CN117528406A - Bluetooth and geomagnetic integrated position fingerprint indoor positioning method - Google Patents
Bluetooth and geomagnetic integrated position fingerprint indoor positioning method Download PDFInfo
- Publication number
- CN117528406A CN117528406A CN202311252349.XA CN202311252349A CN117528406A CN 117528406 A CN117528406 A CN 117528406A CN 202311252349 A CN202311252349 A CN 202311252349A CN 117528406 A CN117528406 A CN 117528406A
- Authority
- CN
- China
- Prior art keywords
- bluetooth
- terminal
- geomagnetic
- position coordinates
- sampling points
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000005070 sampling Methods 0.000 claims abstract description 89
- 230000004927 fusion Effects 0.000 claims description 29
- 230000015654 memory Effects 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 19
- 238000010606 normalization Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 5
- 230000005389 magnetism Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000005562 fading Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Abstract
The application relates to the technical field of terminal positioning, in particular to a position fingerprint indoor positioning method integrating Bluetooth and geomagnetism, which comprises the steps of obtaining position fingerprints of a plurality of sampling points in an area, wherein the position fingerprints comprise position coordinates of the sampling points, received signal strength sequences of a plurality of Bluetooth beacons received by the sampling points and normalized geomagnetic information at the sampling points; receiving a received signal strength sequence and geomagnetic information which are currently received by a terminal to be positioned; and comparing the received signal strength sequence of the terminal to be positioned with the position fingerprints of a plurality of sampling points, and estimating the Bluetooth position coordinates of the terminal to be positioned. According to the method and the device, the Bluetooth positioning and geomagnetic positioning are combined, the position coordinates of the terminal to be positioned are calculated in a combined mode, the influence of the surrounding environment on the terminal to be positioned is reduced, and the positioning effect on the terminal is improved.
Description
Technical Field
The application relates to the technical field of terminal positioning, in particular to a position fingerprint indoor positioning method integrating Bluetooth and geomagnetism.
Background
The indoor environment is narrow, and due to the influence of personnel walking, building reflection, multipath propagation or signal fading and other reasons, the traditional positioning method based on Bluetooth, wi-Fi and other radio signals is high in error rate and poor in positioning effect in the indoor environment.
Disclosure of Invention
Aiming at the defects in the prior art, the application provides a position fingerprint indoor positioning method for fusing Bluetooth and geomagnetism, which is used for fusing and calculating the position coordinates of a terminal to be positioned in a mode of fusing Bluetooth positioning and geomagnetism positioning, so that the influence of surrounding environment on the terminal to be positioned is reduced, and the positioning effect on the terminal is improved.
The above application object of the present application is achieved by the following technical solutions:
in a first aspect, an embodiment of the present application provides a method for indoor positioning of a position fingerprint fusing bluetooth and geomagnetism, including:
acquiring position fingerprints of a plurality of sampling points in an area, wherein the position fingerprints comprise position coordinates of the sampling points, a received signal strength sequence of a plurality of Bluetooth beacons received by the sampling points and normalized geomagnetic information around the sampling points;
receiving a received signal strength sequence and geomagnetic information which are currently received by a terminal to be positioned;
comparing the received signal strength sequence of the terminal to be positioned with position fingerprints of a plurality of sampling points, and estimating Bluetooth position coordinates of the terminal to be positioned;
carrying out normalization processing on geomagnetic information of the terminal to be positioned, comparing the normalized geomagnetic information of the terminal to be positioned with position fingerprints of a plurality of sampling points, and estimating geomagnetic position coordinates of the terminal to be positioned;
and respectively giving weights to the Bluetooth position coordinates and the geomagnetic position coordinates to perform decision layer fusion to obtain fused position coordinates.
In a possible implementation manner of the first aspect, estimating bluetooth position coordinates of the terminal to be positioned includes:
selecting K sampling points closest to a received signal strength sequence of a terminal to be positioned through a K nearest neighbor algorithm;
acquiring the position coordinates of the nearest k sampling points;
and calculating the Bluetooth coordinate average value of the nearest k sampling point positions.
In a possible implementation manner of the first aspect, estimating geomagnetic position coordinates of the terminal to be positioned includes:
selecting K sampling points closest to normalized geomagnetic information of a terminal to be positioned through a K nearest neighbor algorithm;
acquiring the position coordinates of the nearest k sampling points;
and calculating the geomagnetic coordinate average value of the nearest k sampling point positions.
In a possible implementation manner of the first aspect, the number of times of acquiring the geomagnetic position coordinate in a unit time is greater than the number of times of acquiring the bluetooth position coordinate.
