WO2018133265A1 - 一种基于无线接收设备和摄像头的室内定位方法及系统 - Google Patents

一种基于无线接收设备和摄像头的室内定位方法及系统 Download PDF

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Publication number
WO2018133265A1
WO2018133265A1 PCT/CN2017/084428 CN2017084428W WO2018133265A1 WO 2018133265 A1 WO2018133265 A1 WO 2018133265A1 CN 2017084428 W CN2017084428 W CN 2017084428W WO 2018133265 A1 WO2018133265 A1 WO 2018133265A1
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Prior art keywords
wireless receiving
receiving device
target device
camera
target
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English (en)
French (fr)
Inventor
伍楷舜
徐君
王璐
邹永攀
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Shenzhen University
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Shenzhen University
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Priority to US15/760,230 priority Critical patent/US10412701B2/en
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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
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/04—Details
    • G01S3/043—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/74—Multi-channel systems specially adapted for direction-finding, i.e. having a single antenna system capable of giving simultaneous indications of the directions of different signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
    • G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
    • H04B7/0613—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission
    • H04B7/0615—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal
    • H04B7/0619—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal using feedback from receiving side
    • H04B7/0621—Feedback content
    • H04B7/0626—Channel coefficients, e.g. channel state information [CSI]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • 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
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/02—Indoor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/10—Small scale networks; Flat hierarchical networks
    • H04W84/12—WLAN [Wireless Local Area Networks]

Definitions

  • the present invention relates to the field of positioning technologies, and in particular, to an indoor positioning method based on a wireless receiving device and a camera, and to a system for implementing the indoor positioning method.
  • the present invention provides an indoor positioning method based on a wireless receiving device and a camera, and a system for implementing the indoor positioning method.
  • the indoor positioning method based on the wireless receiving device and the camera includes the following steps: [0007] SI: the wireless receiving device detects the query WIFI signal transmitted by the target device;
  • S2 the wireless receiving device extracts a MAC address and channel state information (CS1) for uniquely identifying the target device from the query WIFI signal, and uploads to the server;
  • CS1 MAC address and channel state information
  • S3 the server calculates the incident angle of the target device and the wireless receiving device according to the CSI uploaded by the wireless receiving device, and simultaneously sends a shooting instruction to the camera, and the camera captures an image and uploads it to the server;
  • S4 The server acquires a distance between the wireless receiving device and the target device through the image pixel, and calculates location information of the target device according to the location of the wireless receiving device.
  • the present invention is further improved, wherein the number of the wireless receiving device and the camera is one.
  • the target device includes a smart phone, and the smart phone is carried according to the target group, and the target group is positioned.
  • the wireless receiving device includes a WIFI probe, a WIFI wireless listener, and a wireless receiver.
  • step S2 the channel state information extraction method includes:
  • S21 collecting channel state data, where the initial channel state data includes channel state data values of M subcarriers in N spatial streams, and N and M are natural numbers greater than one;
  • S22 For each spatial stream, obtain an average value of channel state data values of P consecutive subcarriers at the same time point, and use the average value as the channel state information CSI value, where P is greater than 1 and less than The natural number of M; [0017] S23: The CSI value is corrected using a least squares best fit algorithm.
  • step S3 the method for calculating the incident angle of the target device to the wireless receiving device on the server side is:
  • S31 performing eigenvalue and feature vector decomposition on the CSI matrix included in the acquired data packet;
  • S33 scanning the incident angle ⁇ in a range of 0 to 360 degrees using a basis function, scanning the inter-day ⁇ in a range of 1 to 20 nanoseconds, for each pair of independent variables ( ⁇ , ⁇ ), as a basis function
  • the dependent variable has a peak ⁇ , and the actual incident path corresponding to the independent variable is obtained;
  • S34 Separating the smallest independent variable of ⁇ , and the corresponding threshold value in the independent variable is the incident angle ⁇ of the target device to the wireless receiving device. .
  • step S4 a method for calculating a distance of a target device to a wireless receiving device For:
  • S41 Calculate a correspondence between a distance in the image and a pixel according to a known wireless receiving device and a camera position;
  • S42 performing a human body search algorithm along the angle ⁇ starting from the wireless receiving device, and identifying the location of the human body, that is, the target;
  • S43 Calculate the actual distance between the target and the wireless receiving device according to the pixels of the human body and the wireless receiving device.
