TWI637189B - Indoor area positioning system and method thereof - Google Patents

Abstract

The invention provides an indoor area positioning method, which comprises the following steps: in a connection phase, a mobile terminal device receives a plurality of received signal strengths from a plurality of base stations, and transmits the complex received signal strengths and the MAC addresses of the plurality of base stations together a region estimation system to a server; an area estimation system for inputting an offline stage database to a server in a connection phase; and calculating a probability value of a plurality of appropriate indoor regions in the plurality of indoor regions by the region estimation system The regional estimation system includes a regional average system and a hierarchical allocation system. The regional average system includes a regional search algorithm and a regional average algorithm, and the hierarchical allocation system includes a regional search algorithm and a hierarchical matching algorithm. The invention also proposes an indoor area positioning method.

Description

Indoor regional positioning system and method thereof

The invention relates to a regional positioning system and a method thereof, in particular to an indoor regional positioning system based on map information and signal intensity fingerprint and a method thereof.

In recent years, with the continuous advancement of technology, more and more applications require indoor positioning services to meet the user's experience needs. The application of Location-based Service (LBS) is to hope that the location of the user can be determined through the cooperation of the mobile terminal device and the network, and the information that the user may need is actively provided.

In general, location-based services are not new technologies, but the problem that this technology cannot break through is that it can only locate a person or mobile terminal device for a range, and cannot provide accurate positioning. Therefore, indoor positioning has become the current development trend.

In the past, the application of Global Positioning System (GPS) positioning technology has become quite common, but its application cannot be extended to indoor areas. The main problem is that indoor positioning is highly susceptible to interference from buildings or walls. Universally applied GPS positioning cannot be performed effectively.

In the current development of indoor positioning sensing technology, common technologies include Wi-Fi and Bluetooth wireless radio frequency technology, as well as the Earth's magnetic field, visible light, sound waves, and inertial positioning. The earlier technologies include Zigbee, infrared and wireless RF. Identification (Radio Frequency Wireless technologies such as IDentification, RFID).

In summary, because GPS cannot meet the needs of indoor positioning services, and in traditional indoor positioning systems, unreasonable positioning results are often generated, for example, in walls or in other obstacles.

Based on the above-mentioned shortcomings of the prior art, it is necessary to provide an effective positioning result that can be improved to increase the accuracy of indoor positioning. Under this concept, how to design a better indoor area positioning system and its method to achieve the best indoor positioning accuracy is a problem to be solved.

In view of the above disadvantages of the prior art, the indoor area positioning method of the present invention includes the following steps: in an online phase, a mobile terminal device receives a plurality of received signal strengths from a plurality of base stations, and Transmitting the complex received signal strength together with the MAC address of the complex base station to a region estimation system of a server; inputting an offline phase database to the region of the server in the connection phase An estimation system; and calculating, by the region estimation system, a probability value of a plurality of suitable indoor regions in the plurality of indoor regions, wherein the region estimation system includes an Area Average System and a Level Assignment System The region average system includes an Area Searching Algorithm and an Area Average Algorithm, and the level matching system includes the region search algorithm and a Level Assignment Algorithm.

Furthermore, the indoor area positioning method of the present invention further includes the following steps: in the offline phase, the mobile terminal device records a plurality of reference point positions and an orientation of the mobile terminal device, And receiving the complex received signal strength from the plurality of base stations, and transmitting the complex reference point location, the location of the mobile terminal device, the complex received signal strength, and the MAC address of the complex base station to the offline phase The server calculates an average value and a standard deviation of the complex received signal strength, and simultaneously sets the complex reference point position, the orientation of the mobile terminal device, the complex received signal strength, and the MAC address of the complex base station and the complex number The average and standard deviation of the received signal strength are stored in the database.

Preferably, the area search algorithm selects the plurality of suitable indoor areas from the plurality of indoor areas.

Preferably, the regional average algorithm comprises the steps of: calculating a received signal strength distance (RD); averaging the complex received signal strength distance in each appropriate indoor region; according to the average of the complex number Receiving a signal strength distance, sorting the appropriate indoor area of the complex number; and calculating a probability value of the appropriate appropriate indoor area as an estimation result.

Preferably, the hierarchical allocation algorithm comprises the steps of: calculating a complex received signal intensity distance; filtering out the complex reference point out of range; selecting the most likely multiple reference points from the complex reference point; calculating the similarity of each indoor region Degree; and calculating the probability value of the appropriate indoor area of the complex number as an estimation result.

Preferably, in the step of calculating the complex received signal intensity distance, the complex received signal intensity distance is calculated by using the Euclidean received signal intensity distance calculation method and the hybrid received signal intensity distance calculation method.