In a possible implementation manner of the first aspect, estimating geomagnetic position coordinates of the terminal to be positioned further includes:
acquiring a geomagnetic coordinate set, wherein elements of the geomagnetic coordinate set are a plurality of geomagnetic coordinate average values obtained between acquisition moments of two adjacent Bluetooth position coordinates;
and calculating the average value of each coordinate in the geomagnetic coordinate set.
In a possible implementation manner of the first aspect, in the decision layer fusion of respectively assigning weights to the bluetooth position coordinate and the geomagnetic position coordinate, a weight ratio of the bluetooth position coordinate and the geomagnetic position coordinate is 1: n, N is greater than 1.
In a possible implementation manner of the first aspect, a received signal strength sequence currently received by the terminal to be positioned is identified;
comparing the number of wireless access points received by the terminal to be positioned with the number of Bluetooth beacons arranged in the area;
and when the number of the wireless access points received by the terminal to be positioned is greater than the number of the Bluetooth beacons arranged in the area, reducing the weight of the Bluetooth position coordinates in the decision layer fusion.
In a second aspect, an embodiment of the present application provides a location fingerprint indoor positioning device fusing bluetooth and geomagnetism, including:
the acquisition unit is used for acquiring position fingerprints of a plurality of sampling points in the area, wherein the position fingerprints comprise position coordinates of the sampling points, a received signal strength sequence of a plurality of Bluetooth beacons received by the sampling points and normalized geomagnetic information around the sampling points;
the communication unit is used for receiving the received signal strength sequence and geomagnetic information currently received by the terminal to be positioned;
the first processing unit is used for comparing the received signal strength sequence of the terminal to be positioned with the position fingerprints of a plurality of sampling points and estimating the Bluetooth position coordinates of the terminal to be positioned;
the second processing unit is used for carrying out normalization processing on geomagnetic information of the terminal to be positioned, comparing the normalized geomagnetic information of the terminal to be positioned with position fingerprints of a plurality of sampling points, and estimating geomagnetic position coordinates of the terminal to be positioned;
and the computing unit is used for respectively giving weights to the Bluetooth position coordinates and the geomagnetic position coordinates to perform decision layer fusion to obtain fused position coordinates.
In a third aspect, an embodiment of the present application provides a location fingerprint indoor positioning system that fuses bluetooth and geomagnetism, where the system includes:
one or more memories for storing instructions; and
one or more processors to invoke and execute the instructions from the memory to perform the method of any of the preceding claims.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, where the computer-readable storage medium includes:
a program which, when executed by a processor, performs a method as claimed in any preceding claim.
In summary, the application has the following beneficial technical effects:
by means of Bluetooth positioning and geomagnetic positioning fusion, position coordinates of the terminal to be positioned are calculated in a fusion mode, influence of surrounding environment on the terminal to be positioned is reduced, and positioning effect on the terminal is improved
Drawings
Fig. 1 is a schematic block diagram of a process of a method for positioning a position fingerprint in a room by fusing bluetooth and geomagnetism according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an online positioning stage provided in an embodiment of the present application;
FIG. 3 is a schematic view of an example in-zone distribution provided by an embodiment of the present application;
fig. 4 is a terminal bluetooth signal acquisition diagram of an example provided by an embodiment of the present application;
fig. 5 is a terminal geomagnetic information collection diagram of an example provided by an embodiment of the present application;
FIG. 6 is a diagram of normalized geomagnetic signal intensity provided by an embodiment of the present application;
fig. 7 is a comparison diagram of bluetooth positioning and fusion positioning errors provided in an embodiment of the present application;
fig. 8 is a geomagnetic positioning and fusion positioning cumulative probability distribution diagram provided by an embodiment of the application.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings.
In order to more clearly understand the technical solution presented in the embodiments of the present application, first, a simple description is given to the existing indoor positioning technology.
The positioning service function applied to the outdoor is more comprehensive and humanized, compared with the indoor environment, the environment is more complex due to personnel walking, building reflection and the like, the traditional positioning method based on Bluetooth, wi-Fi and other radio signals can be used in a wide area, but the positioning accuracy in areas such as more personnel and signals, room corners and the like is poor due to the influence of multipath propagation or signal fading and the like.
At present, more indoor positioning technologies are mainly researched and comprise Wi-Fi, bluetooth, an infrared coil, ultra-wideband, wireless radio frequency identification, visual technologies and the like. Wi-Fi, radio frequency identification, however, is not stable in signal quality, and ultra-wideband, infrared and vision technologies require relatively complex hardware facilities, resulting in their inapplicability in most applications. Compared with the prior art, the Bluetooth positioning accuracy is high, the energy consumption is low, and most mobile phones are provided with corresponding functions, but Bluetooth also belongs to radio signals, and the positioning accuracy can be greatly influenced when people and surrounding objects are more and electromagnetic signals are more complex.
