TWI583984B - System and method for regional positioning - Google Patents

System and method for regional positioning Download PDF

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TWI583984B
TWI583984B TW103146028A TW103146028A TWI583984B TW I583984 B TWI583984 B TW I583984B TW 103146028 A TW103146028 A TW 103146028A TW 103146028 A TW103146028 A TW 103146028A TW I583984 B TWI583984 B TW I583984B
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blocks
server
reference point
block
intensity
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TW103146028A
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TW201624001A (en
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陳脩德
許孝婷
吳國維
劉鎮瑋
方凱田
曾柏軒
劉恒修
陳柏安
林雨沛
邱群杰
柯嘉惠
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臺灣高等法院檢察署
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Priority to CN201510038270.6A priority patent/CN104618863A/en
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區域性定位系統與方法 Regional positioning system and method

本發明主要提供一種區域性定位系統,特別是關於一種含有區域地圖資訊之定位系統。 The invention mainly provides a regional positioning system, in particular to a positioning system containing regional map information.

近年來,定位技術已逐漸普遍化於各種具有網路通訊能力的實體裝置與設備,例如電腦、交通載具及可攜式電子裝置等。藉由智慧手機的攜帶普及化,人們可以容易且準確地瞭解自身的地理位置,亦可因此能力而獲知周邊所提供的其他服務,如附近的餐廳、景點及交通資訊等。室內空間亦然,例如某些大型建築物內的空間極為寬廣且複雜(包括大型購物商場、醫院或是政府機構等),容易使入內之人員迷失方向。從管理層面而言,這種大型室內空間內的人員管理及追蹤也極為不便。為了因應這些需求,室內定位技術的發展也成為一項熱門的議題。 In recent years, positioning technologies have gradually become commonplace in various physical devices and devices with network communication capabilities, such as computers, transportation vehicles, and portable electronic devices. With the popularization of smart phones, people can easily and accurately understand their geographical location, and can also learn about other services provided by the surrounding, such as nearby restaurants, attractions and traffic information. The same is true for indoor spaces. For example, the space in some large buildings is extremely wide and complex (including large shopping malls, hospitals or government agencies), which makes it easy for people to get lost. From a management perspective, personnel management and tracking in such large indoor spaces is also extremely inconvenient. In response to these demands, the development of indoor positioning technology has also become a hot topic.

一般室內定位系統可採用無線電射頻系統來作為解決方案,這種無線射頻系統的種類可包含Wi-Fi、藍芽及/或無線射頻辨識(RFID)。比起室外定位較空曠的環境,室內定位更必須考慮障礙物的干擾,這是由於室內障礙物的分布密度更為密集。舉例而言,在充滿人潮的購物商場或醫院中,無線訊號可能 會因為人體的方向性導致訊號傳遞上的誤差阻礙。又例如隔間結構較多的醫院,室內隔間的牆壁容易造成無線訊號的反射而導致某處收訊不良。 A general indoor positioning system may employ a radio frequency system as a solution, and the type of the radio frequency system may include Wi-Fi, Bluetooth, and/or Radio Frequency Identification (RFID). Compared with the outdoor environment, the indoor positioning must consider the interference of obstacles, which is due to the dense distribution density of indoor obstacles. For example, in a crowded shopping mall or hospital, wireless signals may It will hinder the error in signal transmission due to the directionality of the human body. For example, in a hospital with a large compartment structure, the walls of the indoor compartment are likely to cause reflection of wireless signals, resulting in poor reception at some place.

本發明主要目的在於提供一種能夠解決室內定位的定位系統。為達到上述目的,本發明提供一種區域性定位系統,其架構有複數個無線存取點、一或多個通訊裝置及一或多個伺服器。該等複數無線存取點主要在於提供無線訊號涵蓋範圍並以此界定出本系統的定位範圍。所述通訊裝置為本系統所要定位的目標物,負責接收定位範圍內的無線訊號,並回應與無線訊號相應的位置資訊至伺服器。伺服器主要是設置以利用通訊裝置回應的位置資訊來估算通訊裝置的所在區域或位置。 The main object of the present invention is to provide a positioning system capable of solving indoor positioning. To achieve the above object, the present invention provides a regional positioning system having a plurality of wireless access points, one or more communication devices, and one or more servers. The plurality of wireless access points mainly provide a range of wireless signal coverage and thereby define the positioning range of the system. The communication device is a target object to be located in the system, and is responsible for receiving the wireless signal in the positioning range and responding to the location information corresponding to the wireless signal to the server. The server is mainly configured to estimate the area or location of the communication device by using the location information responded by the communication device.

所述伺服器主要執行下列動作:將與一地圖資訊(例如室內座標圖)有關的一虛擬地圖劃分為不重疊的複數個區塊,每一個區塊包含一或多個參考點,每一個參考點對應於與該參考點位置有關的一組無線訊號強度(視為該參考點的位置特徵);依據與所述通訊裝置有關的無線訊號之強度及與每一個參考點有關的各組無線訊號之強度,決定所述通訊裝置與每一個參考點有關的無線訊號之強度距離;依據在該等複數區塊中與部分參考點有關聯的無線訊號之強度距離,決定該區塊的相似度;及依據該等複數區塊的相似度決定所述通訊裝置位於該區塊的機率。 The server mainly performs the following actions: dividing a virtual map related to a map information (for example, an indoor coordinate map) into a plurality of non-overlapping blocks, each block including one or more reference points, each reference a point corresponding to a set of wireless signal strengths associated with the location of the reference point (serving as a location feature of the reference point); based on the strength of the wireless signal associated with the communication device and each set of wireless signals associated with each reference point The intensity determines the intensity distance of the wireless signal associated with each reference point of the communication device; determining the similarity of the block according to the intensity distance of the wireless signal associated with the partial reference point in the plurality of blocks; And determining, according to the similarity of the plurality of blocks, the probability that the communication device is located in the block.

10‧‧‧伺服器 10‧‧‧Server

12‧‧‧無線訊號發射裝置(AP) 12‧‧‧Wireless Signal Transmitter (AP)

14‧‧‧通訊裝置 14‧‧‧Communication device

20‧‧‧無線訊號發射裝置(AP) 20‧‧‧Wireless Signal Transmitter (AP)

22‧‧‧目標物 22‧‧‧ Targets

A、B、C、D‧‧‧隔間 A, B, C, D‧‧‧ compartment

30‧‧‧裝置端(離線階段) 30‧‧‧Device side (offline phase)

32‧‧‧伺服端(離線階段) 32‧‧‧Server (offline phase)

34‧‧‧裝置端(連線階段) 34‧‧‧Device end (connection phase)

36‧‧‧伺服端(連線階段) 36‧‧‧Server (connection phase)

40至48‧‧‧步驟 40 to 48 ‧ steps

51‧‧‧區塊 51‧‧‧ Block

52‧‧‧參考點(RP) 52‧‧‧ Reference Point (RP)

60至68‧‧‧步驟 60 to 68‧‧ steps

7‧‧‧定位範圍 7‧‧‧Targeting range

a、b、c、d‧‧‧區塊 a, b, c, d‧‧‧ blocks

a1至d4‧‧‧參考點(RP) A1 to d4‧‧‧ reference point (RP)

80至84‧‧‧步驟 80 to 84‧‧ steps

第一圖係本發明的一實施例之區域性定位系統示意圖。 The first figure is a schematic diagram of a regional positioning system in accordance with an embodiment of the present invention.

第二圖例示一平面區域,其顯示無線存取點的設置位置與目標物接收訊號的示意圖。 The second figure illustrates a planar area showing a set position of the wireless access point and a schematic diagram of the target receiving signal.

第三A圖係本發明區域性定位系統的離線階段運作示意圖。 The third A diagram is a schematic diagram of the offline phase operation of the regional positioning system of the present invention.

第三B圖係本發明區域性定位系統的連線階段運作示意圖。 The third B diagram is a schematic diagram of the operation of the connection phase of the regional positioning system of the present invention.

第四圖為本發明區域性定位系統於離線階段的工作流程圖。 The fourth figure is a flow chart of the operation of the regional positioning system of the present invention in the offline phase.

第五圖為根據第二圖區域所設定的區塊及參考點。 The fifth figure shows the blocks and reference points set according to the second map area.

第六圖為本發明區域性定位系統所執行的區域平均演算法步驟。 The sixth figure is the regional average algorithm step performed by the regional positioning system of the present invention.

第七圖為例示一定位範圍與目標物的示意圖。 The seventh figure is a schematic diagram illustrating a positioning range and a target.

第八圖為為本發明區域性定位系統所執行的等級配分演算法步驟。 The eighth figure shows the steps of the hierarchical allocation algorithm performed by the regional positioning system of the present invention.