  • the present invention further provides a system for implementing the indoor positioning method, comprising: a target device: configured to send a query WIFI signal; and a wireless receiving device: configured to detect a query WIFI signal transmitted by the target device, And extracting the MAC address and channel state information of the target device from the query WIFI signal; Camera: used to capture the indoor image and upload to the server; Server: Calculate the incident angle of the target device and the wireless receiving device, and send a shooting instruction to the camera Obtaining a distance between the wireless receiving device and the target device through the image pixel, and calculating location information of the target device according to the location of the wireless receiving device.
  • the present invention is further improved, wherein the number of the wireless receiving device and the camera is one.
  • the present invention is further improved.
  • the target device includes a smart phone, and the smart phone is carried according to the target group to complete the positioning of the target group.
  • the wireless receiving device includes a WIFI probe, a WIFI wireless listener, and a wireless receiver.
  • the present invention can achieve accurate positioning of the target device by using only one wireless receiving device, and more closely conforms to the normal application scenario of the WIFI;
  • the applied camera supplemented by a simple computer image processing algorithm, can control both cost and computational complexity; the combination of the two achieves good positioning results.
  • the system for implementing the indoor positioning method includes: a target device: configured to send a query WIFI signal; and a wireless receiving device: configured to detect a query WIFI signal transmitted by the target device, and The MAC address and channel state information for uniquely identifying the target device are extracted from the query WIFI signal; the camera is used to capture the indoor image and uploaded to the server; the server: calculates the incident angle of the target device and the wireless receiving device, and sends a shooting instruction Giving a camera; obtaining a distance between the wireless receiving device and the target device through the image pixel, and calculating location information of the target device according to the location of the wireless receiving device.
  • the number of the wireless receiving device and the camera is one.
  • the target device includes a smart phone, etc., and carries the smart phone according to the target group to complete the positioning of the target group.
  • the wireless receiving device in this example may be a WIFI probe, a WIFI wireless listener, a wireless receiver, etc., as long as the target device can be acquired.
  • the transmitted wireless WIFI signal can be set on the same device as the wireless router, or it can be set in different places.
  • This example uses a wireless listener as an example for description.
  • both the camera and the wireless listener are connected to the server, and the execution of the positioning algorithm is also on the server side, and the CSI acquisition of the wireless receiver and the image acquisition of the camera need to be synchronized.
  • the present invention is based on the characteristics that the smart phone carried by the target group will transmit the WIFI inquiry signal, and the query signal is captured by the WIFI wireless listener disposed in the scene, and the device is extracted by the protocol analysis software.
  • MAC Media Access Control
  • the camera deployed around the listener is started to image the target area, and the position of the camera and the WIFI wireless listener is known, and the relationship between the pixel and the position is analyzed to estimate the target device and the interception. The distance between devices.
  • the indoor positioning method based on the wireless receiving device and the camera includes The following steps:
  • the wireless receiving device detects the query WIFI signal transmitted by the target device
  • S2 the wireless receiving device extracts the MAC address and channel state information of the target device from the query WIFI signal;
  • S3 the server captures the MAC address of the target device and the channel state information CSI value from the wireless receiving device, calculates an incident angle of the target device and the wireless receiving device, and simultaneously sends a shooting instruction to the camera, and the camera captures an image and uploads it to the server;
  • S4 The server acquires a distance between the wireless receiving device and the target device through the image pixel, and calculates location information of the target device according to the location of the wireless receiving device.
  • step S2 the channel state information extraction method includes:
  • S21 collecting channel state data, where the initial channel state data includes channel state data values of M subcarriers in N spatial streams, and N and M are natural numbers greater than 1.
  • S22 For each spatial stream, obtain an average value of channel state data values of P consecutive subcarriers at the same time point, and use the average value as the channel state information CSI value, where P is greater than 1 and less than The natural number of M; [0048] S23: The CSI value is corrected using a least squares best fit algorithm.
  • the 802.11n-based wireless signal transmission physical layer protocol mainly uses Orthogonal Frequency Division Multiplex (OFDM) technology and Multiple-Input Multiple-Output ( ⁇ ) technology, in order to The signal is transmitted reliably.