In order to solve the above technical problems, referring to fig. 1 and 2, an embodiment of the present application provides a method for positioning a position fingerprint in a room by fusing bluetooth and geomagnetism, the method comprising the following steps:
s101, acquiring position fingerprints of a plurality of sampling points in an area, wherein the position fingerprints comprise position coordinates of the sampling points, received signal strength sequences of a plurality of Bluetooth beacons received by the sampling points, and normalized geomagnetic information around the sampling points;
s102, receiving a received signal strength sequence currently received by a terminal to be positioned and geomagnetic information;
s103, comparing the received signal strength sequence of the terminal to be positioned with position fingerprints of a plurality of sampling points, and estimating Bluetooth position coordinates of the terminal to be positioned;
s104, carrying out normalization processing on geomagnetic information of the terminal to be positioned, comparing the normalized geomagnetic information of the terminal to be positioned with position fingerprints of a plurality of sampling points, and estimating geomagnetic position coordinates of the terminal to be positioned;
and S105, respectively giving weights to the Bluetooth position coordinates and the geomagnetic position coordinates to perform decision layer fusion, and obtaining fused position coordinates.
Specifically, in step S101, a plurality of sampling points (i.e., reference points, positioning sampling points or positioning reference points) and a plurality of bluetooth beacons (a wireless access point, hereinafter abbreviated as AP) that are arranged at intervals are preset in the area, and position fingerprint information of the plurality of positioning sampling points is collected in advance, where the position fingerprint information includes the following two points:
first, adoptThe detailed position coordinates of the sample points, wherein the coordinates of the ith sample point are (x) i ,y i )；
The second, the sampling point receives the Received Signal Strength (RSSI) sequences of several APs, several APs will periodically send out broadcast, considering that the signal strength of the wireless broadcast signal sent out by the AP will gradually decay with the increase of the distance, any sampling point in the area can receive the wireless broadcast signal of several APs, the sampling point forms the RSSI sequence according to the received signal strength of several APs, based on the rule, the RSSI vector of the ith sampling point is F= { RSSI i1 ,rssi i2 ,……,rssi in }, where rsti in Indicating the received signal strength of the nth AP received at the ith sample point,
it should be understood that, because the sampling points are arranged at intervals, there are different intervals among the sampling points, the received intensity signals of the APs received by each sampling point are different, that is, the RSSI sequences received by each sampling point are different;
thirdly, normalized geomagnetic information of a region around a sampling point, wherein the triaxial component of geomagnetic signals of a certain point around a certain sampling point is assumed to be [ M ] x ,M y ,M z ]Normalizing the triaxial geomagnetic component of the point, namely taking the modulus value of the pointTaking normalized geomagnetic signal values of a limited number of points around the sampling point, and completing establishment of geomagnetic information position fingerprints of the sampling point;
establishing a position fingerprint library of a plurality of sampling points in the area according to the points;
step S102 is executed, and the RSSI sequence currently received by the terminal to be positioned and the surrounding geomagnetic information currently captured by the terminal to be positioned are received;
in step S103, the received current RSSI sequence of the terminal to be positioned is compared with the established position fingerprint database to find out the position coordinates of the closest sampling points, thereby estimating the Bluetooth position coordinates L of the terminal to be positioned at the moment w ＝(x,y)。
In step S104, geomagnetic information of a surrounding area acquired by the terminal to be positioned is generally acquired by a geomagnetic sensing element integrated inside the terminal, an original numerical value is generally x, y and z three-axis magnetic induction intensity vector data, and when the terminal performs overturning, up-down translation and other movements, the value of a geomagnetic signal three axis is greatly influenced, so that geomagnetic information of the terminal to be positioned is normalized first, and it is assumed that a geomagnetic signal three axis component of a certain point around an ith positioning reference point is [ M ] x ,M y ,M z ]Normalizing the triaxial geomagnetic component of the point, namely taking the modulus value of the pointComparing the geomagnetic information after normalization processing with the position fingerprint database, and finding out the position coordinate of the closest sampling point, thereby estimating the geomagnetic position coordinate D of the terminal to be positioned at the moment w ＝(x,y)；
Then executing step S105, respectively giving weights to the Bluetooth position coordinates and the geomagnetic position coordinates to perform decision layer fusion to obtain fused position coordinates R w ＝aL w +bD w In general, information can be fused in a decision layer, a feature layer or a data layer, in this embodiment, decision layer fusion is adopted, that is, different sensors are used to monitor a certain measured object, each sensor independently completes a series of processes of data preprocessing, feature information extraction, target discrimination and the like, initial analysis on the measured object is obtained, and then fusion is carried out in the decision layer to obtain a final result.