以下將配合圖示詳細敘述例示實施例。然而,這些實施例可以包含於不同的形式中,且不應被解釋為用以限制本發明。這些實施例之提供使得本發明之揭露明確與充分,熟知此技術之人將能經由該些實施例瞭解本發明之內容。 The exemplary embodiments will be described in detail below with reference to the drawings. However, the embodiments may be embodied in different forms and should not be construed as limiting the invention. The disclosure of the present invention is intended to be illustrative of the invention, and those skilled in the art will be able to understand the invention.

在整份說明書與申請專利範圍中,用語具有在上下文中所提示或暗示、超過其明確說明之意義。同樣地,用語「在一實施例中」用於本文中時,並不一定要指相同的具體實施例,且用語「在另一實施例中」在用於本文中時,也不一定是指不同的具體實施例。舉例而言,本意是希望所主張之標的可包含例示具體實施例在整體上或部分上之組合。 Throughout the specification and claims, the terms have the meanings indicated or implied in the context, and are beyond the meaning of the explicit description. In the same way, the phrase "in an embodiment" is not necessarily referring to the same embodiment, and the term "in another embodiment" is not necessarily used in this context. Different specific embodiments. For example, it is intended that the subject matter of the invention may be construed as a combination of the specific embodiments.

一般而言,可至少部分從上下文中的使用來理解術語。舉例而言,在本文中所使用的像是「及」、「或」、或「及/或」等用語可包含各種意義,其係至少部分根據使用這類用語之上下文而定。一般而言,若使用「或」來關聯一列表,例如A、B或C,則指此處是作為包含性意義A、B與C,以及專用性意義A、B或C。此外,用語「一或多個」在本文中至少部分基於上下文而用以描述具有單數形式的任何特徵、結構或特性,或是複數形式的特徵、結構或特性之組合。同樣地,例如「一」、「該」或「所述」等用語也是至少部分根據上下文而被理解為傳達單數形式用法或傳達複數形式用法。此外,用語「基於」係理解為不一定是要傳達一組專門的因子,而是可存在未必加以描述說明的其他因子,其係至少部分根據上下文而定。 In general, terms may be understood at least in part from the use in context. For example, terms such as "and", "or", or "and/or" may be used in the context of the meaning of the context of the use of such terms. In general, if you use "or" to associate a list, such as A, B, or C, it means here as the inclusive meanings A, B, and C, and the specific meanings A, B, or C. In addition, the phrase "one or more" is used herein to mean any feature, structure, or characteristic of the singular form, or a combination of features, structures or characteristics of the plural. Similarly, the terms "a", "an" In addition, the term "based on" is understood to mean not necessarily a set of specific factors, but rather other factors that are not necessarily described, which are based, at least in part, on the context.

在以下本發明實施例中,演算係由一或多個伺服器所執行,所述伺服器具有網路通訊的能力,尤其是具有能夠透過基地台與通訊裝置通訊的能力以及執行定位演算的能力,且包含至少一儲存裝置(如記憶體)儲存演算法及一或多個處理器執行 所述演算法。伺服器係根據提供網路服務的一或多個基地台所回報之資訊,來計算與基地台相應的通訊裝置之位置。在本發明其他實施例中,所述之演算亦可由具計算能力之通訊裝置本身所執行,該通訊裝置本身具有與一或多個伺服器通訊的能力且包含一或多個處理器來執行演算法。所述通訊裝置可為穿戴式通訊裝置,例如具有通訊能力的智慧手機、智慧型手錶,或特定監控對象所穿戴的電子式腳鐐。 In the following embodiments of the present invention, the calculus is performed by one or more servers, and the server has the capability of network communication, in particular, the ability to communicate with the communication device through the base station and the ability to perform positioning calculations. And including at least one storage device (eg, memory) storage algorithm and one or more processor executions The algorithm. The server calculates the location of the communication device corresponding to the base station based on the information reported by one or more base stations providing the network service. In other embodiments of the invention, the calculations may also be performed by a computing device having computing capabilities, the communication device itself having the capability to communicate with one or more servers and including one or more processors to perform the calculations law. The communication device may be a wearable communication device, such as a smart phone with communication capability, a smart watch, or an electronic ankle worn by a specific monitoring object.

參閱第一圖所示,為本發明區域性定位系統的一實施例,所述系統伴隨執行一區域性定位方法,藉此獲得一定位結果。該系統包含一或多個伺服器10、一或多個無線訊號發射裝置12及一或多個通訊裝置14。所述伺服器10設置有一或多個處理器、一儲存裝置、一轉換模組及一估計模組。所述伺服器10具有資料傳輸的能力(例如透過網路連線),而處理器賦予伺服器10本身具有執行運算的能力。上述模組主要根據一量測資料分別執行特定的演算法。而量測資料的建立與各模組所執行的演算法將於後續段落詳細說明。 Referring to the first figure, an embodiment of the regional positioning system of the present invention is accompanied by performing a regional positioning method, thereby obtaining a positioning result. The system includes one or more servers 10, one or more wireless signal transmitting devices 12, and one or more communication devices 14. The server 10 is provided with one or more processors, a storage device, a conversion module and an estimation module. The server 10 has the ability to transfer data (e.g., via a network connection), and the processor gives the server 10 itself the ability to perform computations. The above modules mainly perform specific algorithms according to a measurement data. The establishment of the measurement data and the algorithm executed by each module will be described in detail in the subsequent paragraphs.

所述儲存裝置是設置於伺服器10內,以儲存伺服器10所收集(或搜集)的資料(如前述量測資料)以及將伺服器10所建立的資料儲存,供處理器存取。但該儲存裝置亦可設置於伺服器10之外,如雲端硬碟,以供伺服器存取。所述轉換模組係設置以將伺服器10所接收的資料或數據轉換或彙整為一特徵資料,供估計模組根據該特徵資料執行定位運算。所述估計模組 主要利用該特徵資料內所含有的區域特徵來計算目標物出現在某個區域的機率。 The storage device is disposed in the server 10 to store data collected (or collected) by the server 10 (such as the aforementioned measurement data) and store the data created by the server 10 for access by the processor. However, the storage device may also be disposed outside the server 10, such as a cloud hard disk, for access by the server. The conversion module is configured to convert or merge the data or data received by the server 10 into a feature data, and the estimation module performs a positioning operation according to the feature data. Estimation module The regional features contained in the feature data are mainly used to calculate the probability that the target appears in a certain region.

所述無線訊號發射裝置12係設置以提供一無線訊號涵蓋範圍。無線訊號的種類可包括Wi-Fi、藍芽及/或其他形式,較佳為Wi-Fi。無線訊號的強度與訊號傳播距離及地形障礙有關。參閱第二圖所示,為本發明實施例所例示的一個二維平面區域,其包含複數個隔間,如圖示之A至F。此區域中分散設置有四個無線訊號發射裝置20(無線存取點),其各別放置於隔間A、B、E及F內。針對該二維平面區域,無線訊號發射裝置20的設置位置及設置數量並非如圖中所限制,其可依據實際地理環境做調整。例如若單一隔間的面積夠大,則可考慮架設兩個以上的無線訊號發射裝置20。須確保的是,該區域中的任何一個位置必須至少被一個無線訊號發射裝置20的無線訊號所涵蓋,意即該區中欲納入定位範圍的任何一位置都是有收訊的狀態。在本發明的其他實施例中,依據地圖資訊的不同,例如醫院或辦公室,以及二維區域或三維空間的考量,無線訊號發射裝置20的配置需相應地做調整,例如無線訊號發射裝置20的設置數量可大於或小於四個。值得注意的是,第二圖所例示的地圖資訊為一封閉室內場所;然,本發明區域性定位系統及方法所採用的地圖資訊不限於此類,亦可包括半開放式的場所,例如室內空間與陽台或周邊庭院的組合。所述無線訊號發射裝置20具有與通訊裝置14連線的能力,但在本發明的其他實施例中,所述無線訊號發射裝置20 亦能夠與伺服器10及通訊裝置14連線(圖中未示)。 The wireless signal transmitting device 12 is configured to provide a wireless signal coverage range. The types of wireless signals may include Wi-Fi, Bluetooth, and/or other forms, preferably Wi-Fi. The strength of the wireless signal is related to the signal propagation distance and terrain obstacles. Referring to the second figure, a two-dimensional planar area illustrated in an embodiment of the present invention includes a plurality of compartments, such as A to F as shown. Four wireless signal transmitting devices 20 (wireless access points) are dispersedly disposed in this area, and are placed in compartments A, B, E, and F, respectively. For the two-dimensional planar area, the setting position and the number of settings of the wireless signal transmitting device 20 are not limited as shown in the figure, and can be adjusted according to the actual geographical environment. For example, if the area of a single compartment is large enough, it is conceivable to erect two or more wireless signal transmitting devices 20. It must be ensured that any position in the area must be covered by at least one wireless signal from the wireless signal transmitting device 20, that is, any position in the area to be included in the positioning range is in a state of receiving. In other embodiments of the present invention, depending on the map information, such as a hospital or an office, and a two-dimensional area or a three-dimensional space, the configuration of the wireless signal transmitting device 20 needs to be adjusted accordingly, for example, the wireless signal transmitting device 20 The number of settings can be greater or less than four. It should be noted that the map information illustrated in the second figure is a closed indoor place; however, the map information used in the regional positioning system and method of the present invention is not limited to such a type, and may also include a semi-open place, such as indoors. A combination of space and balcony or surrounding courtyard. The wireless signal transmitting device 20 has the capability of being connected to the communication device 14, but in other embodiments of the present invention, the wireless signal transmitting device 20 It can also be connected to the server 10 and the communication device 14 (not shown).