  • OFDM Orthogonal Frequency Division Multiplex
  • ⁇ Multiple-Input Multiple-Output
  • the protocol stipulates that the CSI information needs to be evaluated, that is, the transmission status of each frequency subcarrier on each channel, including amplitude and phase information. Due to the use of MIMO technology, when the antennas are arranged in an array of intervals, the CSI between adjacent antennas will have a phase difference of d*f* cos e, where d is the distance between adjacent antennas, and f is a sub- The carrier frequency, ⁇ is the angle between the wireless signal transmitted by the target device and the antenna.
  • the CSI value of different antennas can be used to estimate the threshold.
  • the subcarrier frequency and the sampling period are not completely consistent at the transmitting end and the receiving end, and there is a large offset, and the offset includes S FO (Sub- Carrier Frequency Offset (subcarrier frequency offset) and STO (Sampling Time Offset);
  • S FO Sub- Carrier Frequency Offset (subcarrier frequency offset)
  • STO Samling Time Offset
  • the method of the present invention focuses on solving the noise problem introduced by SFO and STO and the LOS path. Separation problem.
  • This example uses a least squares method to find the value that best fits the different subcarriers linearly, and then uses this value to correct the directly derived CSI.
  • the specific method is as follows: The function ⁇ )+2* ⁇ 1)* + is constructed by using the characteristics of SFO and STO between different subcarriers of the fixed transmitting end and the receiving end device, wherein ( ⁇ , ⁇ ) represents the obtained from the CSI.
  • the phase information, m and ⁇ represent the antenna number and the subcarrier number, respectively, pi represents the pi, f is the subcarrier frequency interval, X and y represent the required SFO and STO; and this function is used to construct all the subcarriers and all the antennas.
  • the summation formula in which X and y are respectively derivatives and zero, respectively, so that the equation containing two unknown variables can be obtained, and the simultaneous can find X and y respectively; The CSI can be corrected.
  • step S3 the present invention mainly includes calculating an incident angle of the target device to the wireless receiving device by using an antenna array to calculate an incident angle of the wireless signal, and the calculating method is:
  • S31 Perform eigenvalue and eigenvector decomposition on the CSI matrix included in the obtained data packet, specifically, transform the CSI matrix with SFO and STO modified, and construct a smoothing matrix X of the following form:
  • exp represents the exponential operation with e
  • c represents the speed of light
  • other variables are consistent with the previous one.
  • S33 scanning the incident angle ⁇ in a range of 0 to 360 degrees using a basis function, and scanning the inter-day ⁇ in a range of 1 to 20 nanoseconds, for each pair of independent variables ( ⁇ , ⁇ ), as a basis function
  • the dependent variable has a peak ⁇ , and the actual incident path corresponding to the independent variable is obtained;
  • S34 Separating the smallest independent variable of ⁇ , and the corresponding threshold value in the independent variable is the incident angle ⁇ of the target device to the wireless receiving device.
  • the computer image is composed of pixels, and the pixel has a certain correspondence with the distance. Although the number of pixels between the objects of the same distance is inconsistent due to different focal lengths, as long as the distance of the reference node is known, the image can be adaptively obtained. The actual positional relationship.
  • the present invention requires that a wireless listener be included in the imaging, so that the mounting position of the camera needs to be coordinated with the installation position of the wireless listener.
  • step S4 the method for calculating the distance of the target device to the wireless listener is:
  • S41 Calculate a correspondence between the distance and the pixel in the image according to the known wireless listener and the camera position. Since the wireless listener is in the image and the distance between the wireless listener and the camera is known, the relationship between the pixel and the actual distance can be converted accordingly.
  • S42 taking the wireless listener as a starting point, and performing the existing human body search algorithm along the angle calculated in step S34, and identifying the position of the human body, that is, the target.
  • S43 Calculate the actual distance between the target and the wireless listener according to the pixels of the human body and the wireless listener.
  • the actual distance between the target and the wireless listener can be derived from the pixel between the human body and the wireless receiving device.
  • the server Since the distance and angle calculations are both on the server side, the server is responsible for merging the two, and then converting the MAC address according to the device media access control (MAC) information contained in the target device transmission signal. The coordinates are recorded in the database to complete the positioning work.