Furthermore, the present invention also provides an indoor area positioning system, comprising: a server in a connection phase, including an area estimation system, and receiving a plurality of received signal strengths and plurals a base station MAC address; and an offline stage database input to the area estimation system of the server in the connection phase, wherein the area estimation system includes a regional average system and a level distribution system, and calculates The probability value of a plurality of appropriate indoor areas in a plurality of indoor areas.

Preferably, the indoor area positioning system of the present invention further comprises: a mobile terminal device, receiving the complex received signal strength from the plurality of base stations and the MAC address of the plurality of base stations.

10‧‧‧Mobile terminal devices

12‧‧‧ indoor area

12a, 12b, 12c‧‧‧ areas

14‧‧‧ Reference point

16‧‧‧Wireless base station

20‧‧‧Offline phase

202‧‧‧Mobile terminal devices

204‧‧‧Server

206‧‧‧Database

22‧‧‧ Connection phase

222‧‧‧Mobile terminal devices

224‧‧‧Server

226‧‧‧Regional Estimation System

S31, S33, S35‧‧‧ steps

S41, S43, S45, S47‧‧‧ steps

S51, S53, S55, S57‧‧ steps

S61, S63, S65, S67, S69‧‧ steps

1 is a schematic diagram of a basic architecture of a fingerprint type indoor area positioning in a prior art; FIG. 2 is a schematic diagram of an indoor area positioning system according to an embodiment of the present invention; FIG. 3 is a flowchart of an indoor area positioning method according to an embodiment of the present invention; FIG. 4 is a flowchart of an offline phase of an indoor area positioning method according to an embodiment of the present invention; FIG. 5 is a flowchart of an area average algorithm of an indoor area positioning method according to an embodiment of the present invention; and FIG. A flowchart of a grading algorithm for the indoor area location method of the embodiment.

The embodiments of the present invention are described by way of specific examples, and those skilled in the art can readily appreciate the other advantages and advantages of the present invention. The invention may be embodied or applied in various other specific embodiments, and various modifications and changes may be made without departing from the spirit and scope of the invention.

In addition, the structures, the proportions, the sizes, and the like in the drawings are only used to clarify the contents disclosed in the specification for the understanding and reading of those skilled in the art, and are not intended to limit the implementation of the present invention. The conditions are not technically meaningful, and any modification of the structure, change of the proportional relationship or adjustment of the size should be disclosed in the present invention without affecting the effects and achievable effects of the present invention. The technical content can be covered.

The invention provides an indoor area positioning system architecture based on map information and signal strength fingerprint. As shown in the basic structure of the signal strength fingerprint of FIG. 1, a mobile terminal device 10 is in an indoor space 12 environment space. As shown in FIG. 1, the indoor area 12 includes three areas, namely, an area 12a, an area 12b, and an area 12c. . In addition, there are a plurality of reference points 14 in the indoor space of the indoor area 12, and a wireless base station 16 is disposed in each area. The invention adopts a fingerprint indoor area positioning method for indoor area positioning. Therefore, the present invention proposes a preferred indoor area positioning system and method thereof based on map information and signal strength fingerprint.

The mobile terminal device 10 may be a handheld device, a mobile terminal, a mobile phone, a smart phone, a tablet computer, a laptop computer, a notebook computer, etc., but is not limited to the present invention.

In other words, in accordance with a preferred embodiment of the present invention, as shown in FIG. 2, the indoor area location system of the present invention includes a server stage 224 of a connection phase 22, including an area estimation system, and receiving a plurality of received signal strengths (Received Signal strength) and a MAC address of the plurality of base stations; and an offline stage 20 database 206, the region estimation system 226 of the server 224 input to the connection phase 22, wherein the region estimation system includes an area Average system (not shown in the figure) and a graded system (not shown in the figure), and calculated in multiple indoor areas The probability value of a plurality of appropriate indoor areas in the domain. Wherein, in the offline phase 20, the database 206 is disposed in the server 204.

According to an embodiment of the present invention, the indoor area positioning system of the present invention further includes a mobile terminal device 202, 222, and the mobile terminal device 10 receives the complex received signal strength from the plurality of base stations 16 and the MAC bit of the complex base station. site.

In order to improve the accuracy of the indoor area positioning, the area average system (Area Average System) may include an Area Searching Algorithm and an Area Average Algorithm, and the hierarchical allocation proposed by the present invention. The Level Assignment System can include the area search algorithm and a Level Assignment Algorithm.