所述通訊裝置14具有與伺服器10通訊的能力,以及具有接收無線訊號的能力,例如手機、電腦、可攜式裝置及/或穿戴式裝置等,較佳的為穿戴式裝置。所述通訊裝置14的設置與欲定位目標物(如第二圖所示之22)之位置有關。例如,所述通訊裝置14可為一種具有通訊能力的電子腳鐐,其可依附於犯人身上,作為本系統所要定位監控的對象。所述通訊裝置14具有偵測所接收的無線訊號之強度(Received Signal Strength,以下簡稱RSS)之能力,例如可以dB表示,並能夠辨別此RSS所對應的無線訊號發射裝置12,例如以第二圖而言,通訊裝置14可週期性地擷取RSS,其包含RSSA、RSSB、RSSE及RSSF。伺服器10即根據通訊裝置14所搜集的RSS資訊執行目標物定位的運算。在本發明的另一些實施例中,某些通訊裝置14(例如智慧手機)可替代前述伺服器10所執行的工作,意即可透過配置有處理器、儲存裝置、轉換模組及估計模組的通訊裝置14來執行本發明之演算法。 The communication device 14 has the ability to communicate with the server 10 and has the ability to receive wireless signals, such as a cell phone, a computer, a portable device, and/or a wearable device, etc., preferably a wearable device. The setting of the communication device 14 is related to the position of the target to be positioned (such as 22 shown in the second figure). For example, the communication device 14 can be an electronic footrest with communication capability, which can be attached to the prisoner as an object to be monitored and monitored by the system. The communication device 14 has the capability of detecting the received signal strength (Resived Signal Strength, hereinafter referred to as RSS), for example, can be expressed in dB, and can identify the wireless signal transmitting device 12 corresponding to the RSS, for example, in the second In the figure, the communication device 14 can periodically retrieve the RSS, which includes RSS A , RSS B , RSS E, and RSS F. The server 10 performs an operation of positioning the object based on the RSS information collected by the communication device 14. In other embodiments of the present invention, some communication devices 14 (eg, smart phones) may replace the work performed by the server 10, and may be configured with a processor, a storage device, a conversion module, and an estimation module. The communication device 14 performs the algorithm of the present invention.

有別於傳統的室內定位只能估算目標物的所在位置,本發明之定位系統則是採用一種區域劃分的概念來採取目標物之定位。經區域劃分所關聯的量測數據,便透過一區域平均演算法及一等級配分演算法計算出目標物所在某一區域的機率。 Different from the traditional indoor positioning, only the location of the target can be estimated. The positioning system of the present invention adopts a concept of area division to take the position of the target. The measurement data associated with the regional division is used to calculate the probability of a certain region where the target is located through a regional average algorithm and a hierarchical matching algorithm.

參閱第三A圖及第三B圖所示,本發明之定位系統可分為兩階段的操作,即分為離線階段(offline phase)與連線階 段(online phase)。 Referring to the third A diagram and the third B diagram, the positioning system of the present invention can be divided into two phases of operation, that is, divided into an offline phase and a connection phase. Online phase.

如第三A圖,所述離線階段,在於建立一個與地圖資訊相關的特徵資料庫,意即此階段主要是設置與此地圖資訊相關區域內(二維平面區域、三維空間)的無線訊號涵蓋,並記錄該區域內每一個特定位置的RSS資料,作為每一個特定位置的特徵。如第三B圖,所述連線階段即進入整體系統實際操作的狀態,其根據系統在離線階段所建構的特徵資料以及目標物所回傳的即時資料經由所述演算法來獲得目標物的定位結果。以下將以第三A圖及第三B圖搭配其他流程圖進行說明。 As shown in FIG. 3A, the offline phase is to establish a feature database related to the map information, that is, the wireless signal coverage in the region related to the map information (two-dimensional plane region, three-dimensional space) is mainly included at this stage. And record the RSS data for each specific location in the area as a feature of each specific location. As shown in FIG. 3B, the connection phase enters a state of actual operation of the overall system, and the target data is obtained through the algorithm according to the feature data constructed by the system in the offline phase and the real-time data returned by the target. Position the results. The following description will be made with the third A diagram and the third B diagram in combination with other flowcharts.

在第三A圖所示之架構,可分為裝置端30及伺服端32。所述裝置端30為一個裝置,其具備有辨識RSS的能力以及與伺服端32通訊的能力,例如通訊裝置。在本發明的另一實施例中,裝置端30可為複數個裝置,例如可為能夠辨識RSS的量測裝置以及與伺服端32通訊的輸入裝置等。伺服端32本身可具有資料彙整的能力,以將自裝置端30所接收的資料整理成有規則的資料庫並儲存。關於建置資料庫的詳細步驟,將於後續段落說明。 The architecture shown in FIG. 3A can be divided into a device end 30 and a servo end 32. The device end 30 is a device that is provided with the ability to recognize RSS and communicate with the server 32, such as a communication device. In another embodiment of the present invention, the device end 30 can be a plurality of devices, such as a measuring device capable of recognizing RSS and an input device communicating with the servo terminal 32. The server 32 itself may have the capability of data aggregation to organize the data received from the device 30 into a regular database and store it. Detailed steps on building a database will be explained in the subsequent paragraphs.

參閱第四圖所示,為本系統在離線階段的操作步驟流程圖。首先,依據一地圖資訊決定欲定位之範圍(步驟40)。如第二圖為包含有A、B、C、D、E及F等複數隔間的室內空間。當然,所述地圖資訊亦可為半開放式的區域,或是立體的室內/外空間。與地圖資訊所關聯的定位範圍可虛擬化後儲存於伺服器 10的儲存裝置內,參與後續步驟的運算。 Referring to the fourth figure, the flow chart of the operation steps of the system in the offline phase is shown. First, the range to be located is determined based on a map information (step 40). The second figure is an indoor space containing a plurality of compartments A, B, C, D, E, and F. Of course, the map information may also be a semi-open area or a three-dimensional indoor/outdoor space. The targeting range associated with the map information can be virtualized and stored on the server. In the storage device of 10, the operation of the subsequent steps is involved.

接著,定義出關聯於所述定位範圍之無線訊號發射裝置12的位置(步驟42)。再次參閱第二圖,在本系統的離線階段,依據定位範圍的形狀以及包含的障礙物(例如牆壁)位置決定一或多個無線訊號發射裝置12的位置,確保適當的無線訊號傳遞與涵蓋範圍。在另一些實施例中,無線訊號發射裝置12的位置不一定要設置於欲定位範圍之內。本發明實施例的每一個無線訊號發射裝置12可視為該區域中的一無線存取點(Wireless Access Point,以下簡稱AP)。一旦在離現階段中決定了每一個AP的位置,進入連線階段後亦維持不變。 Next, the location of the wireless signal transmitting device 12 associated with the positioning range is defined (step 42). Referring again to the second figure, in the offline phase of the system, the position of one or more wireless signal transmitting devices 12 is determined according to the shape of the positioning range and the position of the obstacle (e.g., wall) included to ensure proper wireless signal transmission and coverage. . In other embodiments, the location of the wireless signal transmitting device 12 does not have to be set within the range to be located. Each of the wireless signal transmitting devices 12 in the embodiment of the present invention can be regarded as a wireless access point (AP) in the area. Once the location of each AP is determined in the phase of departure, it remains unchanged after entering the connection phase.