  • MAC device media access control
  • the present invention can achieve accurate positioning of the target device by using only one wireless receiving device, and more closely conforms to the normal application scenario of the WIFI; the same with the widely used camera, supplemented by a simple computer image processing algorithm, It can control the cost and ensure the calculation of the actuality; the combination of the two achieves a good positioning effect.

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

一种基于无线接收设备和摄像头的室内定位方法及系统，属于定位技术领域。该方法包括以下步骤：无线接收设备探测目标设备发射的查询WIFI信号（S1）；从查询WIFI信号中提取目标设备的MAC地址及信道状态信息（S2）；服务器从无线接收设备捕获目标设备的MAC地址及信道状态信息，计算目标设备与无线接收设备的入射角，同时发送拍摄指令给摄像头，摄像头拍摄图像，上传至服务器（S3）；服务器通过图像像素获取无线接收设备与目标设备之间的距离，根据无线接收设备的坐标计算出目标设备的位置信息（S4）。仅使用一个无线接收设备和一个摄像头即可实现目标设备的准确定位，既控制成本又保证计算实时性；二者结合取得良好的定位效果。

Description

一种基于无线接收设备和摄像头的室内定位方法及系统 技术领域
[0001] 本发明涉及定位技术领域， 尤其涉及一种基于无线接收设备和摄像头的室内定 位方法， 还涉及一种实现所述室内定位方法的系统。
背景技术
[0002] 随着吋代进步和科技发展， 人们对于室内定位的需求日渐增多， 它不但可以方 便人们的日常出行， 也有利于政府部门进行更有效的社会化治理。 尽管可以用 于室内定位的技术很多， 如超声波、 超宽带、 红外线、 射频标签、 蓝牙信标等 ， 但从基础设施的架设难度、 维护成本与定位精度的角度综合考量， WIFI无疑 是最合适的选择之一。
[0003] 现有基于 WIFI的室内定位技术大体上可分为两种， 一是基于指纹数据库的， 二 是基于场景实吋计算的。 由于基于指纹数据库的方法不仅需要繁琐复杂的指纹 提取过程， 还容易受到周边环境变化的影响， 因此在实际中无法大量普及。 目 前基于场景实吋计算的方法或者需要多个无线接收器协同工作， 或者需要改动 无线接收器固件使之以一种特殊的方式工作， 或者需要使用专有芯片来计算飞 行吋间， 不难看出以上这些方法要么带来较大的使用成本和安装难度问题， 要 么受限于专有硬件无法使用已有设施带来重复投资的问题。 如何最大限度利用 现有设施， 同吋最小化使用和维护成本， 是室内定位技术能否得以实用的关键 技术问题
[0004] 在此处键入技术问题描述段落。
问题的解决方案
技术解决方案
[0005] 为解决现有技术中的问题， 本发明提供一种基于无线接收设备和摄像头的室内 定位方法， 还提供一种实现所述室内定位方法的系统。
[0006] 本发明基于无线接收设备和摄像头的室内定位方法包括如下步骤： [0007] SI : 无线接收设备探测目标设备发射的査询 WIFI信号；
[0008] S2: 无线接收设备从査询 WIFI信号中提取用于唯一标识目标设备的 MAC地址 及信道状态信息 （Channel State Information, CSl) ， 并上传至服务器；
[0009] S3： 服务器根据无线接收设备上传的 CSI计算目标设备与无线接收设备的入射 角， 同吋发送拍摄指令给摄像头， 摄像头拍摄图像， 上传至服务器；
[0010] S4: 服务器通过图像像素获取无线接收设备与目标设备之间的距离， 根据无线 接收设备的位置计算出目标设备的位置信息。
[0011] 本发明作进一步改进， 所述无线接收设备与摄像头的数量分别为一个。
[0012] 本发明作进一步改进， 步骤 S1中， 所述目标设备包括智能手机， 根据目标人群 携带智能手机， 完成目标人群的定位。
[0013] 本发明作进一步改进， 步骤 S1中， 所述无线接收设备包括 WIFI探针、 WIFI无 线侦听器、 无线接收器。
[0014] 本发明作进一步改进， 步骤 S2中， 信道状态信息提取方法包括：
[0015] S21 : 采集信道状态数据， 所述初始信道状态数据包括 N个空间流中的 M个子载 波的信道状态数据值， N和 M均为大于 1的自然数；
[0016] S22: 对每一空间流， 求取在同一吋间点上的 P个连续子载波的信道状态数据值 的平均值， 将此平均值作为信道状态信息 CSI值， P为大于 1小于 M的自然数； [0017] S23: 利用最小二乘最佳拟合算法对 CSI值进行修正。
[0018] 本发明作进一步改进， 步骤 S3中， 在服务器端计算目标设备到无线接收设备的 入射角的方法为：
[0019] S31 : 对获取的数据包所包含的 CSI矩阵进行特征值和特征向量分解；
[0020] S32: 利用特征值构建多信号分类算法的基底函数；
[0021] S33: 利用基底函数， 在 0~360度范围内扫描入射角 θ， 在 1~20纳秒范围内扫描 飞行吋间 τ， 对每一对自变量 （θ， τ) ， 当基底函数的因变量存在峰值吋， 得到 该自变量对应的实际入射路径；
[0022] S34: 分离出 τ最小的自变量， 在该自变量中对应的 Θ值即为所述目标设备到无 线接收设备的入射角 θ。 。
[0023] 本发明作进一步改进， 步骤 S4中， 计算目标设备到无线接收设备的距离的方法 为：
[0024] S41 : 根据已知的无线接收设备与摄像头位置， 计算出图像中距离与像素的对 应关系；
[0025] S42: 以无线接收设备为起点， 沿角度 Θ执行人体搜寻算法， 识别出人体即目标 所在位置；
[0026] S43: 根据人体和无线接收设备的像素， 计算目标与无线接收设备间的实际距 离。
[0027] 本发明还提供一种实现所述室内定位方法的系统， 其特征在于： 包括目标设备 ： 用于发送査询 WIFI信号； 无线接收设备： 用于探测目标设备发射的査询 WIFI 信号， 并从査询 WIFI信号中提取目标设备的 MAC地址及信道状态信息； 摄像头 ： 用于拍摄室内图像并上传至服务器； 服务器： 计算目标设备与无线接收设备 的入射角， 同吋发送拍摄指令给摄像头； 通过图像像素获取无线接收设备与目 标设备之间的距离， 根据无线接收设备的位置计算出目标设备的位置信息。
[0028] 本发明作进一步改进， 所述无线接收设备与摄像头的数量分别为一个。
[0029] 本发明作进一步改进， 所述目标设备包括智能手机， 根据目标人群携带智能手 机， 完成目标人群的定位； 所述无线接收设备包括 WIFI探针、 WIFI无线侦听器 、 无线接收器。
发明的有益效果
有益效果
[0030] 与现有技术相比， 本发明的有益效果是： 本发明仅使用一个无线接收设备即可 实现目标设备的准确定位， 更加紧密贴合了 WIFI的正常应用场景； 同吋借助已 经广泛应用的摄像头， 辅以简单的计算机图像处理算法， 既可以控制成本又可 以保证计算实吋性； 二者结合取得良好的定位效果。
对附图的简要说明
附图说明
[0031] 图 1为本发明结构示意图；
[0032] 图 2为本发明方法流程图。 实施该发明的最佳实施例
本发明的最佳实施方式
[0033] 在此处键入本发明的最佳实施方式描述段落。
本发明的实施方式
[0034] 下面结合附图和实施例对本发明做进一步详细说明。
[0035] 如图 1所示， 本发明实现所述室内定位方法的系统， 包括目标设备： 用于发送 査询 WIFI信号； 无线接收设备： 用于探测目标设备发射的査询 WIFI信号， 并从 査询 WIFI信号中提取用于唯一标识目标设备的 MAC地址及信道状态信息； 摄像 头： 用于拍摄室内图像并上传至服务器； 服务器： 计算目标设备与无线接收设 备的入射角， 同吋发送拍摄指令给摄像头； 通过图像像素获取无线接收设备与 目标设备之间的距离， 根据无线接收设备的位置计算出目标设备的位置信息。