In short, the regional averaging system proposed by the present invention mainly focuses on the similarity estimation in each region, and the hierarchical grading system proposed by the present invention mainly focuses on the most similar reference points in the entire indoor regional environmental space. The regional average system and the hierarchical allocation system can calculate the probability value of the user/user in each area. Therefore, the area where the user is located can be accurately estimated, and the position of the user can also be performed after the estimated area. Estimate.

Based on the concept of map information and signal strength fingerprint, as shown in FIG. 3, FIG. 3 is a flowchart of an indoor area positioning method according to an embodiment of the present invention. The indoor area positioning method of the present invention includes the following steps S31 to S35: Step S31: In a connection phase, a mobile terminal device receives a plurality of received signal strengths from a plurality of base stations, and the complex received signal strength and the complex base station The MAC address is transmitted together to a region estimation system of a server; step S33: inputting an offline stage database to the area of the server in the connection phase a domain estimation system; and step S35: calculating, by the region estimation system, a probability value of a plurality of appropriate indoor regions in the plurality of indoor regions, wherein the region estimation system includes a regional average system and a level distribution system, the region average The system includes an area search algorithm and a regional average algorithm, and the level allocation system includes the area search algorithm and a level matching algorithm.

Wherein, the area search algorithm selects the plurality of appropriate indoor areas from the plurality of indoor areas. Specifically, the region search algorithm can select an appropriate region for estimation, thereby achieving the effect of reducing the estimation range and improving the accuracy of indoor positioning.

Wherein, the region search algorithm may include the following steps: calculating an average standard deviation for each access point (ie, a wireless base station) in each region; for each region in each region An access point calculates an upper bound; and compares the received signal strength of the connection phase with an upper limit.

Furthermore, as shown in FIG. 4, the indoor area positioning method of the present invention further includes the following steps S41 to S47: Step S41: In the offline phase, the mobile terminal device records a plurality of reference point positions and an orientation of the mobile terminal device; S43: Receive the complex received signal strength from the plurality of base stations, and transmit the complex reference point position, the location of the mobile terminal device, the complex received signal strength, and the MAC address of the complex base station to the offline phase. The server; step S45: calculating an average value and a standard deviation of the complex received signal strength; and step S47: simultaneously determining the complex reference point position, the orientation of the mobile terminal device, the complex received signal strength, and the complex base The MAC address of the station and the strength of the complex received signal The mean and standard deviation are stored in this database.

In accordance with a preferred embodiment of the present invention, as shown in FIG. 5, FIG. 5 shows a flow chart of a region average algorithm for the indoor region localization method of the present invention. The regional average algorithm proposed by the present invention includes the following steps S51 to S57: step S51: calculating a received signal strength distance (RD); step S53: averaging the complex received signal in each appropriate indoor region Intensity distance; step S55: sorting the appropriate appropriate indoor area according to the average received signal intensity distance; and step S57: calculating the probability value of the complex appropriate indoor area as an estimation result.

Further, in accordance with a preferred embodiment of the present invention, as shown in FIG. 6, FIG. 5 shows a flow chart of a grading algorithm for the indoor area positioning method of the present invention. The hierarchical matching algorithm proposed by the present invention comprises the following steps S61 to S69: step S61: calculating a complex received signal intensity distance; step S63: filtering out the complex reference point out of range; step S65: selecting the most likely from the complex reference point a plurality of reference points; step S67: calculating a similarity degree of each indoor area; and step S69: calculating a probability value of the plurality of appropriate indoor areas as an estimation result.

Wherein, in the step of calculating the complex received signal intensity distance, the complex received signal intensity distance is calculated by the Euclidean Received Signal Strength Distance Scheme and the mixed received signal intensity distance calculation method ( Fusion Received Signal Strength Distance Scheme).

In the above step of calculating the complex signal received intensity distance, the Euclidean received signal intensity distance calculation method uses the Euclidean distance to indicate the received signal intensity distance.

Therefore, in the preferred embodiment of the present invention, in addition to calculating the received signal strength distance by using the Euclidean received signal intensity distance calculation method, the present invention also calculates the received signal strength by using the mixed received signal intensity distance calculation method. The distance, that is, when both the 2.4 GHz and 5 GHz bands are considered, the hybrid received signal intensity distance calculation method can more accurately calculate the received signal intensity distance by weighting. Therefore, the region estimation system of the present invention can achieve higher regional estimation accuracy than the conventional positioning system, and the regional search algorithm and the mixed received signal intensity distance calculation method can effectively improve the accuracy of the region estimation system.