參閱第五圖所示,顯示與第二圖相同之區域。本發明之系統依據所述定位範圍決定複數個定位區塊51(步驟44)。意即,將定位範圍劃分為複數個區塊51。若定位範圍為區域,則劃分為複數個平面區塊。若定位範圍為立體空間,則劃分為複數個立體區塊(圖中未示)。該等複數定位區塊51的尺寸相等,且該等定位區塊51之間可為相鄰或不相臨,但不重疊。在另一些實施例中,所劃分的區塊51不一定需要有相同的尺寸。值得注意的是,該等定位區塊51尺寸的一致性,以及該等區塊51之間相鄰的程度可決定最終定位結果的準確性。 Referring to the fifth figure, the same area as the second figure is displayed. The system of the present invention determines a plurality of positioning blocks 51 in accordance with the positioning range (step 44). That is, the positioning range is divided into a plurality of blocks 51. If the positioning range is an area, it is divided into a plurality of plane blocks. If the positioning range is a three-dimensional space, it is divided into a plurality of three-dimensional blocks (not shown). The plurality of positioning blocks 51 are equal in size, and the positioning blocks 51 may be adjacent or not adjacent, but do not overlap. In other embodiments, the divided blocks 51 do not necessarily need to have the same size. It should be noted that the consistency of the size of the positioning blocks 51 and the degree of proximity between the blocks 51 may determine the accuracy of the final positioning result.

進一步地,依據已決定之區塊51決定一或多個參考點52(Reference Point,以下稱RP),所述RP 52為設置於各個區塊51的虛擬位置(步驟46)。而所述RP 52的排列方式可由區 塊51的尺寸所決定,如第五圖所示之實施例,每一個區塊51設有二乘二的RP 52,且兩點之間以等距的方式設置。每個RP 52應進一步包含與其所關聯的方位資訊,例如東、南、西、北。這是由於實際定位操作上,目標物所處的方位與定位的結果有關。 Further, one or more reference points 52 (hereinafter referred to as RPs) are determined according to the determined block 51, and the RP 52 is a virtual position set in each block 51 (step 46). And the arrangement of the RP 52 can be determined by the area The size of the block 51 is determined. As in the embodiment shown in the fifth figure, each block 51 is provided with a two by two RP 52, and the two points are arranged in an equidistant manner. Each RP 52 should further contain location information associated with it, such as East, South, West, and North. This is due to the fact that the orientation of the target is related to the result of the positioning in the actual positioning operation.

因此,為了便於後續說明,每一個RP 52可定義為如下所述, 其中k表示第k個區塊51, n k 表示第k個區塊51中的第 n k 個RP 52,o表示該PR的方位(東、南、西、北)。依據該等複數RP 52的位置獲得關於該等複數AP的RSS資訊(步驟48)。具體而言,在每一個RP 52的位置量測與該等複數AP有關的RSS,假設從第m台AP量測到h次的RSS其RSS序列定義為 接著將的平均RSS向量定義為, 其中為在收到第m台AP的平均RSS。 Therefore, for ease of explanation, each RP 52 can be defined as follows. Where k represents the kth block 51, n k represents the n kth RP 52 in the kth block 51, and o represents the orientation (east, south, west, north) of the PR. RSS information about the plurality of APs is obtained based on the locations of the plurality of RPs 52 (step 48). Specifically, the RSS related to the plurality of APs is measured at the position of each RP 52, and it is assumed that the RSS sequence of the RSS measured from the mth AP is defined as Then will The average RSS vector is defined as, among them For Received the average RSS of the mth AP.

接著將上述所對應的座標(即所述地圖資訊、區塊、AP、區塊及RP的位置可由XY座標定義)、每一個AP的 MAC位址(MAC address)及等資訊,以資料庫的形式存入所述伺服器的儲存裝置內,用以作為關於定位操作的特徵。若地圖資訊為立體空間,則可為其他三維座標來定義各個位置。資料庫的建置完成後,即可結束本系統的離線階段,並進入本系統的連現階段進行目標物的定位。本發明將例示一區域平均演算法(Area Average)以及一等級配分演算法(Level Assigning),兩者採取的是一種區域概念的估算,屬於一種區域估計演算法,其係基於前述所建置的資料庫來關聯於所述目標物的一定位結果。 Then the above Corresponding coordinates (ie, the location of the map information, block, AP, block, and RP can be defined by XY coordinates), the MAC address of each AP, and The information is stored in the storage device of the server in the form of a database for use as a feature relating to the positioning operation. If the map information is a three-dimensional space, each position can be defined for other three-dimensional coordinates. After the establishment of the database is completed, the offline phase of the system can be terminated, and the target phase can be located in the continuous phase of the system. The present invention will exemplify an Area Average algorithm and a Level Assigning algorithm, which are estimates of a region concept and belong to a region estimation algorithm based on the aforementioned The database is associated with a positioning result of the target.

區域平均演算法 Regional average algorithm

再次參閱第三B圖所示之架構,可分為裝置端34及伺服端36。所述裝置端34為定位目標物所攜帶的可攜式裝置(如智慧手機)或是穿戴式裝置(如智慧手錶),其主要具有與前述所設置的AP及伺服器通訊的能力。裝置端34可週期性地傳送與目標物位置有關的資訊至伺服端36。在該連現階段,伺服端36根據從裝置端34所接收的資訊(與目標物位置有關)經由執行伺服端36本身所配置的區域預估演算法來關聯於一定位結果。此處的伺服端32與第三A圖所述的伺服端32可為相同者,亦可為不同者,但可共同對儲存裝置中的資料進行存取,如可對離線階段所建置的資料庫作存取。伺服端34根據所接收的資訊(即自裝置端34接收與目標物位置有關的資訊)進行分析並經由區域估計演算法關聯於定位結果。關於建置資料庫的詳細步驟,將於後續段落說明。在本發明的另一些實施例中,所述區域演算法 亦可於伺服端之外的其他裝置所執行,或由多個裝置分段執行。 Referring again to the architecture shown in FIG. B, it can be divided into a device end 34 and a servo end 36. The device end 34 is a portable device (such as a smart phone) or a wearable device (such as a smart watch) carried by the positioning target, and mainly has the capability of communicating with the AP and the server set as described above. The device end 34 can periodically transmit information related to the position of the target to the servo end 36. In this phase of the connection, the server 36 correlates a positioning result based on the information received from the device terminal 34 (related to the target location) via the region estimation algorithm configured by the execution server 36 itself. The server 32 and the server 32 described in FIG. 3A may be the same or different, but may jointly access data in the storage device, such as may be implemented in the offline phase. The database is accessed. The servo end 34 analyzes based on the received information (i.e., receives information about the location of the object from the device end 34) and correlates the positioning result via a region estimation algorithm. Detailed steps on building a database will be explained in the subsequent paragraphs. In other embodiments of the invention, the region algorithm It can also be executed by other devices than the server, or by multiple device segments.

參閱第六圖所示,該演算法可由伺服端所執行。首先,伺服端依據已建置之資料庫以及從裝置端所接收的資料來定義與參考點有關的RSS距離(步驟60)。具體而言,裝置端34會週期性(例如每5秒一次)地接收到關聯於該等複數AP的一組RSS並傳送至伺服端36。令裝置端34在時間點t(對應於一座標位置)所收到的該組RSS為, 其中,為裝置在時刻t收到第m台AP的RSS。接著,將與資料庫中的做比對,以定義出目標物與參考點有關的RSS距離,例如可為歐基里德距離(Euclidean Distance), 的數值取決於 q t 的相似度,即目標物(裝置端)與參考點接近的程度。換句話說,的數越小,代表目標物有可能出現在相對應的參考點附近。令 D 為所有的集合,即。具體而言,上述運算係利用RSS距離的方式,將目標物在該時間點t的位置與所有參考點之間的關聯性加以呈現。 Referring to the sixth figure, the algorithm can be executed by the server. First, the server defines and reference points based on the established database and the data received from the device. The relevant RSS distance (step 60). Specifically, the device end 34 receives a set of RSSs associated with the plurality of APs periodically (e.g., every 5 seconds) and transmits them to the server 36. Letting the set of RSS received by the device end 34 at time t (corresponding to a target position) is among them, The RSS of the mth AP is received for the device at time t. Next, will With the database Do the comparison to define the target and reference point The relevant RSS distance, for example, can be the Euclidean Distance. Therefore Value depends on The degree of similarity to q t , that is, the extent to which the target (device side) is close to the reference point. in other words, The smaller the number, the representative object may appear at the corresponding reference point nearby. Let D be all Collection, ie . Specifically, the above calculation system uses the RSS distance to present the correlation between the position of the target at the time point t and all the reference points.

所述區域演算法,主要在於利用各個區塊(如第二圖的區塊A至F)中前TR名最小的RSS距離()的平均值去 計算各區域的相似程度與目標物位在該區塊的機率,最後找出估計區域與座標。為具體呈現該演算法,以下所述之步驟將配合第七圖進行說明。 The regional algorithm mainly uses the RSS distance with the smallest pre-T R name in each block (such as blocks A to F in the second figure). The average value is used to calculate the similarity of each region and the probability of the target level in the block, and finally find the estimated region and coordinates. To specifically present the algorithm, the steps described below will be described in conjunction with the seventh figure.