[0036] 所述无线接收设备与摄像头的数量分别为一个。 所述目标设备包括智能手机等 ， 根据目标人群携带智能手机， 完成目标人群的定位； 本例的无线接收设备可 以为 WIFI探针、 WIFI无线侦听器、 无线接收器等， 只要能够获取目标设备发射 的査询 WIFI信号即可本例的无线接收设备可以与无线路由器设置在同一台设备 上， 也可以分幵设置在不同的地方。
[0037] 本例以无线侦听器为例进行说明。 在实际应用中， 摄像头与无线侦听器均连入 服务器， 定位算法的执行也在服务器端， 且无线接收器的 CSI获取与摄像头的图 像获取需保持同步。
[0038] 本发明是根据目标人群所携带的智能手机会定吋发射 WIFI査询信号的特点， 通 过布设在场景内的 WIFI无线侦听器捕获该査询信号， 一方面通过协议分析软件 提取设备 MAC(Media Access Control, 媒体访问控制)地址， 一方面通过信道状态 信息估算目标设备与侦听器间的夹角。
[0039] 根据夹角信息启动侦听器周围部署的摄像头对目标区域进行成像， 利用摄像头 与 WIFI无线侦听器位置已知的特点， 通过分析像素与位置间的关系， 估算目标 设备与侦听设备间的距离。
[0040] 具体的， 如图 2所示， 本发明基于无线接收设备和摄像头的室内定位方法包括 如下步骤：
[0041] SI : 无线接收设备探测目标设备发射的査询 WIFI信号；
[0042] S2: 无线接收设备从査询 WIFI信号中提取目标设备的 MAC地址及信道状态信 息；
[0043] S3： 服务器从无线接收设备捕获目标设备的 MAC地址及信道状态信息 CSI值， 计算目标设备与无线接收设备的入射角， 同吋发送拍摄指令给摄像头， 摄像头 拍摄图像， 上传至服务器；
[0044] S4: 服务器通过图像像素获取无线接收设备与目标设备之间的距离， 根据无线 接收设备的位置计算出目标设备的位置信息。
[0045] 其中， 步骤 S2中， 信道状态信息提取方法包括：
[0046] S21 : 采集信道状态数据， 所述初始信道状态数据包括 N个空间流中的 M个子载 波的信道状态数据值， N和 M均为大于 1的自然数；
[0047] S22: 对每一空间流， 求取在同一吋间点上的 P个连续子载波的信道状态数据值 的平均值， 将此平均值作为信道状态信息 CSI值， P为大于 1小于 M的自然数； [0048] S23: 利用最小二乘最佳拟合算法对 CSI值进行修正。
[0049] 基于 802.11η的无线信号传输物理层协议主要使用了正交频分复用 （Orthogonal Frequency Division Multiplex, OFDM) 技术和多输入多输出 (Multiple-Input Multiple-Output, ΜΙΜθ) 技术， 为了使信号可靠传输， 协议规定需要评估 CSI信 息， 即每个频率的子载波在每条信道上的传输状态， 包括了幅度和相位信息。 由于使用了 MIMO技术， 当天线以间隔为的阵列形式排列吋， 相邻天线间的 CSI 在相位上会相差 d*f*cose的值， 其中 d是相邻天线间的距离， f是子载波频率， Θ 为目标设备发射的无线信号与天线的夹角， 因此可以利用不同天线的 CSI值来推 算 Θ值。 然而， 一方面由于发射端和接收端的硬件设备存在差异， 导致子载波频 率和采样吋间在发射端和接收端并不完全一致， 存在较大偏移， 所述偏移包括 S FO (Sub-Carrier Frequency Offset, 子载波频偏） 和 STO (Sampling Time Offset ， 采样吋间偏移） ； 另一方面由于无线信号传输的全向性所引起的多径效应， 会在接收端检测出多个入射角， 而只有直视路径 （Light-Of-Sight， LOS) 才可用 于定位。 因此本发明方法重点解决了由 SFO和 STO引入的噪声问题以及 LOS路径 的分离问题。
[0050] 本例采用通过最小二乘法寻找使不同子载波最佳线性拟合的值， 再用这个值对 直接得出的 CSI进行修正。 具体方法为： 利用固定发射端和接收端设备不同子载 波间 SFO和 STO不变的特点， 构建函数^ ^)+2* ^ 1)* + ， 其中 (ιη,η)代 表从 CSI中获取的相位信息， m和 η分别代表天线序号和子载波序号， pi代表圆周 率， f是子载波频率间隔， X和 y代表的是要求取的 SFO和 STO; 再利用该函数构 建遍历所有子载波和所有天线的求和公式， 在该公式中分别对 X和 y求导数并分 别令其为零， 如此可得含有两个未知变量的等式， 联立可分别求出 X和 y ; 利用 所得出的 X即可对 CSI进行修正。
[0051] 步骤 S3中， 本发明主要包括使用天线阵列计算无线信号入射角度的方法计算目 标设备到无线接收设备的入射角， 所述计算方法为：
[0052] S31 : 对获取的数据包所包含的 CSI矩阵进行特征值和特征向量分解， 具体地， 对修正了 SFO和 STO的 CSI矩阵进行转换， 构建如下形式的平滑矩阵 X：
[0053]
[0054] 上述矩阵中下标是指其在原矩阵中的位置。
[0055] S32: 令 X与其逆矩阵相乘， 再令 EN代表其列向量， 对每一列向量构建基底函 数如下： 1/[α(θ,τ)*ΕΝ*ΕΝΗ*&(θ,τ)]， 其中 ΕΝΗ代表 ΕΝ的转置向量， &(θ,τ)为一向 量， 其值等于 [1,...,ΩτΝ-1,ΦΘ .,ΦΘΩτΝ-1,...， ΦΘΜ-1,...,ΦΘΜ-1ΩτΝ-1] , Μ和 Ν分 别代表天线和子载波序号， 其中 Oe=exp(-j*2*pi*d*sin6*f/c)， Qx=exp(-j*2*pi*f*x
)， exp代表以 e为底的指数操作， c代表光速， 其他变量与前面保持一致。
[0056] S33: 利用基底函数， 在 0~360度范围内扫描入射角 θ， 在 1~20纳秒范围内扫描 飞行吋间 τ， 对每一对自变量 （θ， τ) ， 当基底函数的因变量存在峰值吋， 得到 该自变量对应的实际入射路径；
[0057] S34: 分离出 τ最小的自变量， 在该自变量中对应的 Θ值即为所述目标设备到无 线接收设备的入射角 θ。
[0058] 由于利用 CSI获取的飞行吋间 τ并不精确， 而光速却很大， 所以直接将二者相乘 会导致对于目标设备和参考点的距离估算误差较大。 因此需要借助其他方法完 成目标设备到无线接收设备的距离的计算， 本发明使用计算机技术解决这一问 题。
[0059] 计算机图像由像素组成， 像素与距离直接存在一定的对应关系， 尽管由于焦距 不同会导致相同距离的物体间像素数目不一致， 但是只要参考节点的距离已知 ， 那么就可以自适应地得出实际位置关系。 本发明要求在成像吋需将无线侦听 器包含在内， 因此摄像头的安装位置需与无线侦听器的安装位置协调进行。
[0060] 具体地， 步骤 S4中， 计算目标设备到无线侦听器的距离的方法为：
[0061] S41 : 根据已知的无线侦听器与摄像头位置， 计算出图像中距离与像素的对应 关系。 由于无线侦听器在图像中， 而无线侦听器与摄像头间距离已知， 因此可 以据此换算出像素与实际距离间关系。
[0062] S42: 以无线侦听器为起点， 沿步骤 S34计算出的角度 Θ执行现有的人体搜寻算 法， 识别出人体即目标所在位置。
[0063] S43: 根据人体和无线侦听器的像素， 计算目标与无线侦听器间的实际距离。
具体的， 根据步骤 S51得出的距离与像素间关系， 可由人体与无线接收设备间的 像素反推出目标与无线侦听器间实际距离。
[0064] 由于距离与角度计算均在服务器端， 因此服务器负责将二者融合， 再根据目标 设备发射信号中所蕴含的设备媒体访问地址 （Media Access Control, MAC) 信 息， 将 MAC地址与换算出的坐标记录在数据库中， 完成定位工作。
[0065] 本发明仅使用一个无线接收设备即可实现目标设备的准确定位， 更加紧密贴合 了 WIFI的正常应用场景； 同吋借助已经广泛应用的摄像头， 辅以简单的计算机 图像处理算法， 既可以控制成本又可以保证计算实吋性； 二者结合取得良好的 定位效果。
[0066] 以上所述之具体实施方式为本发明的较佳实施方式， 并非以此限定本发明的具 体实施范围， 本发明的范围包括并不限于本具体实施方式， 凡依照本发明所作 的等效变化均在本发明的保护范围内。