According to the technical scheme, in the embodiment of the application, the Bluetooth positioning and geomagnetic information positioning fusion mode is not used for positioning the terminal to be positioned singly by means of a certain positioning mode, and the situation that the positioning effect of the terminal to be positioned is poor due to the fact that wireless signals in an area are disordered or other conditions affecting radio signals are avoided.
In general, the embodiment of the application is to fusion calculate the position coordinates of the terminal to be positioned in a Bluetooth positioning and geomagnetic positioning fusion mode, so that the influence of the surrounding environment on the terminal to be positioned is reduced, and the accuracy and reliability of terminal positioning are improved.
In order to more clearly understand the method for positioning a position fingerprint in a room by fusing bluetooth and geomagnetism described in the embodiments of the present application, referring to fig. 3 to fig. 8, an example is provided in the embodiments of the present application:
referring to fig. 3, in 4 floors in an office building, the corridor has a total of 30 positioning reference points, i.e. the hollow dots shown in fig. 3, and 8 positioning reference points in total at the corners of the stairs, at a distance of 1.5m from each other. A total of 6 bluetooth beacons were set, the transmit power was set to 0dBm, the coverage 80m, and fixed at the doorway of the 416-422 room. And simultaneously, sampling Bluetooth and geomagnetic signals at each positioning reference point in the area, wherein the mobile phone acquisition interfaces of the Bluetooth and geomagnetic signals at a certain point are respectively shown in fig. 4 and 5, and the signals of 6 Bluetooth beacons are collected at the point, and only the signal of one beacon is displayed.
And establishing a rectangular coordinate system by taking a certain point in the middle as an origin, then interpolating and normalizing the geomagnetic data modulus value after region sampling by using matlab simulation software to obtain the result of FIG. 6, wherein the longitudinal grid and the transverse grid form a two-dimensional plane by taking meters as units, the magnetic field intensity is distinguished by the brightness and darkness of the color, the brighter the color is, the greater the geomagnetic intensity is, and the darker the color is, the smaller the geomagnetic intensity is. Based on which bluetooth and geomagnetic fingerprint databases can be constructed, respectively, followed by a position estimation.
Randomly selecting 6 test points in the area for experiments, wherein the coordinates are respectively (0 m,0 m), (1 m,1 m), (2 m,1 m), (1 m,2 m), (2 m,2 m), carrying out amplitude limiting filtering on the acquired data to remove abnormal sampling values, then respectively estimating by using Bluetooth, geomagnetism and fusion methods, and completing the positioning for 200 times every 3s to obtain an average value of the experiment as an estimation result of the point, wherein the estimation error of the several test points is shown in FIG. 7, and the average accuracy of Bluetooth positioning can be seen to be about 1.97m, the maximum error is 2.15m and the minimum error is 1.74m; the average accuracy of geomagnetic positioning is about 1.1m, the maximum error is 1.35m, and the minimum error is 0.97m; the average precision of fusion positioning is about 0.96m, the maximum error is 1.2m, and the minimum error is 0.8m. It is estimated that the average error of the fusion positioning is reduced by about 51% compared with the Bluetooth positioning, and the average error is reduced by about 12.7% compared with the geomagnetic positioning.
The cumulative probability distribution for the corresponding fused and bluetooth locations is shown in fig. 8. As can be seen from fig. 8, the probability of the bluetooth positioning curve error being within 1m is about 5%, the probability of the geomagnetic positioning curve error being within 1m is about 30%, and the probability of the fusion positioning curve error being within 1m is about 41%; in addition, the probability of the error of the Bluetooth positioning result is 100% within 2.2m, the probability of the error of the geomagnetic positioning result is 100% within 1.5m, and the probability of the fusion positioning error is 100% within 1.3 m.
As a specific implementation mode of the position fingerprint indoor positioning method for fusing Bluetooth and geomagnetism, the estimating of the Bluetooth position coordinate of the terminal to be positioned comprises the following steps:
s201, selecting K sampling points closest to a received signal strength sequence of a terminal to be positioned through a K nearest neighbor algorithm;
s202, acquiring position coordinates of the nearest k sampling points;
s203, calculating the Bluetooth coordinate average value of the nearest k sampling point positions.