執行步驟62,針對定位範圍內各區域中前TR名最小的RSS距離取其平均值。舉例而言,第七圖例示一定位範圍7,其被劃分為四等分之區域a、b、c及d,每一個區域設置有四個參考點,其中a1至a4、b1至b4、c1至c4及d1至d4分別為各區域中的第一RP、第二RP、第三RP及第四RP。當目標物71位於如圖中所示之位置時,根據步驟60,該目標物71與每一個RP之間的關聯性可由RSS距離()決定。所述RSS距離的數值可由該目標物71與RP之間的位置關聯性及方位所決定。如表一例示該目標物71對應區塊a的各參考點所計算出的RSS距離,並依照RSS距離大小排名的結果。 Step 62 is performed to obtain an average value of the RSS distance with the smallest pre-T R name in each area in the positioning range. For example, the seventh figure illustrates a positioning range 7, which is divided into quarters a, b, c, and d, each of which is provided with four reference points, where a1 to a4, b1 to b4, c1 Up to c4 and d1 to d4 are the first RP, the second RP, the third RP, and the fourth RP in each region, respectively. When the target 71 is located at the position as shown in the figure, according to step 60, the correlation between the target 71 and each RP can be made by the RSS distance ( ) Decided. The value of the RSS distance can be determined by the positional correlation and orientation between the target 71 and the RP. The table exemplifies the RSS distance calculated by the target 71 corresponding to each reference point of the block a, and ranks the results according to the RSS distance size.

令TR等於3,即取RSS距離最小值的前三名,並取其平均值()。以表一而言,與區塊a相關之。以此類推,依序計算出與區塊b、c和d相關之。應注意,TR的數 值應小於每一個區塊中RP的數量(以第七圖來說,TR可為3、2或1)。 Let T R be equal to 3, that is, take the top three of the minimum RSS distance and take the average value ( ). In Table 1, related to block a . By analogy, the calculations related to blocks b, c and d are sequentially calculated. . It should be noted that the value of T R should be less than the number of RPs in each block (in the seventh figure, T R can be 3, 2 or 1).

進入步驟64,令D a 為所有區塊之的集合,以第七圖的範例來說,則區塊a至d之計算結果的集合。故,D a 中的最小值,其反映出所對應的區塊為目標物最有可能出現的區塊。接著,一區塊的相似度取決於與該區塊的值最接近的前TA名之區塊間的差值。具體而言,假設區塊a至d所計算出的值如表二所示,該欲求得相似度之區塊係拿來與數值排名為第(TA+1)高的區塊相減。例如,在令TA為3的條件下,區塊a、區塊b及區塊c的相似度則根據此規則計算,如下表三所示。 Proceeds to step 64, so that all blocks of D a The set, in the example of the seventh figure, is a set of calculation results for blocks a to d. Therefore, the smallest in D a A value that reflects the corresponding block as the most likely block of the target. Then, the similarity of a block depends on the block The difference between the blocks of the nearest T A name with the closest value. Specifically, it is assumed that blocks a to d are calculated. As shown in Table 2, the block with similarity is used to The block whose value is ranked as the highest (T A +1) is subtracted. For example, under the condition that T A is 3, the similarity of block a, block b and block c is calculated according to this rule, as shown in Table 3 below.

值得注意的是,TA的數值應小於區塊的數量,而表三並未顯示區塊d,是由於其計算後相似度為零。 It is worth noting that the value of T A should be less than the number of blocks, while Table 3 does not show block d because its similarity is zero after calculation.

進入步驟66,依據所述相似度決定目標物位在區塊中的機率。具體而言,該目標物出現於一區塊之機率等於該區塊的相似度除以前TA名相似度之和。例如,以表三而言,在TA維持不變的條件下,各區塊的機率可以此規則計算,其機率值如下 表四所示。 Proceeding to step 66, the probability of the target object level in the block is determined according to the similarity. Specifically, the object appears in a block is equal to the probability of similarity of the block before addition to the name of T A sum of similarities. For example, in Table 3, under the condition that T A remains unchanged, the probability of each block can be calculated by this rule, and the probability values are as shown in Table 4 below.

接著,依據一門檻值ρ AA 選出一機率集合。例如,選出機率大於及/或等於ρ AA 的區塊集合,而這些突破門檻值ρ AA 的區塊集合可被視為一定位結果。該定位結果可經由任何與該伺服端連線的顯示裝置所呈現,而呈現的方式可為區塊對機率數值的表格呈現,或是以虛擬地圖區塊的方式呈現。例如,以表四而言,ρ AA 可為30%,則目標物定位結果落在區塊a及區塊b。由此可知定位結果的多寡可與門檻值的設定有關。 Then, a probability set is selected according to a threshold ρ AA . For example, a set of blocks with a probability greater than and/or equal to ρ AA is selected, and the set of blocks that break through the threshold ρ AA can be considered as a result of the positioning. The positioning result may be presented by any display device connected to the server, and may be presented in the form of a block-to-probability value table or in the form of a virtual map block. For example, in Table 4, ρ AA can be 30%, and the target positioning result falls in block a and block b. It can be seen from this that the number of positioning results can be related to the setting of the threshold value.

上述定位結果係以區域性的方式顯示指出目標物在平面區域中的位置;當然上述步驟亦可用於立體空間中的目標物定位。換句話說,針對立體空間的定位,在資料庫的建置及運算上須採用三維座標系統來定義地圖資訊、AP位置及RP位置等等。該領域具有通常知識者應能夠明白上述演算法可因應其他座標系統而改變其操作方式,故相關內容不再此贅述。 The positioning result is displayed in a regional manner to indicate the position of the target in the planar area; of course, the above steps can also be used for positioning the target in the three-dimensional space. In other words, for the positioning of the three-dimensional space, the three-dimensional coordinate system must be used to define the map information, AP position and RP position in the construction and calculation of the database. Those with ordinary knowledge in the field should be able to understand that the above algorithms can change their operation mode in response to other coordinate systems, so the relevant content will not be described again.

為了進一步預估目標物在區塊中所處的位置點,本發明所提供的區域平均演算法可進一步包含目標物座標估計的步驟。該座標估計的結果係與前述演算法的定位結果有關,其詳細說明書如下。 In order to further estimate the location point at which the object is located in the block, the region average algorithm provided by the present invention may further comprise the step of estimating the object coordinates. The result of the coordinate estimation is related to the positioning result of the aforementioned algorithm, and the detailed description thereof is as follows.

延續步驟68,其中根據所述門檻值ρ AA 所選出的區塊 集合,在這些區塊中找出前TP小的RSS距離,其中TP為用來估計座標所考慮的RP數量,例如可為TP=3,而此處的RSS距離與步驟60中所定義的RSS距離()相同,而每一個值又關聯於一個RP。換句話說,目標物的座標估計首先須定決定與該目標物位置較接近的RP。當然,在本案的另一些實施中,目標物與各RP的接近程度亦可採其他方式來定義。接下來,利用依據TP所決定的一或多個RP來決定該目標物的估計座標。舉例而言,該目標物的估計座標可為三個(假設TP=3)與該目標物最接近的RP座標之平均。如此,賦予該系統可進一步地在定位結果中預估目標物可能靠近或位在的座標位置。 Continuing step 68, wherein the set of blocks selected according to the threshold value ρ AA is used to find an RSS distance with a small T P in the blocks, where T P is the number of RPs used to estimate the coordinates, for example, Is T P =3, and the RSS distance here is the RSS distance defined in step 60 ( ) the same, and each one The value is in turn associated with an RP. In other words, the coordinate estimate of the target must first determine the RP that is closer to the target location. Of course, in other implementations of the case, the proximity of the target to each RP can also be defined in other ways. Next, the estimated coordinates of the target are determined using one or more RPs determined according to T P . For example, the estimated coordinates of the target object may be a three (assuming T P = 3) average closest to the coordinates of the target RP. As such, the system can be further evaluated to estimate the coordinate position at which the target may be close to or at the location in the positioning result.

等級配分法 Grading method

參閱第八圖所示,該演算法可由第三B圖的伺服端36所執行。首先,伺服端36依據已建置之資料庫以及從裝置端34所接收的資料來定義目標物與所述RP有關的RSS距離(步驟80),即如同前述步驟60所定義的,故其詳細內容不再此贅述。以下步驟同樣假設以第七圖的範例作說明。 Referring to the eighth diagram, the algorithm can be executed by the servo terminal 36 of the third B-picture. First, the server 36 defines the RSS distance of the target related to the RP according to the established database and the data received from the device end 34 (step 80), as defined in step 60 above. Therefore, the details of this are not repeated here. The following steps are also assumed to be illustrated by the example of the seventh figure.

根據前L名最小的RSS距離定義一等級分布,所述等級分布由複數個等級所組成,其中每一個等級關聯於一個等級分數(步驟82)。具體而言,在步驟80所取得的RSS距離的集合中取前L小值。如下表五,為取前十名(L=10)最小的RSS距離,意即找出與當前目標物位置最相接近的十個RP,並依據其RSS距離大小排名。接著,在RSS距離排名中的最小RSS距 離(a4-1,18.1)與最大RSS距離(c2-1,25.6)的數值之間分割出複數個區間,每一個區間即定義為一個等級。 A level distribution is defined based on the smallest RSS distance of the previous L name, the level distribution consisting of a plurality of levels, each of which is associated with a rank score (step 82). Specifically, the first L small value is taken from the set of RSS distances obtained in step 80. As shown in Table 5 below, in order to take the top ten (L=10) minimum RSS distance, it means finding the ten RPs closest to the current target position and ranking according to their RSS distance. Then, the minimum RSS distance in the RSS distance ranking A plurality of intervals are divided between the values of (a4-1, 18.1) and the maximum RSS distance (c2-1, 25.6), and each interval is defined as one level.

舉例而言,可在18.1與25.6之間分割出十個區間等分,即每一等分為0.75=(25.6-18.1)/10,則第一區間為18.1至18.85,第二區間為18.5至19.6,第三區間為19.6至20.35,第四區間為20.35至21.1,第五區間為21.1至21.85,第六區間為21.85至22.6,第七區間為22.6至23.35,第八區間為23.35至24.1,第九區間為24.1至24.85,第十區間為24.85至25.6。將該等複數區間視為不同等級,每一個等級給予一等級分數,例如18.1至18.85給予等級分數為十分,18.85至19.6給予等級分數為九,以此類推可給予這些等級一至十的等級分數,分數越高代表所述RP與該目標物位置的關聯程度越高。因此,如表五所示,可將其中的每一個RP根據其RSS距離數值所對應的區間(等級)關聯於一個等級分數。 For example, ten interval divisions can be split between 18.1 and 25.6, that is, each equal division is 0.75=(25.6-18.1)/10, then the first interval is 18.1 to 18.85, and the second interval is 18.5 to 19.6, the third interval is 19.6 to 20.35, the fourth interval is 20.35 to 21.1, the fifth interval is 21.1 to 21.85, the sixth interval is 21.85 to 22.6, the seventh interval is 22.6 to 23.35, and the eighth interval is 23.35 to 24.1. The ninth interval is 24.1 to 24.85, and the tenth interval is 24.85 to 25.6. These plural intervals are regarded as different grades, and each grade is given a grade score, for example, 18.1 to 18.85 gives a grade score of ten, 18.85 to 19.6 gives a grade score of nine, and so on, which can give these ranks a grade score of one to ten. The higher the score, the higher the association of the RP with the target location. Therefore, as shown in Table 5, each of the RPs can be associated with a rank score according to the interval (level) corresponding to its RSS distance value.

上述實施例中,區間的分割數量是由L所決定。然而,在其他實施例中區間的分割數量亦可大於或小於L,此可視目標物與RP關聯性的解析程度來決定。 In the above embodiment, the number of divisions of the interval is determined by L. However, in other embodiments, the number of divisions of the interval may be greater or smaller than L, and the degree to which the visual object is related to the RP is determined.

定義出每一個已排名RP的等級分數後,依據該等已排名RP所對應的區塊及已排名RP的等級分數計算該目標物位於所述區塊的機率(步驟84)。具體而言,將已決定的等級分數依照RP所在的區塊作加總為 s k ( s k ,k為第k個區塊),視為該區塊與該目標物的相似度。以表五舉例來說,參考點a4-1、a2-1、a4-0及a2-2的等級分數加總為區塊a的相似度,參考點b3-1、b1-2及b1-3的等級分數加總為區塊b的相似度,以此類推。因此,根據表五的等級分數可獲得區塊a的相似度為三十四分、區塊b為二十二分、區塊c為四分、區塊d為兩分。則目標物位於第k個區塊的機率為 若以表五而言,各區塊的機率計算結果如下表六所示。 After the ranking scores of each ranked RP are defined, the probability that the target is located in the block is calculated according to the block corresponding to the ranked RP and the ranked score of the ranked RP (step 84). Specifically, the determined rank score is summed as s k ( s k , k is the kth block) according to the block in which the RP is located, and is regarded as the similarity between the block and the target. For example, in Table 5, the rank scores of the reference points a4-1, a2-1, a4-0, and a2-2 are summed to the similarity of the block a, and the reference points b3-1, b1-2, and b1-3 The rank score is added to the similarity of block b, and so on. Therefore, according to the rank score of Table 5, the similarity of the block a is 34 points, the block b is 22 points, the block c is quarters, and the block d is two points. Then the probability that the target is in the kth block In the case of Table 5, the probability calculation results for each block are shown in Table 6 below.

接著,依據一門檻值ρ LA 選出一機率集合。例如,選出機率大於及/或等於ρ LA 的區塊集合,而這些突破門檻值ρ LA 的區塊集合可被視為一定位結果。該定位結果可經由任何與該伺服端連線的顯示裝置所呈現,而呈現的方式可為區塊對機率數值的表格呈現,或是以虛擬地圖區塊的方式呈現。例如,ρ LA 可為30%,則以表六而言的目標物定位結果落在區塊a及區塊b。 Then, a probability set is selected according to a threshold ρ LA . For example, a set of blocks with a probability greater than and/or equal to ρ LA is selected, and the set of blocks that break through the threshold ρ LA can be considered as a result of the positioning. The positioning result may be presented by any display device connected to the server, and may be presented in the form of a block-to-probability value table or in the form of a virtual map block. For example, if ρ LA can be 30%, the target positioning result in Table 6 falls on block a and block b.

上述定位結果係以區域性的方式顯示指出目標物在平面區域中的位置;當然上述步驟亦可用於立體空間中的目標物定位。換句話說,針對立體空間的定位,在資料庫的建置及運算上須採用三維座標系統來定義地圖資訊、AP位置及RP位置等等。該領域具有通常知識者應能夠明白上述演算法可因應其他座標系統而改變其操作方式,故相關內容不再此贅述。 The positioning result is displayed in a regional manner to indicate the position of the target in the planar area; of course, the above steps can also be used for positioning the target in the three-dimensional space. In other words, for the positioning of the three-dimensional space, the three-dimensional coordinate system must be used to define the map information, AP position and RP position in the construction and calculation of the database. Those with ordinary knowledge in the field should be able to understand that the above algorithms can change their operation mode in response to other coordinate systems, so the relevant content will not be described again.

另外,與區域演算法相同,在等級配分演算法中可延續步驟84進行目標物的座標估計。根據所述門檻值ρ LA 所選出的區塊集合,在這些區塊中找出前TP小的RSS距離,並將其所對應的座標加以平均,獲得該目標物的估計座標。如此,賦予該系統可進一步地在定位結果中預估目標物可能靠近或位在的座標位置。 In addition, as in the regional algorithm, step 84 may be continued in the ranking algorithm to coordinate the coordinates of the target. According to the set of blocks selected by the threshold value ρ LA , the RSS distances of the small T P are found in the blocks, and the coordinates corresponding thereto are averaged to obtain the estimated coordinates of the target. As such, the system can be further evaluated to estimate the coordinate position at which the target may be close to or at the location in the positioning result.

由以上本發明之實施例顯示出,本發明所提供之區域性定位系統,主要是經由資料庫建立(包含地圖資訊、AP、RP的設置及與其相關的RSS特徵)、參考點RP與目標物的相似度分析及排名、相似度與機率的換算等技術特點,來將目標物的位 置與平面/空間區域產生關連性,進而產生該目標物的定位結果,並可再進一步利用相似度的平均概念來估計該目標物的座標。 The embodiment of the present invention shows that the regional positioning system provided by the present invention is mainly established through a database (including map information, AP, RP settings and related RSS features), reference point RP and target. Similarity analysis and technical characteristics such as ranking, similarity and probability conversion, to position the target The correlation with the plane/space region is generated, thereby generating the positioning result of the target, and the average concept of the similarity can be further utilized to estimate the coordinates of the target.

40至48‧‧‧步驟 40 to 48 ‧ steps

Claims (28)

一種區域性定位系統,係應用於偵測所接收的無線訊號之強度(RSS)的環境中,包含:一通訊裝置,接收複數個無線存取點發出之多個無線訊號,並判定該等無線訊號之強度,該等複數無線訊號決定該系統的定位範圍;及一伺服器,與所述通訊裝置連線,以接收所述通訊裝置傳來之該等無線訊號之強度,並執行:將該定位範圍劃分為不重疊的複數個區塊,每一個區塊包含一或多個參考點,每一個參考點對應於與該參考點位置有關的一組無線訊號之強度;依據與所述通訊裝置有關的無線訊號之強度及與每一個參考點有關的各組無線訊號之強度,決定所述通訊裝置與每一個參考點有關的無線訊號之強度距離;依據在該等複數區塊中與部分參考點有關聯的無線訊號之強度距離,決定該區塊的相似度;及依據該等複數區塊的相似度決定所述通訊裝置位於該區塊的機率;其中,該等複數區塊的尺寸為彼此相同以及彼此不相同之其中一者,當該定位範圍為一區域則該等複數區塊劃分為複數個平面區塊,當定位範圍為立體空間則該等複數區塊 劃分為複數個立體區塊;以及,每一個區塊包含的一或多個參考點係依據定位精確度的要求而以彼此等距的方式設置,且每一個參考點進一步包括與其相關聯的方位資訊;以及,該伺服器於離線階段時,事先紀錄在該等複數區域內每一個參考點的每一個特定位置的特徵,作為與該參考點有關的該組無線訊號之強度,並回傳至該伺服器建立一個與地圖資訊相關的特徵資料庫;以及,依據在該等複數區塊中與部分參考點有關聯的該無線訊號之強度距離,並對其分別進行一區域平均演算法以及一等級配分演算法,而得以決定該區塊的該相似度。 A regional positioning system is used in an environment for detecting the strength of a received wireless signal (RSS), comprising: a communication device, receiving a plurality of wireless signals sent by a plurality of wireless access points, and determining the wireless signals The strength of the signal, the plurality of wireless signals determine a positioning range of the system; and a server connected to the communication device to receive the strength of the wireless signals transmitted by the communication device, and execute: The positioning range is divided into a plurality of blocks that do not overlap, each block includes one or more reference points, each reference point corresponding to the intensity of a set of wireless signals related to the position of the reference point; The strength of the relevant wireless signal and the strength of each set of wireless signals associated with each reference point determine the intensity distance of the wireless signal associated with each reference point of the communication device; based on the plurality of blocks in the plurality of blocks Pointing the intensity distance of the associated wireless signal to determine the similarity of the block; and determining the communication device is located in the area according to the similarity of the plurality of blocks The probability that the plurality of blocks are the same as each other and different from each other. When the positioning range is an area, the plurality of blocks are divided into a plurality of plane blocks, and the positioning range is three-dimensional. Space, the plural blocks Divided into a plurality of stereoscopic blocks; and each of the reference points included in each of the blocks is arranged equidistant from each other according to the requirements of the positioning accuracy, and each of the reference points further includes an orientation associated therewith. Information; and, when the server is in the offline phase, records in advance the characteristics of each specific location of each reference point in the plurality of regions as the strength of the set of wireless signals associated with the reference point, and transmits back to The server establishes a feature database related to the map information; and, according to the intensity distance of the wireless signal associated with the partial reference points in the plurality of blocks, and performs a regional average algorithm and a The ranking algorithm is used to determine the similarity of the block. 如申請專利範圍第1項所述之區域性定位系統,其中被劃分的該等複數區塊的尺寸相同。 The regional positioning system of claim 1, wherein the plurality of divided blocks are the same size. 如申請專利範圍第1項所述之區域性定位系統,其中該等複數參考點以彼此等距的方式定義於每一個區塊中。 The regional positioning system of claim 1, wherein the plurality of reference points are defined in each block in an equidistant manner from each other. 如申請專利範圍第1項所述之區域性定位系統,其中所述伺服器的執行尚包含將關聯於每一個參考點的該組無線訊號之強度平均為一無線訊號之強度平均,其與每一個參考點有關。 The regional positioning system of claim 1, wherein the execution of the server further comprises averaging the intensity of the set of wireless signals associated with each reference point to an intensity average of a wireless signal, and each A reference point is relevant. 如申請專利範圍第4項所述之區域性定位系統,其中所述通訊裝置與每一個參考點有關的無線訊號之強度距離,是由與所述通訊裝置有關的無線訊號之強度及與每一個參考點有關的無線 訊號之強度平均所決定。 The regional positioning system of claim 4, wherein the strength distance of the wireless signal associated with each reference point of the communication device is determined by the strength of the wireless signal associated with the communication device and each Reference point related to wireless The intensity of the signal is determined on average. 如申請專利範圍第1及5項中之任一項所述之區域性定位系統,所述依據在該等複數區塊中與部分參考點有關聯的無線訊號之強度距離,其中與該等部分參考點有關的該等無線訊號之強度距離是按數值大小之一排序而決定,所述排序之總量小於該區塊中參考點的數量。 The regional positioning system of any one of claims 1 to 5, wherein the intensity distance of the wireless signal associated with a portion of the reference points in the plurality of blocks, wherein the portion is The intensity distances of the wireless signals associated with the reference point are determined by sorting by one of the numerical values, and the total amount of the sorting is less than the number of reference points in the block. 如申請專利範圍第6項所述之區域性定位系統,其中所述伺服器平均每一個區塊中與該等部分參考點有關的無線訊號之強度距離,以決定與每一個區塊有關的平均無線訊號之強度距離。 The regional positioning system of claim 6, wherein the server averages the intensity distance of the wireless signals associated with the partial reference points in each of the blocks to determine an average associated with each of the blocks. The strength distance of the wireless signal. 如申請專利範圍第7項所述之區域性定位系統,其中所述伺服器依據與該等複數區塊有關的該等複數平均無線訊號之強度距離之間的差異,決定每一個區塊的相似度。 The regional positioning system of claim 7, wherein the server determines the similarity of each block according to a difference between the intensity distances of the plurality of average wireless signals associated with the plurality of blocks. degree. 如申請專利範圍第8項所述之區域性定位系統,其中所述伺服器依據該等複數區塊有關的相似度的比例關係,決定所述通訊裝置位於每一個區塊的機率。 The regional positioning system of claim 8, wherein the server determines a probability that the communication device is located in each of the blocks according to a proportional relationship of similarities of the plurality of blocks. 如申請專利範圍第1及5項中之任一項所述之區域性定位系統,所述伺服器依據在該等複數區塊中與部分參考點有關聯的無線訊號之強度距離,其中與該等部分參考點有關的該等無線訊號之強度是按數值大小之一排序而決定,所述排序之總量小 於該等複數區塊中的參考點數量。 The regional positioning system according to any one of claims 1 to 5, wherein the server is based on an intensity distance of a wireless signal associated with a portion of the reference points in the plurality of blocks, wherein The intensity of the wireless signals related to the partial reference points is determined by sorting by one of the numerical values, and the total amount of the sorting is small. The number of reference points in the complex blocks. 如申請專利範圍第10項所述之區域性定位系統,其中所述伺服器依據一等級分布分別指定該等部分參考點中的每一個參考點一等級分數,該等級分布是由與該等部分參考點有關的一最大值及一最小值所界定。 The regional positioning system of claim 10, wherein the server specifies a reference score for each of the partial reference points according to a level distribution, the level distribution is determined by the part The reference point is defined by a maximum value and a minimum value. 如申請專利範圍第11項所述之區域性定位系統,其中所述伺服器將與該等部分參考點有關的等級分數按各區塊作加總,並依據每一個區塊所加總的等級分數與該等部分區塊整體所加總的等級分數,決定所述通訊裝置位於每一個區塊的機率。 The regional positioning system of claim 11, wherein the server aggregates the rank scores related to the partial reference points by each block, and adds the total rank according to each block. The score and the total rank score of the partial blocks as a whole determine the probability that the communication device is located in each block. 如申請專利範圍第1項所述之區域性定位系統,其中所述伺服器依據一門檻值決定與所述通訊裝置最相近的區塊,並利用該門檻值所決定的區塊中的參考點產生關連於所述通訊裝置的一估計位置。 The regional positioning system of claim 1, wherein the server determines a block closest to the communication device according to a threshold value, and uses a reference point in the block determined by the threshold value. An estimated location is generated that is associated with the communication device. 如申請專利範圍第1項所述之區域性定位系統,其中所述該等複數無線存取點,依據一地圖資訊分散設置。 The regional positioning system of claim 1, wherein the plurality of wireless access points are distributed according to a map information. 