工业实用性
[0067] 在此处键入工业实用性描述段落。
序列表自由内容
[0068] 在此处键入序列表自由内容描述段落。

Claims

权利要求书
一种基于无线接收设备和摄像头的室内定位方法， 其特征在于包括如 下步骤：
S1 : 无线接收设备探测目标设备发射的査询 WIFI信号；
S2: 无线接收设备从査询 WIFI信号中提取用于标识目标设备的 MAC 地址及信道状态信息 CSI， 并上传至服务器；
S3： 服务器根据无线接收设备上传的 CSI值计算目标设备与无线接收 设备的入射角， 同吋发送拍摄指令给摄像头， 摄像头拍摄图像， 上传 至服务器；
S4: 服务器通过图像像素获取无线接收设备与目标设备之间的距离， 根据无线接收设备的坐标计算出目标设备的位置信息。
根据权利要求 1所述的室内定位方法， 其特征在于： 所述无线接收设 备与摄像头的数量分别为一个。
根据权利要求 2所述的室内定位方法， 其特征在于： 步骤 S1中， 所述 目标设备包括智能手机， 根据目标人群携带智能手机， 完成目标人群 的定位。
根据权利要求 1所述的室内定位方法， 其特征在于： 步骤 S1中， 所述 无线接收设备包括 WIFI探针、 WIFI无线侦听器、 无线接收器。
根据权利要求 4所述的室内定位方法， 其特征在于： 步骤 S2中， 信道 状态信息提取方法包括：
S21 : 采集信道状态数据， 所述初始信道状态数据包括 N个空间流中 的 M个子载波的信道状态数据值， N和 M均为大于 1的自然数； S22: 对每一空间流， 求取在同一吋间点上的 P个连续子载波的信道 状态数据值的平均值， 将此平均值作为信道状态信息 CSI值， P为大 于 1小于 M的自然数；
S23: 利用最小二乘最佳拟合算法对 CSI值进行修正。
根据权利要求 5所述的室内定位方法， 其特征在于： 步骤 S3中， 在服 务器端计算目标设备到无线接收设备的入射角的方法为： S31： 对获取的数据包所包含的 CSI矩阵进行特征值和特征向量分解
S32: 利用特征值构建多信号分类算法的基底函数；
S33 : 利用基底函数， 在 0~360度范围内扫描入射角 θ， 在 1~20纳秒范 围内扫描飞行吋间 τ， 对每一对自变量 （θ， τ) ， 当基底函数的因变 量存在峰值吋， 得到该自变量对应的实际入射路径；
S34: 分离出 τ最小的自变量， 在该自变量中对应的 Θ值即为所述目标 设备到无线接收设备的入射角6。
根据权利要求 6所述的室内定位方法， 其特征在于： 步骤 S4中， 计算 目标设备到无线接收设备的距离的方法为：
S41 : 根据已知的无线接收设备与摄像头位置， 计算出图像中距离与 像素的对应关系；
S42: 以无线接收设备为起点， 沿角度 Θ执行人体搜寻算法， 识别出 人体即目标所在位置；
S43 : 根据人体和无线接收设备的像素， 计算目标与无线接收设备间 的实际距离。
一种实现根据权利要求 1-7任一项所述室内定位方法的系统， 其特征 在于： 包括目标设备： 用于发送査询 WIFI信号；
无线接收设备： 用于探测目标设备发射的査询 WIFI信号， 并从査询
WIFI信号中提取目标设备的 MAC地址及信道状态信息；
摄像头： 用于拍摄室内图像， 并上传至服务器；
服务器： 计算目标设备与无线接收设备的入射角， 同吋发送拍摄指令 给摄像头； 通过图像像素获取无线接收设备与目标设备之间的距离， 根据无线接收设备的位置计算出目标设备的位置信息。
根据权利要求 8所述的室内定位方法， 其特征在于： 所述无线接收设 备与摄像头的数量分别为一个。
根据权利要求 8所述的室内定位方法， 其特征在于： 所述目标设备包 括智能手机， 根据目标人群携带智能手机， 完成目标人群的定位； 所 述无线接收设备包括 WIFI探针、 WIFI无线侦听器、 无线接收器。
PCT/CN2017/084428 2017-01-18 2017-05-16 一种基于无线接收设备和摄像头的室内定位方法及系统 Ceased WO2018133265A1 (zh)

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