In the above preferred embodiment, the server of the present invention comprises one or more processors and at least one storage device. Therefore, the above algorithm proposed by the present invention can be executed via a server, and the server can be powered by a wireless network module. The group communicates wirelessly with the mobile terminal device or the wireless base station.

In describing a representative embodiment of the present invention, the present specification has been presented as a specific sequence of steps of the method and/or procedure of the present invention. However, to some extent, the method does not rely on the specific order of steps presented herein, and the method should not be limited to the specific order of the steps described. As will be appreciated by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in this specification should not be construed as limiting the scope of the claims. In addition, the scope of the patent application for the method and/or procedure of the present invention should not be limited to the performance of the steps in the order presented, and those skilled in the art can immediately understand that the order can be changed. It is a matter of course and remains within the spirit and scope of the invention.

Those skilled in the art should be aware that changes can be made to the above examples without departing from the broad inventive concepts. Therefore, it is understood that the invention is not intended to be limited

Claims (5)

An indoor area positioning method includes the following steps: in a connection phase, a mobile terminal device receives a plurality of received signal strengths from a plurality of base stations, and transmits the complex received signal strength together with the MAC address of the plurality of base stations a region estimation system to a server; inputting an offline phase database to the region estimation system of the server in the connection phase; and calculating a plurality of appropriate indoors in the plurality of indoor regions by the region estimation system a probability value of the region, wherein the region estimation system includes a region averaging system and a grading system, the region averaging system includes a region search algorithm and a regional average algorithm, and the grading system includes the region search algorithm and level a partitioning algorithm, wherein the region search algorithm comprises the steps of: calculating an average standard deviation for each access point in each region; and calculating an upper limit for each access point in each region; Comparing the complex received signal strength of the connection phase with the upper limit, wherein the region is flat The algorithm comprises the steps of: calculating a complex received signal intensity distance; averaging the complex received signal intensity distance in each appropriate indoor region; sorting the appropriate appropriate indoor region according to the average received complex signal intensity distance; and calculating The probability value of the appropriate appropriate indoor region is used as an estimation result, wherein the hierarchical allocation algorithm includes the following steps: calculating a complex received signal intensity distance; filtering out the complex reference point out of range; selecting the most likely multiple from the complex reference point Reference Test sites; calculating the similarity of each indoor area; and calculating the probability value of the appropriate appropriate indoor area as an estimation result. The indoor area positioning method according to claim 1, further comprising the step of: recording, at the offline stage, the mobile reference terminal position and the position of the mobile terminal device, and receiving the plurality of base stations from the base station Receiving the signal strength, and transmitting the complex reference point position, the orientation of the mobile terminal device, the complex received signal strength, and the MAC address of the complex base station to the server in the offline phase to calculate the complex number Receiving an average value and a standard deviation of the signal strength, and determining the position of the complex reference point, the orientation of the mobile terminal device, the strength of the complex received signal, the MAC address of the complex base station, and the average value and standard of the complex received signal strength The difference is stored in the database. The indoor area positioning method according to claim 1, wherein in the step of calculating the complex received signal intensity distance, the complex received signal intensity distance is calculated by the Euclidean received signal intensity distance and the hybrid method Receive signal strength distance calculation method to calculate. An indoor area positioning system includes: a server in a connection phase, including an area estimation system, and receiving a plurality of received signal strengths and a MAC address of the plurality of base stations; and an offline stage database, inputting to the company The area estimation system of the server in the line phase, wherein the area estimation system includes a regional average system and a level distribution system, and calculates probability values of a plurality of suitable indoor areas in the plurality of indoor areas, The regional average system includes a region search algorithm and a regional average algorithm, and the hierarchical matching system includes the region search algorithm and the hierarchical matching algorithm, wherein the region search algorithm includes the following steps: for each region Calculating an average standard deviation for each access point; calculating an upper limit for each access point in each region; and comparing the complex received signal strength of the connection phase to the upper limit, wherein The regional average algorithm comprises the steps of: calculating a complex received signal intensity distance; averaging the complex received signal intensity distance in each appropriate indoor region; sorting the appropriate appropriate indoor regions according to the average received digital received signal intensity distance; And calculating a probability value of the appropriate indoor area of the complex number, wherein the level matching algorithm comprises the steps of: calculating a complex received signal intensity distance; filtering out the complex reference point out of range; selecting the most likely from the complex reference point Multiple reference points; calculate the similarity of each indoor area; and calculate The probability of a complex indoor areas appropriate value as estimated results. The indoor area location system of claim 4, comprising: a mobile terminal device, receiving the complex received signal strength from the plurality of base stations and a MAC address of the plurality of base stations.