一種區域性定位方法,係應用於偵測所接收的無線訊號之強度(RSS)的環境中,其定位範圍由複數個無線訊號存取點所發出的複數個無線訊號的涵蓋範圍所決定,包含:經由一伺服器,將該定位範圍劃分為不重疊的複數個區塊, 每一個區塊包含一或多個參考點,每一個參考點對應於與該參考點位置有關的一組無線訊號之強度;經由一伺服器,依據與所述通訊裝置有關的無線訊號之強度及與每一個參考點有關的各組無線訊號之強度,決定所述通訊裝置與每一個參考點有關的無線訊號之強度距離;經由一伺服器,依據與所述通訊裝置有關的無線訊號之強度及與每一個參考點有關的各組無線訊號之強度,決定所述通訊裝置與每一個參考點有關的無線訊號之強度距離;經由一伺服器,依據在該等複數區塊中與部分參考點有關聯的無線訊號之強度距離,決定該區塊的相似度;及經由一伺服器,依據該等複數區塊的相似度決定所述通訊裝置位於該區塊的機率;其中,該等複數區塊的尺寸為彼此相同以及彼此不相同之其中一者,當該定位範圍為一區域則該等複數區塊劃分為複數個平面區塊,當定位範圍為立體空間則該等複數區塊劃分為複數個立體區塊;以及,每一個區塊包含的一或多個參考點係依據定位精確度的要求而以彼此等距的方式設置,且每一個參考點進一步包括與其相關聯的方位資訊;以及,該伺服器於離線階段時,事先紀錄在該等複數區域內每一個參考點的每一個特定位置的特徵,作為與該參考點有關的該組無線訊號之強度,並回傳至該伺服器建立一個與地圖資訊相關的特徵資料庫;以及,依據在該等複數區塊中與部分參考點有關聯的該無線訊號之強度距離,並對其分 別進行一區域平均演算法以及一等級配分演算法,而得以決定該區塊的該相似度。 A regional positioning method is used in an environment for detecting the strength of a received wireless signal (RSS), the positioning range of which is determined by the coverage of a plurality of wireless signals issued by a plurality of wireless signal access points, including : dividing the positioning range into a plurality of blocks that do not overlap via a server, Each block includes one or more reference points, each reference point corresponding to the intensity of a set of wireless signals associated with the location of the reference point; via a server, based on the strength of the wireless signal associated with the communication device and The intensity of each set of wireless signals associated with each reference point determines the intensity distance of the wireless signal associated with each reference point of the communication device; via a server, based on the strength of the wireless signal associated with the communication device and The intensity of each set of wireless signals associated with each reference point determines the intensity distance of the wireless signal associated with each reference point of the communication device; via a server, depending on the reference point in the plurality of blocks The strength distance of the associated wireless signal determines the similarity of the block; and determines, by a server, the probability that the communication device is located in the block according to the similarity of the plurality of blocks; wherein the plurality of blocks The size is the same as each other and different from each other. When the positioning range is an area, the plurality of blocks are divided into a plurality of planes. Block, when the positioning range is a stereoscopic space, the plurality of blocks are divided into a plurality of solid blocks; and each of the blocks includes one or more reference points in an equidistant manner according to the requirements of the positioning accuracy Setting, and each reference point further includes orientation information associated therewith; and, when the server is in an offline phase, pre-recording features of each specific location of each reference point in the plurality of regions as a reference thereto Pointing the intensity of the set of wireless signals and transmitting back to the server to establish a feature database associated with the map information; and, based on the strength of the wireless signal associated with the portion of the reference points in the plurality of blocks Distance and division Instead of performing a regional average algorithm and a level-matching algorithm, the similarity of the block can be determined. 如申請專利範圍第15項所述之區域性定位方法,其中被劃分的該等複數區塊的尺寸相同。 The regional positioning method of claim 15, wherein the plurality of divided blocks are the same size. 如申請專利範圍第15項所述之區域性定位方法,其中該等複數參考點以彼此等距的方式定義於每一個區塊中。 The regional positioning method of claim 15, wherein the plurality of reference points are defined in each block in an equidistant manner from each other. 如申請專利範圍第15項所述之區域性定位方法,包含經由一伺服器,將關聯於每一個參考點的該組無線訊號之強度平均為一無線訊號之強度平均,其與每一個參考點有關。 The regional positioning method according to claim 15 includes, by means of a server, averaging the intensity of the set of wireless signals associated with each reference point to an intensity average of a wireless signal, and each reference point related. 如申請專利範圍第15項所述之區域性定位方法,其中所述通訊裝置與每一個參考點有關的無線訊號之強度距離,是由與所述通訊裝置有關的無線訊號之強度及與每一個參考點有關的無線訊號之強度平均所決定。 The regional positioning method of claim 15, wherein the strength distance of the wireless signal associated with each reference point of the communication device is determined by the strength of the wireless signal associated with the communication device and each The intensity of the wireless signal associated with the reference point is determined on average. 如申請專利範圍第15及19項中之任一項所述之區域性定位方法,所述依據在該等複數區塊中與部分參考點有關聯的無線訊號之強度距離,其中與該等部分參考點有關的該等無線訊號之強度距離是按數值大小之一排序而決定,所述排序之總量小於該區塊中參考點的數量。 The regional positioning method according to any one of claims 15 and 19, wherein the intensity distance of the wireless signal associated with the partial reference point in the plurality of blocks, wherein the portion is The intensity distances of the wireless signals associated with the reference point are determined by sorting by one of the numerical values, and the total amount of the sorting is less than the number of reference points in the block. 如申請專利範圍第20項所述之區域性定位方法,包含經由一伺 服器來平均每一個區塊中與該等部分參考點有關的無線訊號之強度距離,以決定與每一個區塊有關的平均無線訊號之強度距離。 The regional positioning method described in claim 20 of the patent application, including via a servo The server averages the intensity distances of the wireless signals associated with the partial reference points in each of the blocks to determine the intensity distance of the average wireless signal associated with each of the blocks. 如申請專利範圍第21項所述之區域性定位方法,包含經由一伺服器依據與該等複數區塊有關的該等複數平均無線訊號之強度距離之間的差異,決定每一個區塊的相似度。 The regional positioning method of claim 21, comprising determining, by a server, a similarity of each block according to a difference between strength distances of the plurality of average wireless signals associated with the plurality of blocks degree. 如申請專利範圍第22項所述之區域性定位方法,包含經由一伺服器依據該等複數區塊有關的相似度的比例關係,決定所述通訊裝置位於每一個區塊的機率。 The regional positioning method of claim 22 includes determining, by a server, a probability of the communication device being located in each of the blocks according to a proportional relationship of similarities of the plurality of blocks. 如申請專利範圍第15及19項中之任一項所述之區域性定位方法,包含經由一伺服器依據在該等複數區塊中與部分參考點有關聯的無線訊號之強度距離,其中與該等部分參考點有關的該等無線訊號之強度距離是按數值大小之一排序而決定,所述排序之總量小於該等複數區塊中的參考點數量。 The regional positioning method according to any one of claims 15 and 19, wherein the intensity distance of the wireless signal associated with the partial reference point in the plurality of blocks is determined via a server, wherein The intensity distances of the wireless signals associated with the partial reference points are determined by sorting by one of the numerical values, and the total number of the sortings is smaller than the number of reference points in the plurality of complex blocks. 如申請專利範圍第24項所述之區域性定位方法,包含經由一伺服器依據一等級分布分別指定該等部分參考點中的每一個參考點一等級分數,該等級分布是由與該等部分參考點有關的一最大值及一最小值所界定。 The regional positioning method according to claim 24, wherein each of the reference points is assigned a level score according to a level distribution according to a level distribution, and the level distribution is determined by the part. The reference point is defined by a maximum value and a minimum value. 如申請專利範圍第25項所述之區域性定位方法,包含經由一伺 服器將與該等部分參考點有關的等級分數按各區塊作加總,並依據每一個區塊所加總的等級分數與該等部分區塊整體所加總的等級分數,決定所述通訊裝置位於每一個區塊的機率。 The regional positioning method described in claim 25, including via a servo The server adds the rank scores related to the partial reference points to each block, and determines the total grade score added to each of the blocks according to the total grade score added to each of the blocks. The probability that the communication device is located in each block. 如申請專利範圍第26項所述之區域性定位方法,包含經由一伺服器依據一門檻值決定與所述通訊裝置最相近的區塊,並利用該門檻值所決定的區塊中的參考點產生關連於所述通訊裝置的一估計位置。 The regional positioning method of claim 26, comprising determining, by a server, a block closest to the communication device according to a threshold value, and using a reference point in the block determined by the threshold value. An estimated location is generated that is associated with the communication device. 如申請專利範圍第27項所述之區域性定位方法,其中該等複數無線存取點,依據一地圖資訊分散設置。 The regional positioning method of claim 27, wherein the plurality of wireless access points are dispersed according to a map information.
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