows:

wherein: d_BT(s)(k)(MAC_BT(a(s) (k) (j)) shows that the smart phone with the number s obtained based on Bluetooth signal strength ranging is MAC from the Bluetooth communication MAC address at the moment of k acquisition_BT(a(s) to (k) to (j) the distance value of the smartphone.

8. The method of claim 7, wherein step 4 comprises:

step 4-1, initially positioning the position of the smart phone: converting QRSI_WiFiThe elements in the(s) (k) set are respectively substituted into the formula (7) to obtain d_WiFi(s)(k)(MAC_AP(max₁))、d_WiFi(s)(k)(MAC_AP(max₂) And d) and_WiFi(s)(k)(MAC_AP(max₃))；

the position of the smart phone is calculated by applying a maximum interpretation estimation method, and the value of the position is expressed as follows:

P_c(s)(k)＝(A^TA)^-1A^Tb (9)

wherein: p_c(s) (k) represents the coordinates obtained by the preliminary positioning calculation of the smart phone with the serial number s in the k acquisition period, and the value is

Wherein X_c(s)(k)、Y_c(s)(k)、Z_c(s) (k) respectively representing X-axis coordinate values, Y-axis coordinate values, and Z-axis coordinate values;

a is a matrix with a value of

b is a matrix with a value of

Wherein b (1) ═ X_AP(MAC_AP(max₁))²-X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max₁))²-Y_AP(MAC_AP(max₃))²+Z_AP(MAC_AP(max₁))²-Z_AP(MAC_AP(max₃))²+d_WiFi(s)(k)(MAC_AP(max₃))²-d_WiFi(s)(k)(MAC_AP(max₁))²，

b(2)＝X_AP(MAC_AP(max₂))²-X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max₂))²-Y_AP(MAC_AP(max₃))²+Z_AP(MAC_AP(max₂))²-Z_AP(MAC_AP(max₃))²+d_WiFi(s)(k)(MAC_AP(max₃))²-d_WiFi(s)(k)(MAC_AP(max₂))²

Recording the coordinates of the smart phone with the number s of k at the acquisition time as P(s) (k), wherein the values are set as follows:

P(s)(k)＝(X_c(s)(k)，Y_c(s)(k)，Z_c(s)(k)) (10)；

step 4-2, calculating the distance between the smart phones:

converting QRSI_BTElements in(s) (k) are sequentially substituted into formula (8) to obtain a value to form a new set, namely a set QdRSSI of distance values obtained by the smart phone and other surrounding smart phones based on Bluetooth signal distance measurement at the acquisition time k_BT(s) (k), the values of which are expressed as follows:

wherein: QdRSSI_BTAnd(s) (k) represents a set of distance values obtained by the smart phone with the number s and other smart phones around based on Bluetooth signal distance measurement at the time k.

9. The method according to claim 8, wherein in step 4-2, the person in close contact can be queried by:

the query conditions are set as follows: the identification information of the person to be inquired is Pr, and the inquiry time range is t₁，t₂]，t₁For time-enquiry of the lower limit value, t₂Setting all the acquisition moments covered by the time range as { k ] as the upper limit value of the time query range₁，k₂，...，k_eIn which k is₁≥t₁，k_e≤t₂If the close contact distance is within L meters, the query method is as follows:

step b1, finding all elements with personal identification information Pr from the QPhone set, setting to find F elements, extracting the smart phone numbers in the elements to form a new set, and recording the new set as { s }₁，s₂，...，s_F}；s_FThe number of the smart phone of the F-th element in the F elements with the personal information of Pr found from the QPhone set is determined;

step b2, finding the time of acquisitionScale value of { k₁，k₂，...，k_eIs numbered at s₁，s₂，...，s_FThe set Qs of distance values obtained by ranging of all the smart phones in the station and other smart phones around based on the bluetooth signals is represented as follows:

step b3, find each subset QdRSSI in the set Qs_BT(s_f)(k_e) Elements whose median value is equal to or less than L are grouped into a new set Qsm whose values are expressed as follows:

wherein: JJ(s)_f)(k_e) Representation set QdRSSI_BT(s_f)(k_e) The number of the middle elements is less than or equal to the number of the elements of L;

step b4, extracting the index MAC of all elements in the set Qsm_BT(a(s_f)(k_e) (j)) constitutes a new set Qsmm, whose values are expressed as follows:

step b5, finding out all the elements of the Bluetooth communication MAC address value in the QPhone set element in the set Qsmm, and extracting the personal identification information in the elements to form a new set, wherein the set is the personal identification information set of the joint seal person meeting the query condition.

10. The method of claim 9, wherein step 5 comprises:

step 5-1, finding out QdRSSI_BTD is the element with the smallest value in the(s) (k) set_BT(s)(k)(MAC_BT(s)(k)(a(s)(k)(min)))，min∈{1，2，...，J(k)}；

Step 5-2, inquiring the Bluetooth communication MAC address as MAC address in the set QPhone_BTThe smart phone number value of(s) (k) (a(s) (k) (min)) element is set as s_min；

Step 5-3, based on the coordinates obtained by WiFi primary positioning, calculating the distance dp between the smart phone with the number s and the smart phone closest to the smart phone by using a three-dimensional space distance formula_WiFi(s)(k)(s_min) Expressed as follows:

step 5-4, sequentially mixing d_WiFi(s)(k)(MAC_AP(max₁))、d_WiFi(s)(k)(MAC_AP(max₂))、d_WiFi(s)(k)(MAC_AP(max₃) Multiply by)

Correction values derived therefrom, respectively by d_{WiFi_fix}(s)(k)(MAC_AP(max₁))、d_{WiFi_fix}(s)(k)(MAC_AP(max₂))、d_{WiFi_fix}(s)(k)(MAC_AP(max₃) ) represents;

and 5-5, calculating a correction value of the coordinate of the position where the smart phone is located by applying the maximum interpretation estimation algorithm again based on the corrected distance measurement value, wherein the correction value is expressed as follows:

P_fix(s)(k)＝(A^TA)^-1A^Tb_fix (16)

wherein: p_fix(s) (k) represents a coordinate value obtained by correcting and positioning the position of the smart phone with the number s in the kth acquisition cycle,

wherein X_fix(s)(k)、Y_fix(s)(k)、Z_fix(s) (k) respectively represent the X-axis coordinate value and the Y-axis coordinate valueZ-axis coordinate values;

b_fixis a matrix of values

Wherein

b_fix(1)＝X_AP(MAC_AP(max₁))²-X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max₁))²-Y_AP(MAC_AP(max₃))²+Z_AP(MAC_AP(max₁))²-Z_AP(MAC_AP(max₃))²+d_{WiFi_fix}(s)(k)(MAC_AP(max₃))²-d_{WiFi_fix}(s)(k)(MAC_AP(max₁))²，

b_fix(2)＝X_AP(MAC_AP(max₂))²-X_AP(MAC_AP(max₃))²+Y_AP(MAC_AP(max₂))²-Y_AP(MAC_AP(max₃))²+Z_AP(MAC_AP(max₂))²-Z_AP(MAC_AP(max₃))²+d_{WiFi_fix}(s)(k)(MAC_AP(max₃))²-d_{WiFi_fix}(s)(k)(MAC_AP(max₂))²

Updating the coordinates of the smart phone with the serial number s, which is k at the acquisition time, into:

P(s)(k)＝(X_fix(s)(k)，Y_fix(s)(k)，Z_fix(s)(k)) (17)

and combining the coordinate values according to the sequence of the acquisition time to obtain the movement track of the smart phone in the monitoring area.

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