In combination with a specific usage scenario, assuming that m sampling points and n APs exist in the positioning space, the RSSI vector of the to-be-sampled point is l= { RSSI 1 ，rssi 2 ，......，rssi n RSSI vector of the ith sample point is F i ＝{rssi i1 ，rssi i2 ，......，rssi in Position coordinates (x) i ，y i ) From this, the Euclidean distance of two points can be calculated as:
wherein rssi j Representing the received signal strength of the jth AP, rsti ij The intensity of the jth AP in the ith sampling point is ranked, the obtained m distances are ranked, k sampling points with the smallest distances are selected, and the average value of the coordinates is taken as a Bluetooth position coordinate estimation result:
in (x) i ，y i ) And (3) representing the position coordinates of the ith sampling point, wherein (x, y) is the corresponding Bluetooth position coordinate estimated value.
The nearest k sampling points are determined according to the RSSI sequence sent by the terminal to be positioned at the moment, and the coordinate average value of the k sampling points is used as the estimated value of the Bluetooth position coordinate of the terminal to be positioned, so that the positioning accuracy can be effectively improved.
As a specific implementation mode of the Bluetooth and geomagnetic position fingerprint indoor positioning method, the geomagnetic position coordinate estimating method for the terminal to be positioned comprises the following steps:
s301, selecting K sampling points closest to normalized geomagnetic information of a terminal to be positioned through a K nearest neighbor algorithm;
s302, acquiring position coordinates of the nearest k sampling points;
s303, calculating geomagnetic coordinate average values of the nearest k sampling point positions.
Combining a specific use scene, after receiving geomagnetic information sent by a terminal to be positioned, carrying out normalization processing on the geomagnetic information, establishing normalized geomagnetic information around the moment of the terminal to be positioned, comparing the normalized geomagnetic information with a position fingerprint database, finding out the position coordinates of k nearest sampling points, and taking the average value of the coordinates as a Bluetooth position coordinate estimation result:
in (x) i ,y i ) And (3) representing the position coordinates of the ith sampling point, wherein (x, y) is the corresponding geomagnetic position coordinate estimated value.
As a specific implementation mode of the position fingerprint indoor positioning method for fusing Bluetooth and geomagnetism, the geomagnetism position coordinate acquisition times in unit time are larger than the acquisition times of the Bluetooth position coordinate, namely, a plurality of geomagnetism position coordinates are acquired in a time period between two adjacent acquisition times of the Bluetooth position coordinate of the terminal to be positioned. Therefore, on one hand, the weight of the geomagnetic position coordinate in the fusion coordinate can be effectively improved, so that the interference of the mobile phone, wi-Fi and other external environments on the integral fusion coordinate is reduced, on the other hand, the integral reliability of the geomagnetic position coordinate can be improved, and the accuracy and reliability of terminal positioning are improved.
As a specific implementation mode of the position fingerprint indoor positioning method for fusing Bluetooth and geomagnetism, estimating geomagnetic position coordinates of a terminal to be positioned further comprises:
s304, acquiring a geomagnetic coordinate set, wherein elements of the geomagnetic coordinate set are a plurality of geomagnetic coordinate average values obtained between acquisition moments of two adjacent Bluetooth position coordinates;
s305, calculating the average value of each coordinate in the geomagnetic coordinate set.
Specifically, as the bluetooth beacons are more, fingerprint database data of the bluetooth beacons are more than that of the geomagnetic fingerprint database, so that the bluetooth estimation result is output once and the geomagnetic estimation result is output for a plurality of times, and an estimation set of geomagnetic position coordinates is obtained:
D w ＝{(x 1 ,y 1 ),(x 2 ,y 2 ),......,(x n ,y n )}
the geomagnetic position coordinate estimation set takes average weight and then the coordinates are as follows:
therefore, the overall reliability of geomagnetic position coordinates is improved, and the accuracy and reliability of terminal positioning are improved.
As a specific implementation mode of the position fingerprint indoor positioning method for fusing Bluetooth and geomagnetism, in decision layer fusion by respectively giving weights to Bluetooth position coordinates and geomagnetic position coordinates, the weight ratio of the Bluetooth position coordinates to the geomagnetic position coordinates is 1: n, N is greater than 1, i.e., in the fused position coordinates, the specific gravity of the geomagnetic position coordinates is greater than that of the bluetooth position coordinates.
In combination with a specific use scene, in an area with complex indoor environment and the like, the Bluetooth positioning mode used as radio positioning is greatly influenced, and the weight of geomagnetic position coordinates is improved, so that the influence of the external environment on the fused position coordinates can be restrained, and the accuracy and the reliability of terminal positioning are improved.
As a specific implementation mode of the Bluetooth and geomagnetic fusion position fingerprint indoor positioning method, the following steps are added:
s601, identifying a received signal strength sequence currently received by a terminal to be positioned;
s602, comparing the number of wireless access points received by a terminal to be positioned with the number of APs arranged in an area;
and S603, when the number of wireless access points received by the terminal to be positioned is greater than the number of APs set in the area, reducing the weight of the Bluetooth position coordinates in the decision layer fusion.
In combination with a specific use scenario, the number of bluetooth beacons used for positioning in the area is limited and determined, the RSSI sequence of sampling points in the area is also determined under the condition of no external interference, and when the terminal RSSI sequence sent by the terminal to be positioned has wireless signals which do not belong to a plurality of bluetooth beacons, the terminal to be positioned is indicated to receive interference of other external wireless broadcasts, and the weight of the bluetooth position coordinates at the moment should be reduced at the moment so as to reduce the interference of external wireless signals on the fused coordinates.
Specifically, in step S601, the received signal strength sequence currently received by the terminal to be located in the area is identified and analyzed, then step S602 is executed, the number of wireless access points received by the terminal to be located is compared with the number of APs set in the area, and it is determined whether the external wireless signal has a substantial influence on the terminal to be located, and in step S603, an operation of reducing the weight of the bluetooth position coordinate is executed according to the determination result.
The embodiment of the application also provides a position fingerprint indoor positioning device fusing Bluetooth and geomagnetism, which comprises:
the acquisition unit is used for acquiring position fingerprints of a plurality of sampling points in the area, wherein the position fingerprints comprise position coordinates of the sampling points, received signal strength sequences of a plurality of Bluetooth beacons received by the sampling points and normalized geomagnetic information around the sampling points;
the communication unit is used for receiving the received signal strength sequence and geomagnetic information currently received by the terminal to be positioned;
the first processing unit is used for comparing the received signal strength sequence of the terminal to be positioned with the position fingerprints of a plurality of sampling points and estimating the Bluetooth position coordinates of the terminal to be positioned;
the second processing unit is used for carrying out normalization processing on geomagnetic information of the terminal to be positioned, comparing the normalized geomagnetic information of the terminal to be positioned with position fingerprints of a plurality of sampling points, and estimating geomagnetic position coordinates of the terminal to be positioned;
and the computing unit is used for respectively giving weights to the Bluetooth position coordinates and the geomagnetic position coordinates to perform decision layer fusion to obtain fused position coordinates.
In one example, the unit in any of the above apparatuses may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (application specificintegratedcircuit, ASIC), or one or more digital signal processors (digital signal processor, DSP), or one or more field programmable gate arrays (field programmable gate array, FPGA), or a combination of at least two of these integrated circuit forms.
For another example, when the units in the apparatus may be implemented in the form of a scheduler of processing elements, the processing elements may be general-purpose processors, such as a central processing unit (central processing unit, CPU) or other processor that may invoke the program. For another example, the units may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Various objects such as various messages/information/devices/network elements/systems/devices/actions/operations/processes/concepts may be named in the present application, and it should be understood that these specific names do not constitute limitations on related objects, and that the named names may be changed according to the scenario, context, or usage habit, etc., and understanding of technical meaning of technical terms in the present application should be mainly determined from functions and technical effects that are embodied/performed in the technical solution.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It should also be understood that in various embodiments of the present application, first, second, etc. are merely intended to represent that multiple objects are different. For example, the first time window and the second time window are only intended to represent different time windows. Without any effect on the time window itself, the first, second, etc. mentioned above should not impose any limitation on the embodiments of the present application.
It is also to be understood that in the various embodiments of the application, terms and/or descriptions of the various embodiments are consistent and may be referenced to one another in the absence of a particular explanation or logic conflict, and that the features of the various embodiments may be combined to form new embodiments in accordance with their inherent logic relationships.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a computer-readable storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned computer-readable storage medium includes: a U-disk, a removable hard disk, a Read-only memory (ROM), a random access memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The present embodiments also provide a computer program product comprising instructions that, when executed, cause the terminal device and the network device to perform operations of the terminal device and the network device corresponding to the above-described method.
The embodiment of the application also provides a position fingerprint indoor positioning system fusing Bluetooth and geomagnetism, which comprises:
one or more memories for storing instructions; and
one or more processors configured to invoke and execute the instructions from the memory to perform the methods described above.
Embodiments of the present application also provide a chip system, which includes a processor, for implementing the functions involved in the foregoing description, for example, generating, receiving, transmitting, or processing data and/or information involved in the foregoing method.
The chip system can be composed of chips, and can also comprise chips and other discrete devices.
The processor referred to in any of the foregoing may be a CPU, microprocessor, ASIC, or integrated circuit that performs one or more of the procedures for controlling the transmission of feedback information described above.
In one possible design, the system on a chip also includes memory to hold the necessary program instructions and data. The processor and the memory may be decoupled, and disposed on different devices, respectively, and connected by wired or wireless means, so as to support the chip system to implement the various functions in the foregoing embodiments. In the alternative, the processor and the memory may be coupled to the same device.
Optionally, the computer instructions are stored in a memory.
Alternatively, the memory may be a storage unit in the chip, such as a register, a cache, etc., and the memory may also be a storage unit in the terminal located outside the chip, such as a ROM or other type of static storage device, a RAM, etc., that may store static information and instructions.
It will be appreciated that the memory in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory.
The non-volatile memory may be a ROM, programmable ROM (PROM), erasable Programmable ROM (EPROM), electrically erasable programmable ROM (electricallyEPROM, EEPROM), or flash memory.
The volatile memory may be RAM, which acts as external cache. There are many different types of RAM, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (enhancedSDRAM, ESDRAM), synchronous Link DRAM (SLDRAM), and direct memory bus RAM.
The embodiments of the present invention are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in this way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (10)
1. A position fingerprint indoor positioning method integrating Bluetooth and geomagnetism is characterized by comprising the following steps:
acquiring position fingerprints of a plurality of sampling points in an area, wherein the position fingerprints comprise position coordinates of the sampling points, a received signal strength sequence of a plurality of Bluetooth beacons received by the sampling points and normalized geomagnetic information around the sampling points;
receiving a received signal strength sequence and geomagnetic information which are currently received by a terminal to be positioned;
comparing the received signal strength sequence of the terminal to be positioned with position fingerprints of a plurality of sampling points, and estimating Bluetooth position coordinates of the terminal to be positioned;
carrying out normalization processing on geomagnetic information of the terminal to be positioned, comparing the normalized geomagnetic information of the terminal to be positioned with position fingerprints of a plurality of sampling points, and estimating geomagnetic position coordinates of the terminal to be positioned;
and respectively giving weights to the Bluetooth position coordinates and the geomagnetic position coordinates to perform decision layer fusion to obtain fused position coordinates.
2. The indoor positioning method of a position fingerprint combining bluetooth and geomagnetism according to claim 1, wherein estimating bluetooth position coordinates of a terminal to be positioned comprises:
selecting K sampling points closest to a received signal strength sequence of a terminal to be positioned through a K nearest neighbor algorithm;
acquiring the position coordinates of the nearest k sampling points;
and calculating the Bluetooth coordinate average value of the nearest k sampling point positions.
3. The indoor positioning method of a position fingerprint combining bluetooth and geomagnetism according to claim 1, wherein estimating geomagnetic position coordinates of a terminal to be positioned comprises:
selecting K sampling points closest to normalized geomagnetic information of a terminal to be positioned through a K nearest neighbor algorithm;
acquiring the position coordinates of the nearest k sampling points;
and calculating the geomagnetic coordinate average value of the nearest k sampling point positions.
4. The method for locating a position fingerprint room integrating Bluetooth and geomagnetism according to claim 3,
the acquisition times of geomagnetic position coordinates in unit time are larger than those of Bluetooth position coordinates.
5. The indoor positioning method of a position fingerprint combining bluetooth and geomagnetism according to claim 4, wherein estimating geomagnetic position coordinates of the terminal to be positioned further comprises:
acquiring a geomagnetic coordinate set, wherein elements of the geomagnetic coordinate set are a plurality of geomagnetic coordinate average values obtained between acquisition moments of two adjacent Bluetooth position coordinates;
and calculating the average value of each coordinate in the geomagnetic coordinate set.
6. The method for indoor location of position fingerprint by combining bluetooth and geomagnetism according to any one of claims 1 to 5, wherein in decision layer combining of assigning weights to bluetooth position coordinates and geomagnetism position coordinates, respectively,
the weight ratio of the Bluetooth position coordinates to the geomagnetic position coordinates is 1: n, N is greater than 1.
7. The method for locating a position fingerprint in a room by combining bluetooth and geomagnetism according to any one of claims 1 to 5, further comprising:
identifying a received signal strength sequence currently received by a terminal to be positioned;
comparing the number of wireless access points received by the terminal to be positioned with the number of Bluetooth beacons arranged in the area;
and when the number of the wireless access points received by the terminal to be positioned is greater than the number of the Bluetooth beacons arranged in the area, reducing the weight of the Bluetooth position coordinates in the decision layer fusion.
8. Position fingerprint indoor positioning device of fusion bluetooth and earth magnetism, its characterized in that includes:
the acquisition unit is used for acquiring position fingerprints of a plurality of sampling points in the area, wherein the position fingerprints comprise position coordinates of the sampling points, a received signal strength sequence of a plurality of Bluetooth beacons received by the sampling points and normalized geomagnetic information around the sampling points;
the communication unit is used for receiving the received signal strength sequence and geomagnetic information currently received by the terminal to be positioned;
the first processing unit is used for comparing the received signal strength sequence of the terminal to be positioned with the position fingerprints of a plurality of sampling points and estimating the Bluetooth position coordinates of the terminal to be positioned;
the second processing unit is used for carrying out normalization processing on geomagnetic information of the terminal to be positioned, comparing the normalized geomagnetic information of the terminal to be positioned with position fingerprints of a plurality of sampling points, and estimating geomagnetic position coordinates of the terminal to be positioned;
and the computing unit is used for respectively giving weights to the Bluetooth position coordinates and the geomagnetic position coordinates to perform decision layer fusion to obtain fused position coordinates.
9. A location fingerprint indoor positioning system integrating bluetooth and geomagnetism, the system comprising:
one or more memories for storing instructions; and
one or more processors to invoke and execute the instructions from the memory to perform the method of any of claims 1 to 7.
10. A computer-readable storage medium, the computer-readable storage medium comprising: program which, when executed by a processor, performs a method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311252349.XA CN117528406A (en) | 2023-09-26 | 2023-09-26 | Bluetooth and geomagnetic integrated position fingerprint indoor positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311252349.XA CN117528406A (en) | 2023-09-26 | 2023-09-26 | Bluetooth and geomagnetic integrated position fingerprint indoor positioning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117528406A true CN117528406A (en) | 2024-02-06 |
Family
ID=89746367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311252349.XA Pending CN117528406A (en) | 2023-09-26 | 2023-09-26 | Bluetooth and geomagnetic integrated position fingerprint indoor positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117528406A (en) |
-
2023
- 2023-09-26 CN CN202311252349.XA patent/CN117528406A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108107461B (en) | Indoor and outdoor positioning seamless switching method based on mobile terminal | |
| Alhmiedat et al. | An indoor fingerprinting localization approach for ZigBee wireless sensor networks | |
| KR101730269B1 (en) | Location estimation method for indoor device | |
| Elbakly et al. | A robust zero-calibration RF-based localization system for realistic environments | |
| US20180329022A1 (en) | Method, apparatus and system for locating an object using cluster-type magnetic field | |
| CN101923118B (en) | Building influence estimation apparatus and building influence estimation method | |
| CN108450060B (en) | Positioning method and device based on WI-FI access point | |
| CN106793080A (en) | It is a kind of based on hotspot can localization method offline | |
| TW201329486A (en) | Positioning method | |
| CN109313273A (en) | Record has the recording medium of indoor and outdoor determining program, indoor and outdoor to judge system, indoor and outdoor judgment method, mobile terminal and indoor and outdoor surroundings classification judging unit | |
| CN107005810A (en) | A kind of floor location method, the network equipment and mobile terminal | |
| CN112218306B (en) | Method and device for predicting coverage performance of base station and computer equipment | |
| CN104661303A (en) | Wireless LAN Device Positioning | |
| Song et al. | Implementation of android application for indoor positioning system with estimote BLE beacons | |
| Tsang et al. | A bluetooth-based indoor positioning system: a simple and rapid approach | |
| CN112526572B (en) | Network switching method and positioning system for indoor and outdoor seamless navigation | |
| CN108574927B (en) | Mobile terminal positioning method and device | |
| CN113344954A (en) | Boundary detection method and device, computer equipment, storage medium and sensor | |
| CN105866729B (en) | A kind of indoor orientation method and device based on user behavior characteristics | |
| CN112995893A (en) | Fingerprint positioning method, system, server and storage medium | |
| Guan et al. | Measuring uncertainty in signal fingerprinting with gaussian processes going deep | |
| Elbakly et al. | Cone: Zero-calibration accurate confidence estimation for indoor localization systems | |
| CN114758364B (en) | Industrial Internet of things scene fusion positioning method and system based on deep learning | |
| CN117528406A (en) | Bluetooth and geomagnetic integrated position fingerprint indoor positioning method | |
| EP3293483B1 (en) | Improved floor detection based on determined floor detection parameters |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |