WO2019136918A1 - Indoor positioning method, server and positioning system - Google Patents
Indoor positioning method, server and positioning system Download PDFInfo
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- WO2019136918A1 WO2019136918A1 PCT/CN2018/090238 CN2018090238W WO2019136918A1 WO 2019136918 A1 WO2019136918 A1 WO 2019136918A1 CN 2018090238 W CN2018090238 W CN 2018090238W WO 2019136918 A1 WO2019136918 A1 WO 2019136918A1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
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- 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
Definitions
- the present application relates to the field of positioning technologies, and in particular, to a method, a server, and a positioning system for indoor positioning.
- LBS location-based services
- the positioning technology commonly used in the industry is a fingerprint matching technology.
- the technology needs to manually collect the indoor environment information by manually carrying the intelligent terminal, and establish a location fingerprint database.
- the intelligent terminal senses the environmental data information and the location fingerprint.
- the library is matched and the most likely position is calculated.
- the process of manually collecting indoor environmental information by point-by-point is very time-consuming and laborious, and also has high requirements for surveyors. For example, it is only possible to collect environmental information for a period of time at each reference point that has been previously calibrated, and it is not possible to collect environmental information under the free motion state of the surveyor, and it is also impossible to collect specific behavior patterns (such as walking at different speeds, turning or The environmental information under the walking of the head, the hand-held terminal equipment moving the arm, the terminal equipment being placed in a pocket or a backpack, etc., and the surveying personnel's judgment on the reference point and the operation of the equipment will introduce errors, resulting in the collected data. The quality is not high, and the final positioning accuracy is not high.
- the embodiment of the present application provides a method, a server, and a positioning system for indoor positioning capable of improving positioning accuracy and positioning efficiency.
- a first aspect of the embodiments of the present invention provides an indoor positioning method, including:
- Step A The server receives environment information sent by the terminal to be located in the location area.
- the environment information is the information that is detected by the terminal to be located, and the environment information that is detected by the terminal to be located is different when the terminal to be located is in different locations in the location area, and the specific
- the environmental information includes Bluetooth, a base station, a GPS, a WiFi, and data collected by some sensors, etc., wherein the sensor includes an accelerometer, a gravity sensor, a gyroscope, a magnetometer, a direction sensor, a pedometer, and the like.
- Step B The server acquires an environment fingerprint database corresponding to the location area.
- the server shown in this embodiment may pre-create an environment fingerprint database corresponding to the positioning area, the environment fingerprint library includes at least one positioning fingerprint, the positioning area includes at least one area unit, and the server may create different positioning. a one-to-one correspondence between the fingerprint and the different area units.
- the target positioning fingerprint corresponds to the first area unit, and the target positioning fingerprint is one of the at least one positioning fingerprint, and the first area unit is One of the at least one area unit.
- the target location fingerprint includes target environment information and target location information
- the target environment information is environment information transmitted to the smart terminal in the first area unit
- the target location information is ultra-wideband UWB
- a location coordinate sent by the positioning system to indicate that the smart terminal sends the target environment information.
- Step C The server acquires positioning location coordinates corresponding to the environment information in the environment fingerprint database.
- the positioning position coordinate is a position coordinate of the to-be-positioned terminal in the positioning area.
- the advantage of the indoor positioning method shown in the aspect is that the reference point does not need to be calibrated in advance, and the surveying personnel carry the intelligent terminal and the UWB positioning terminal can walk freely in the positioning area, and the speed, posture and walking of the surveying personnel The trajectory is not required, thereby reducing the difficulty of implementing the indoor positioning method shown in this embodiment, improving the ease of use of the indoor positioning method, and in the process of creating the environmental fingerprint database, the server can simultaneously obtain the location.
- the environment information and the location information enable the server to directly calibrate the actual location of the location area based on the location information, thereby realizing synchronous calibration of the environment information and the actual location, thereby greatly reducing the labor and time cost of creating the environment fingerprint database. And improve the accuracy of the environmental fingerprint library to provide positioning services to the positioning terminal.
- the indoor positioning method shown in the foregoing aspect further includes the process of creating the environment fingerprint database, where the environment is The specific creation process of the fingerprint library is:
- Step A01 The server obtains all environmental information and information scanned by the smart terminal during the preset period, which is reported by the smart terminal in the preset period, in the process of the mobile terminal moving in the positioning area. All location information reported by the UWB positioning system.
- One of the location information is used to indicate location coordinates when the smart terminal sends one of the environmental information
- the environment information includes wireless fidelity WiFi information and/or sensor information.
- the WiFi information includes a media medium control MAC address and a received signal strength indicator RSSI data of each wireless network access point AP scanned by the smart terminal
- the sensor information is information collected by a sensor of the smart terminal.
- Step A02 The server determines the target location information according to all the location information reported by the UWB positioning system.
- the location coordinates indicated by the target location information are located in the first regional unit.
- Step A03 The server determines the target environment information according to all the environment information reported by the smart terminal.
- the target environment information is environment information reported by the smart terminal in the first area unit
- Step A04 The server determines that the target positioning fingerprint is a positioning fingerprint that includes the target location information and the target environment information.
- the surveying personnel simultaneously wear the smart terminal and the UWB positioning terminal, so that the server can simultaneously obtain the same in the case that the surveying personnel's walking trajectory and the walking manner are not required.
- the environment information and the location information enable the environmental data server to directly calibrate the actual location of the location area based on the location information, thereby realizing synchronous calibration of the environment information and the actual location, thereby greatly reducing the manpower for creating the environment fingerprint database. And time cost.
- the step A04 specifically includes :
- Step A041 The server counts the total number of samples of all APs scanned by the smart terminal in the first area unit. And the number of samples N i of the first target AP.
- the first target AP is the i-th AP scanned by the smart terminal in the first area unit, and the number of APs scanned by the smart terminal in the first area unit Is n, the i and the n are positive integers greater than or equal to 1, and the i is less than or equal to the n.
- Step A042 The server calculates an appearance probability (PerformanceP(MAC i ) of the first target AP by using the following formula.
- Step A043 The server determines that the target positioning fingerprint includes a first positioning fingerprint, where the first positioning fingerprint includes an appearance probability earthquake(MAC i ) of the first target AP.
- the step A04 specifically includes :
- Step A111 The server acquires a target RSSI sequence of the first target AP.
- the target RSSI sequence includes an RSSI scanned by the first target AP by the smart terminal each time;
- Step A112 The server calculates a probability density function Norm (RSSI) of a single target Gaussian distribution model GSM according to the following formula;
- the ⁇ is the mean of the target RSSI sequence, and ⁇ is the standard deviation of the target RSSI sequence;
- Step A113 The server calculates a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP according to the following formula;
- ⁇ k is a preset weighting coefficient, and the K is a positive integer greater than or equal to 1;
- Step A114 The server determines that the first positioning fingerprint includes a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP.
- RSSI Gaussian mixture distribution function
- the step A04 specifically includes:
- Step A121 The server determines location coordinates of a target location, where the target location is any location located in the first regional unit;
- Step A122 The server determines that the first positioning fingerprint includes location coordinates of the target location.
- the environment fingerprint database is created based on the WiFi information detected by the smart terminal, and the environment fingerprint database created based on the WiFi information can accurately locate the terminal to be located, and is collected by the terminal to be located.
- the WiFi information can realize the indoor positioning process without installing a new device on the terminal to be positioned, saving the cost of indoor positioning and improving the ease of use of the indoor positioning method shown in this aspect.
- the indoor positioning method further includes:
- Step C01 the server calculates the first target sub-matching value Px by the following formula
- the environment information is WiFi information scanned by the to-be-positioned terminal in a target time period
- the server determines, at the server, a MAC address of any AP included in the environment information, and the first location If the MAC address of one AP included in the fingerprint is the same, step C01 is triggered.
- Step C02 The server calculates a matching value corresponding to the first area unit according to the following formula.
- the indoor positioning method further includes:
- Step C11 the server calculates the second target sub-matching value Py by the following formula
- the step C11 is triggered.
- Step C12 The server calculates a matching value corresponding to the first area unit according to the following formula
- the step C includes:
- Step C21 The server obtains a matching list.
- the matching list includes all the area units included in the positioning area, and all the area units included in the matching list are sorted in descending order of the matching values.
- Step C22 The server acquires, in the matching list, the location coordinates wi of the target location corresponding to any regional unit in the first N-bit regional unit.
- Step C23 the server calculates the first positioning position coordinate Dx by the following formula
- Step C24 The server determines that the positioning position coordinate is the first positioning position coordinate Dx.
- the server is based on the created environment fingerprint database. After the WiFi information is collected by the terminal to be located, the server may perform indoor positioning based on the WiFi information collected by the terminal to be located. Due to the creation of an environmental fingerprint library, the accuracy and efficiency of indoor positioning are improved.
- the target environment information includes the WiFi information and the sensor information, where the step A04 specifically includes:
- Step A31 The server determines that the target positioning fingerprint includes the first positioning fingerprint and the second positioning fingerprint, and the second positioning fingerprint is a positioning fingerprint of the hidden Markov model HMM acquired according to the sensor information.
- the implementation manner includes the following steps:
- Step E11 The server calculates a transition probability transitionP(STEP i ) of the first area unit by using a formula, where the transition probability transitionP(STEP i ) is used for training to obtain the second positioning fingerprint;
- the numerator is transferred to the i-th second area unit in a process of moving the kth step of the movement of the surveyor carrying the smart terminal in the first area unit, wherein the smart terminal is in the first The number of times the sensor information reported in the area unit is sampled, the second location area is a area unit adjacent to the first area unit in the location area, and the number of the second area unit is n And the n and the k are positive integers greater than or equal to 1, and the denominator is a process in which the smart terminal located in the first area unit moves to all the second area units, the smart terminal The total number of times the sensor information reported in the first area unit is sampled.
- the implementation manner includes the following steps:
- Step E21 The server calculates a target traveling direction matching degree azimuthMatch m in the first area unit according to the following formula, where the azimuthMatch m is a surveying personnel carrying the smart terminal in the first area unit, along a target traveling direction m a direction of travel matching when moving, the target traveling direction m being any direction in which the smart terminal moves within the first area unit;
- the minDiff is a deviation angle formed between any direction included in the target direction sequence midAzi and the target heading Azimuth
- the target heading Azimuth is a k-1 step step for the surveyor carrying the intelligent terminal a probability of moving into the first area unit, the target direction sequence midAzi including the target traveling direction and a target time period, wherein the target time period is that the smart terminal is within the first area unit a period of time during which the target travel direction moves;
- the server acquires the target geomagnetic information, and the target geomagnetic information is the k-th step of the movement of the surveying personnel carrying the smart terminal, and the smart terminal reports the sensor information in the first regional unit.
- the geomagnetic information included, the target geomagnetism information includes a first component value magE, a second component value magN, a third component value magU, and a geomagnetism precision value magVal, wherein the first component value magE is at a center coordinate In the ENU, along the X-direction component value parallel to the horizontal plane, the second component value magN is the Y-direction component value parallel to the horizontal plane under the ENU, and the third component value magU is under the ENU, perpendicular to the horizontal plane.
- the Z-direction vertical component value; the geomagnetic accuracy value magVal represents the measurement accuracy;
- Step E24 The server calculates an output probability matchValue(grld j ) of the first area unit according to the following formula
- grld j represents the first regional unit
- M represents the number of historical matching degrees of the first regional unit
- the target historical matching degree matchHistory m represents any historical matching degree of the M historical matching degrees.
- Step E25 The server creates a second positioning fingerprint that is a hidden Markov model HMM based on the transition probability of the first regional unit and the output probability.
- the data server shown in this embodiment may construct the second fingerprint library in the form of a search tree based on the output probability sequence and the transition probability sequence, wherein the server passes according to a process that the surveyor travels.
- the output probability and transition probability of any regional unit can construct a layer in the search tree, which further improves the accuracy and efficiency of positioning the terminal to be located.
- the implementation manner includes the following steps:
- Step F11 The server determines an area to be located.
- the coordinate of a position included in the to-be-positioned area is the first positioning position coordinate Dx, and the area of the to-be-positioned area is smaller than the area of the positioning area;
- Step F12 The server acquires a sequence of sensor information sent by the terminal to be located, where the sensor information sequence includes target sensor information and a target reporting time point, where the target sensor information is that the to-be-located terminal is in the to-be-positioned area, and reported Any one of the at least one sensor information, the target reporting time point is a time point at which the to-be-targeted terminal reports the target sensor information;
- Step F13 The server determines, according to the Viterbi algorithm, a set of positioning area units corresponding to the sensor information sequence and having different probability values, where the positioning area unit set includes the smart terminal moving process. Passing at least one area unit in order from the front to the back in the chronological order;
- Step F14 The server determines a second positioning position, where the second positioning position is the positioning area unit having the highest probability value, and is sorted at any position included in the last area unit;
- Step F15 The server determines that the positioning position coordinate is the second positioning position coordinate.
- the method for implementing the indoor positioning method by the server may include a first positioning phase and a second positioning phase, where the first positioning phase is referred to as “rough positioning” and the second positioning phase is referred to as “fine positioning”, ie,
- the first positioning phase shown in step F11
- an initial indoor location (first positioning location) of the object to be located is determined by a WiFi matching positioning technique, and the first positioning location is used as a center in the second positioning phase.
- Frame a to-be-positioned area in the shape of a circle, a positive direction, etc. and then use the geomagnetic matching technique to further calculate the precise position of the object to be positioned in the to-be-positioned area, thereby improving the speed and accuracy of the indoor positioning, and improving the HMM.
- the positioning service of the Viterbi algorithm can effectively reduce the complexity and calculation of geomagnetic matching, and improve the efficiency and accuracy of positioning the terminal to be positioned.
- the implementation manner includes the following steps:
- Step F21 The server uses the second positioning position coordinate as a starting position, and determines a movement trajectory of the to-be-positioned terminal at a future time according to the pedestrian dead reckoning PDR.
- the server can predict the movement trajectory of the user carrying the terminal to be located at a future time based on the second positioning position, and can provide the user with better efficiency and better accuracy based on the predicted movement trajectory.
- the indoor positioning service reduces the amount of calculations that the server provides to the indoor positioning service for users in the future.
- a second aspect of the embodiments of the present invention provides a server, including:
- a receiving unit configured to receive environment information that is sent by the terminal to be located in the location area, where the environment information is information detected by the terminal to be located, and when the location of the terminal to be located is different, the terminal to be located is The detected environmental information is different;
- An acquiring unit configured to acquire an environment fingerprint database corresponding to the positioning area, where the environment fingerprint database includes at least one positioning fingerprint, the positioning area includes at least one area unit, wherein the target positioning fingerprint corresponds to the first area unit,
- the target location fingerprint is one of the at least one location fingerprint, the first area unit is one of the at least one area unit, and the target location fingerprint includes target environment information and target location information.
- the target environment information is environment information that is sent to the smart terminal in the first area unit, where the target location information is sent by the ultra-wideband UWB positioning system to instruct the smart terminal to send the target environment information.
- Position coordinates is environment information that is sent to the smart terminal in the first area unit, where the target location information is sent by the ultra-wideband UWB positioning system to instruct the smart terminal to send the target environment information.
- a matching unit configured to acquire a positioning location coordinate corresponding to the environment information in the environment fingerprint database, where the positioning location coordinate is a location coordinate of the terminal to be located in the positioning area.
- the server shown in this aspect is used to perform the indoor positioning method shown in the first aspect, and the specific execution process and the description of the beneficial effects are shown in the above first aspect, and details are not described herein.
- the acquiring unit includes:
- a first acquiring module configured to acquire, in a process of moving the smart terminal in the positioning area, all environments scanned by the smart terminal in the preset period reported by the smart terminal every preset period Information and all location information reported by the UWB positioning system, wherein one of the location information is used to indicate location coordinates when the smart terminal sends one of the environmental information, the environmental information Included with wireless fidelity WiFi information and/or sensor information, the WiFi information including a media medium control MAC address and received signal strength indicator RSSI data of each wireless network access point AP scanned by the smart terminal, the sensor information Information collected by the sensor of the smart terminal;
- a first processing module configured to determine target location information according to all the location information reported by the UWB positioning system, where location coordinates indicated by the target location information are located in the first regional unit;
- a second processing module configured to determine target environment information according to the all the environment information reported by the smart terminal, where the target environment information is environment information reported by the smart terminal in the first area unit;
- a third processing module configured to determine that the target positioning fingerprint is a positioning fingerprint that includes the target location information and the target environment information.
- the target environment information includes the WiFi information
- the third processing module includes:
- a first calculation submodule configured to count the total number of samples of all APs scanned by the smart terminal in the first area unit And a sampling number N i of the first target AP, where the first target AP is the i-th AP scanned by the smart terminal in the first area unit, and the first area unit is The number of APs scanned by the smart terminal is n, the i and the n are positive integers greater than or equal to 1, and the i is less than or equal to the n;
- a second calculation submodule configured to calculate an occurrence probability of the first target AP, chanceP(MAC i ), by using the following formula;
- a first determining submodule configured to determine that the target positioning fingerprint includes a first positioning fingerprint, where the first positioning fingerprint includes an appearance probability earthquake(MAC i ) of the first target AP.
- the third processing module includes:
- a first acquisition sub-module configured to acquire a target RSSI sequence of the first target AP, where the target RSSI sequence includes an RSSI scanned by the first target AP by the smart terminal;
- a third calculation submodule configured to calculate a probability density function Norm (RSSI) of a single target Gaussian distribution model GSM according to the following formula;
- the ⁇ is the mean of the target RSSI sequence, and ⁇ is the standard deviation of the target RSSI sequence;
- a fourth calculation submodule configured to calculate a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP according to the following formula;
- ⁇ k is a preset weighting coefficient, and the K is a positive integer greater than or equal to 1;
- a second determining submodule configured to determine that the first positioning fingerprint includes a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP.
- RSSI Gaussian mixture distribution function
- the third processing module includes:
- a third determining submodule configured to determine a location coordinate of the target location, where the target location is located at any location within the first regional unit;
- a fourth determining submodule configured to determine that the first positioning fingerprint includes location coordinates of the target location.
- the environment information is the WiFi information scanned by the to-be-positioned terminal within a target time period
- the server also includes:
- a first calculating unit configured to: if the MAC address of any AP included in the environment information is the same as the MAC address of an AP included in the first positioning fingerprint, calculate the first target sub-match value Px by using the following formula ;
- a second calculating unit configured to calculate a matching value corresponding to the first area unit according to the following formula
- the server further includes:
- a third calculating unit configured to: if the MAC address of any AP included in the environment information is different from the MAC address of any AP included in the first positioning fingerprint, calculate the second target by using the following formula Matching value Py;
- a fourth calculating unit configured to calculate a matching value corresponding to the first area unit according to the following formula
- the matching unit includes:
- a second obtaining module configured to obtain a matching list, where the matching list includes all the regional units included in the positioning area, and all the regional units included in the matching list are in descending order of the matching value put in order;
- a third obtaining module configured to acquire, in the matching list, a position coordinate wi of the target position corresponding to any one of the regional units in the first N-bit area unit;
- a fourth obtaining module configured to calculate a first positioning position coordinate Dx by the following formula
- a determining module configured to determine that the positioning position coordinate is the first positioning position coordinate Dx.
- the target environment information includes the WiFi information and the sensor information
- the third processing module further And determining, by the target positioning fingerprint, the first positioning fingerprint and the second positioning fingerprint, wherein the second positioning fingerprint is a positioning fingerprint of the hidden Markov model HMM acquired according to the sensor information.
- the server further includes:
- a fifth calculating unit configured to calculate a transition probability transitionP(STEP i ) of the first area unit by using a formula, the transition probability transitionP(STEP i ) is used for training to obtain the second positioning fingerprint;
- the numerator is transferred to the i-th second area unit in a process of moving the kth step of the movement of the surveyor carrying the smart terminal in the first area unit, wherein the smart terminal is in the first The number of times the sensor information reported in the area unit is sampled, the second location area is a area unit adjacent to the first area unit in the location area, and the number of the second area unit is n And the n and the k are positive integers greater than or equal to 1, and the denominator is a process in which the smart terminal located in the first area unit moves to all the second area units, the smart terminal The total number of times the sensor information reported in the first area unit is sampled.
- the server further includes:
- a sixth calculating unit configured to calculate a target traveling direction matching degree azimuthMatch m in the first area unit according to the following formula, wherein the azimuthMatch m is a surveying personnel carrying the smart terminal in the first area unit, along the target a traveling direction matching degree when the traveling direction m is moved, wherein the target traveling direction m is any direction in which the smart terminal moves in the first area unit;
- the minDiff is a deviation angle formed between any direction included in the target direction sequence midAzi and the target heading Azimuth
- the target heading Azimuth is a k-1 step step for the surveyor carrying the intelligent terminal a probability of moving into the first area unit, the target direction sequence midAzi including the target traveling direction and a target time period, wherein the target time period is that the smart terminal is within the first area unit a period of time during which the target travel direction moves;
- a first processing unit configured to acquire target geomagnetic information, wherein the target geomagnetic information is in a process of moving the kth step of the surveying personnel of the smart terminal, where the smart terminal is located in the first regional unit And reporting the geomagnetism information included in the sensor information, the target geomagnetism information including a first component value magE, a second component value magN, a third component value magU, and a geomagnetism precision value magVal, wherein the first component value magE is In the center coordinate system ENU, along the X-direction component value parallel to the horizontal plane, the second component value magN is a value of the Y-direction component parallel to the horizontal plane under the ENU, and the third component value magU is under the ENU. a vertical component value in the Z direction perpendicular to the horizontal plane; the geomagnetic accuracy value magVal represents the measurement accuracy;
- a third processing unit configured to calculate, by using the following formula, a target history matching degree matchHistory m corresponding to the target traveling direction in the first area unit;
- a fourth processing unit configured to calculate an output probability matchValue(grld j ) of the first area unit according to the following formula
- grld j represents the first regional unit
- M represents the number of historical matching degrees of the first regional unit
- the target historical matching degree matchHistory m represents any historical matching degree of the M historical matching degrees.
- a fifth processing unit configured to create a second positioning fingerprint that is a hidden Markov model HMM based on the transition probability of the first regional unit and the output probability.
- the matching unit further includes:
- a first determining module configured to determine an area to be located, where a coordinate of a position included in the to-be-positioned area is the first positioning position coordinate Dx, and an area of the to-be-positioned area is smaller than an area of the positioning area;
- a second determining module configured to acquire a sequence of sensor information sent by the terminal to be located, where the sensor information sequence includes target sensor information and a target reporting time point, where the target sensor information is that the terminal to be located is in the to-be-positioned area And any one of the reported at least one sensor information, where the target reporting time point is a time point at which the to-be-targeted terminal reports the target sensor information;
- a third determining module configured to determine, according to a Viterbi algorithm, a set of positioning area units corresponding to the sensor information sequence and having different probability values, where the positioning area unit set includes the smart During the moving of the terminal, at least one area unit passes through the chronological order in order from the front to the back;
- a fourth determining module configured to determine a second positioning position, where the second positioning position is the positioning area unit having the highest probability value, and is sorted at any position included in the last area unit;
- a fifth determining module configured to determine that the positioning position coordinate is the second positioning position coordinate.
- the server further includes:
- a prediction unit configured to use the second positioning position coordinate as a starting position, and determine, according to the pedestrian dead reckoning PDR, a movement trajectory of the to-be-positioned terminal at a future time.
- a third aspect of the embodiments of the present invention provides a positioning system, including a server, a terminal to be located, an intelligent terminal, and an ultra-wideband UWB positioning system.
- the server is not shown in the second embodiment of the present invention.
- the to-be-located terminal is used to send the environment information to the server in the location area, where the environment information is the information detected by the terminal to be located, and the location to be located is different when the location of the to-be-located terminal is different.
- the environmental information detected by the terminal is different;
- the server is configured to acquire an environment fingerprint database corresponding to the location area, where the environment fingerprint database includes at least one location fingerprint, the location area includes at least one area unit, where the target location fingerprint corresponds to the first area unit, The target location fingerprint is one of the at least one location fingerprint, the first area unit is one of the at least one area unit, and the target location fingerprint includes target environment information and target location information.
- the target environment information is environment information that is sent to the smart terminal in the first area unit, where the target location information is sent by the UWB positioning system to instruct the smart terminal to send the target. Position coordinates when environmental information;
- the server is further configured to acquire, in the environment fingerprint database, location location coordinates corresponding to the environment information, where the location location coordinates are location coordinates of the to-be-positioned terminal in the location area.
- a fourth aspect of the embodiments of the present invention provides a server, including:
- processors One or more processors, memories, bus systems, and one or more programs, the processors and the memory being coupled by the bus system;
- the one or more programs are stored in the memory, the one or more programs comprising instructions that, when executed by the server, cause the server to perform the first aspect of the embodiments of the present invention as described above.
- the specific implementation process will not be described.
- a fifth aspect of an embodiment of the present invention provides a computer readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by a server, cause the server to execute as described above
- the method for indoor positioning shown in the first aspect of the present invention is not described in detail.
- the embodiment of the invention provides a method, a server and a positioning system for indoor positioning.
- the server receives the environment information sent by the terminal to be located in the positioning area, and the server may also acquire the corresponding area corresponding to the positioning area.
- An environmental fingerprint database the environment fingerprint database includes at least one target positioning fingerprint, the target positioning fingerprint includes target environment information and target location information, and the server acquires positioning location coordinates corresponding to the environment information in the environment fingerprint database.
- the positioning position coordinate is a position coordinate of the to-be-positioned terminal in the positioning area.
- the reference area does not need to be calibrated in advance, and the surveying personnel carry the intelligent terminal and the UWB positioning terminal can walk freely in the positioning area, and the speed, posture and walking trajectory of the surveying personnel are not
- the requirements are reduced, thereby reducing the implementation difficulty of the indoor positioning method shown in this embodiment, improving the ease of use of the indoor positioning method, and in the process of creating the environmental fingerprint database, the server can simultaneously obtain the environmental information.
- the environmental fingerprint library provides the accuracy of the positioning service to the positioning terminal.
- FIG. 1 is a schematic structural view of an embodiment of a positioning system provided by the present invention.
- FIG. 2 is a flow chart of steps of an embodiment of an indoor positioning method provided by the present invention.
- FIG. 3 is a flow chart of steps of another embodiment of an indoor positioning method provided by the present invention.
- FIG. 4 is a flow chart showing steps of another embodiment of the indoor positioning method provided by the present invention.
- FIG. 5 is a flow chart showing steps of another embodiment of an indoor positioning method according to the present invention.
- FIG. 6 is a schematic diagram of an application scenario of an indoor positioning method according to the present invention.
- FIG. 7 is a schematic diagram of another application scenario of the indoor positioning method provided by the present invention.
- Figure 8 is a schematic diagram of a sigmoid function
- FIG. 9 is a flow chart of steps of another embodiment of an indoor positioning method provided by the present invention.
- FIG. 10 is a schematic diagram of another application scenario of the indoor positioning method provided by the present invention.
- FIG. 11 is a schematic structural diagram of an embodiment of a server provided by the present invention.
- FIG. 12 is a schematic structural diagram of another embodiment of a server provided by the present invention.
- FIG. 13 is a schematic structural diagram of another embodiment of a server provided by the present invention.
- GPS-like technologies can usually have the following types:
- Radio frequency positioning radio frequency is an electromagnetic wave with a certain wavelength.
- Radio frequency identification utilizes the transmission characteristics of inductance and electromagnetic coupling or radar reflection to realize automatic recognition of objects.
- the positioning system usually consists of electronic tags, RF readers, middleware and computer databases; real-time positioning is not possible, positioning accuracy is low, and anti-interference ability is poor.
- the positioning system consists of a main range finder and several electronic tags.
- the main range finder is placed on the mobile robot, and the electronic tag is placed in a fixed position in the indoor space. .
- the positioning process is as follows: the main range finder sends the same frequency signal to each electronic tag, and the electronic tag receives the signal and then reflects and transmits it to the main range finder, thereby determining the distance between each electronic tag and the main range finder. coordinate.
- the positioning accuracy can reach centimeter level, and the defect is that the ultrasonic wave attenuates significantly during the transmission process and affects the effective range of its positioning.
- infrared positioning is an electromagnetic wave with a wavelength between radio waves and visible light, so that the object to be tested is attached with an electronic identification, and the identification is periodically sent to the infrared receiver fixedly placed indoors by the infrared transmitter. The object's ID is measured and the receiver transmits the data to the database over a wired network.
- the positioning accuracy is 5 to 10 meters.
- the defect is that the infrared light is easily blocked by the object or the wall during the transmission process, and the transmission distance is short, the system structure is complicated, and the effectiveness and practicability are insufficient.
- the positioning system passes through a number of blind nodes to be located and a reference node of a known location and a gateway network, and the blind nodes coordinate and communicate with each other to achieve positioning.
- Signal transmission is greatly affected by multipath effects and motion, and the positioning accuracy depends on the channel physical quality, signal source density, environment and algorithm accuracy, resulting in higher cost of positioning software.
- iBeacon positioning is a 2.4G radio frequency technology based on low-power Bluetooth technology, model ranging positioning according to RF field strength with distance attenuation.
- the propagation of RF signals is susceptible to environmental interference and is unstable, with a positioning accuracy of 3 meters.
- UWB Ultra Wide Band
- UWB uses a very short time interval (less than 1 nanosecond), 1GHz or more bandwidth for communication, no carrier, also known as pulse radio communication.
- UWB can achieve data transmission rates of hundreds of Mbps to several Gbps in a range of 10 meters by transmitting extremely low power signals over a wide spectrum. It has strong anti-interference, high transmission rate, wide bandwidth, and transmission power. Small and many other advantages.
- the positioning tag carried by the positioning personnel is freely movable in the reachable area included in the positioning base station, and the tag transmits a pulse signal to the positioning base station according to a certain frequency, and the positioning tag is calculated by the TDOA algorithm.
- the location, the positioning base station returns the result to the location server.
- Each tag has a unique ID that associates the object (or person) to be located with the tag by ID, supporting thousands of tags to be positioned simultaneously.
- manual surveying is the basis and premise of fingerprint matching and positioning, and this part requires a lot of manpower and time cost.
- the traditional manual survey method is to mark the reference point in the indoor positioning area in advance, and the surveying personnel carry the intelligent terminal to stay at each reference point for a period of time to collect environmental information.
- the reference line is marked in the indoor positioning area in advance, and the surveying personnel carry the intelligent terminal to move around on each reference line to collect environmental information. This method is time consuming and laborious, because the size of the positioning area, the density of the reference point, and the acquisition time of each reference point determine the workload of the survey task and the accuracy of the positioning.
- this method can only collect the environmental information of the surveyor at the reference point stationary state or the reference line moving at a constant speed.
- the requirements of the surveyer's motion mode are relatively high, and the environmental information under the free motion state cannot be collected.
- Position-related behavioral modes (such as walking speed, heading direction, turning information, etc.);
- the traditional fingerprint matching positioning method relies on manual site survey to construct a fingerprint database, that is, a professional engineering personnel is arranged to carry professional equipment to the site to carry out professional position measurement and environmental data collection work, for each piece of positioning area, It takes a period of time to survey each of these reference locations, which is time consuming, financial and manpower. Therefore, no matter what kind of signal fingerprint is used, manual surveying is once the most difficult task of fingerprint matching and positioning, and it is also the biggest bottleneck that hinders the actual promotion of fingerprint positioning.
- Fingerprint matching positioning technology can include the following:
- Geomagnetic localization, particle filtering is one of the most commonly used algorithms in geolocation matching based on geomagnetic matching. It is used to solve geomagnetic fingerprint discrimination, sensor deviation and noise, and improve positioning accuracy. .
- particle filtering is susceptible to user behavior models (such as walking speed) on the one hand, and positioning errors usually accumulate over time. Once lost, it is difficult to keep up, the system is not robust; on the other hand, the algorithm usually has very strict restrictions on the posture of the mobile phone. For example, the direction of the mobile phone must always be consistent with the user's heading direction, and there is no universality.
- the collected environmental information includes a MAC address of a wireless network access point (AP) and a received signal strength indication (RSSI) value.
- RSSI received signal strength indication
- the fingerprint database is established according to the method, and the received AP is matched with the fingerprint in the database to obtain a most suitable location.
- Commonly used matching algorithms include nearest neighbor (NN), k nearest neighbor (KNN), weighted k nearest neighbor (WKNN), and neural network.
- the environmental data information in the embodiment of the present application includes Bluetooth, a base station, a GPS, a sensor detected data, and WiFi information, wherein the sensor includes an accelerometer, a gravity sensor, a gyroscope, a magnetometer, a direction sensor, a pedometer, and the like. At least one of them may be used separately or in combination depending on the data used for the fingerprint.
- FIG. 1 is a schematic structural diagram of a positioning system applied to an indoor positioning method according to an embodiment of the present application. As shown in FIG. 1 , the implementation is as shown in FIG. 1 .
- the positioning system shown in the example includes a smart terminal 101, a UWB positioning system, and an environmental data server 104, wherein the UWB positioning system includes a UWB positioning terminal 102 and a positioning base station 103.
- the smart terminal 101 shown in this embodiment refers to a type of embedded computer system device capable of intelligently sensing, storing, and processing environment information, and generally refers to a smart phone, a tablet, and the like.
- the environment information shown in this embodiment refers to environment data information that can be used by the smart terminal 101, including Bluetooth, base station, WiFi, GPS, data detected by sensors of the smart terminal 101, and the like.
- the sensor of the smart terminal 101 includes an accelerometer, a gravity sensor, a gyroscope, a magnetometer, a direction sensor, a pedometer, and the like, and the smart terminal 101 can report the collected environment information to the environment data server 104.
- the UWB positioning terminal 102 is a UWB positioning tag fixed on the object or on the body of the surveying person, and has a unique ID.
- the surveying personnel carry the positioning tag to walk at a normal speed in the reachable area in the positioning area.
- the type of the UWB positioning terminal 102 is not limited.
- the type of the UWB positioning terminal 102 can be a card type, a wristband type, a helmet type, etc.;
- the surveying personnel of the UWB positioning terminal 102 walk at a normal speed in the reachable area in the positioning area, the positioning base station 103 calculates the position of the positioning terminal 102 in real time, and the positioning base station 103 can go to the environmental data server at a fixed period.
- the location information of the UWB positioning terminal 102 is reported, and the location information includes, but is not limited to, a timestamp and a current coordinate, etc., wherein the fixed period may be set by a staff member, for example, the fixed period may be 100 milliseconds. 1 second, 3 seconds, etc., in the embodiment, the fixed period is 100 milliseconds as an example for exemplary description.
- the number of servers that execute the environment data server 104 is not limited.
- the embodiment may implement the function of the environment data server 104 by using at least one server.
- the present application can implement an indoor positioning method.
- the specific implementation process of the indoor positioning method provided by the present application is described below with reference to FIG. 2 :
- Step 201 The intelligent terminal sends the collected environment information to the environmental data server.
- Step 202 The UWB positioning system sends the collected location information to the environmental data server.
- step 201 and step 202 shown in this embodiment are performed simultaneously.
- the survey personnel can carry the intelligent terminal and the UWB positioning terminal at the same time, and the survey personnel continuously in the positioning area.
- the trajectory, speed, direction, and manner of carrying the smart terminal of the surveying personnel are not limited in this embodiment, as long as the moving trajectory of the surveying personnel satisfies the preset condition.
- the preset condition shown in this embodiment is that the trajectory of the surveying personnel covers the area that all surveyors in the positioning area can reach, and the number of times covered by all the reachable surveyors is greater than or equal to the preset number of times. This embodiment is exemplified by taking the preset number of times as two examples.
- the smart terminal and the UWB positioning terminal are located at the same position at the same time during the walking of the surveying personnel in the positioning area.
- the UWB positioning terminal is a UWB positioning tag fixed on the object or on the body of the surveying person, and has a unique ID, and the surveying personnel carries the positioning tag to walk at a normal speed in the reachable area in the positioning area.
- the type of the setting of the UWB positioning terminal is not limited in this embodiment.
- the type of the UWB positioning terminal may be a card type, a wristband type, a helmet type, etc.; and the UWB positioning terminal is carried. The surveying personnel walks at a normal speed in the reachable area in the positioning area.
- the UWB positioning terminal transmits a pulse signal to the positioning base station according to a certain frequency, and the positioning base station calculates the UWB positioning in real time through the time difference of arrival (TDOA) algorithm.
- TDOA time difference of arrival
- the positioning base station may report the location information of the UWB positioning terminal to the environmental data server according to a fixed period, where the location information includes, but is not limited to, a time stamp and a location coordinate, etc., wherein the fixed period It can be set by a staff member, for example, the fixed period can be 100 milliseconds, 1 second, 3 seconds, etc., this embodiment The example is described by taking the fixed period as 100 milliseconds as an example.
- the environment information shown in this embodiment is that the smart terminal can be perceived by the smart terminal in the process of moving the positioning area, and the surveying personnel carrying the smart terminal move to the When the location of the location is different, the environment information detected by the smart terminal is different.
- the environment information in this embodiment includes Bluetooth, a base station, a GPS, a WiFi, and data collected by some sensors, where the sensor includes an acceleration. Meters, gravity sensors, gyroscopes, magnetometers, direction sensors, pedometers, etc.
- Step 203 The environment data server receives the environment information and the location information.
- Step 204 The environment data server creates an environment fingerprint database.
- the environment data server is configured to create the environment fingerprint database, and the environment data server needs to obtain all environment information sent by the smart terminal in the location area, and the environment data server further needs Acquiring all the location information sent by the UWB positioning terminal in the positioning area, the environment data server may create an environment fingerprint database according to all the environment information and all the location information that have been obtained, wherein The location information and the location information are mutually corresponding information, and the location information is used to indicate location coordinates in the location area when the smart terminal sends the corresponding environment information.
- the positioning area shown in this embodiment is located on the 15th floor of the A building as an example.
- the environment data server is summarized in the 15th floor of the A building. All the environmental information received and all the location information, so that the environmental data server creates an environmental fingerprint database corresponding to the 15th floor (ie, the positioning area) of the A building according to all the environmental data and the location information.
- the environment data server shown in this embodiment is to create the environment fingerprint database, and the environment data server first needs to acquire when the time system of the smart terminal and the time system of the UWB positioning terminal are synchronized. a correspondence between the target environment information and the target position coordinates, wherein the target position coordinate is a coordinate of the target position in the positioning area, and the target position is any position in the positioning area, specifically,
- the environment information reported by the smart terminal to the environmental data server at the target location is the target environment information
- the UWB positioning terminal reports the target location coordinates to the environmental data at the target location a server, such that the environment data server obtains the correspondence between the target environment information and the target location coordinates.
- the environmental data is The server can directly obtain the correspondence between the target environment information and the target location coordinates according to the environment information reported by the smart terminal and the location information reported by the UWB positioning system.
- the smart terminal periodically reports the environmental information to the environmental data server
- the UWB positioning terminal periodically reports the location information to the environmental data server
- the smart information How the environment data server creates the target environment information when the period in which the terminal reports the environment information to the environment data server and the period in which the UWB positioning terminal reports the location information to the environment data server is different
- the specific process of the correspondence of the coordinates of the target position is explained:
- the first period in which the smart terminal reports the environmental information to the environmental data server is 10 milliseconds
- the second period in which the UWB positioning terminal reports the location information to the environmental data server is 100 milliseconds.
- the environmental data server needs to acquire the position coordinates of the first period in the second period, that is, the environment data server needs to acquire the position coordinates of each 10 milliseconds in each 100 milliseconds.
- the obtaining manner is that the environment data server receives the location coordinates reported by the UWB positioning terminal at the end time of the second period, and the environment data server connects the UWB positioning terminal to the end time of the second period.
- the smart terminal is The environmental information reported in each first cycle and the corresponding position coordinates.
- the environment data server may create an environment fingerprint database. Specifically, the environment data server creates the In the environmental fingerprint database, the environment data server needs to divide the positioning area in advance, so that the divided positioning area includes X*Y area units, and each of the area units corresponds to one positioning fingerprint. All the positioning fingerprints corresponding to the area unit constitute the environmental fingerprint library.
- the size of the area unit can be set, for example 0.3 m by 0.3 m, 1 m by 1 m, 1 m 5 by 1 m 5, 2 m by 2 m, 2 m by 3 m and 3 m by 3 m
- the environment data server can be flexibly set according to the requirements of the positioning accuracy, which is not limited in this embodiment, and the accuracy of the positioning shown in this embodiment is inversely proportional to the size of the area unit.
- the positioning area is divided into X*Y area units, and the area unit is the smallest unit of division; then, for each area unit, one positioning fingerprint is corresponding, and the following describes the creation process of the environment fingerprint library:
- the first location fingerprint corresponding to the first area unit is used as an example, wherein the first area unit is any one of the plurality of area units included in the location area, and the The first positioning fingerprint is a positioning fingerprint corresponding to the first area unit in the environmental fingerprint database.
- the location fingerprint corresponding to the first area unit refers to the first environment information and the first location coordinates corresponding to the first environment information.
- the environment data server is configured according to the determined target environment information and Corresponding relationship of the target position coordinates, the first environment information corresponding to the first position coordinate is determined, wherein the first position coordinate is carried by the surveyor when the surveyor moves to the inside of the first area unit.
- the location information included in the location information reported by the UWB positioning terminal, and the first environment information is environment information reported by the smart terminal carried by the surveyor when the surveyor moves to the first location coordinate.
- the environment data server shown in this embodiment can provide a location service to the to-be-located terminal located in the location area based on the created environment fingerprint database, and the environment fingerprint database creation process shown in this embodiment is used.
- the advantage is that the positioning area does not need to be calibrated in advance, and the surveying personnel carry the intelligent terminal and the UWB positioning terminal can walk freely in the positioning area, and the speed, posture and walking trajectory of the surveying personnel are not required, thereby reducing the requirement.
- the difficulty of implementing the indoor positioning method shown in this embodiment improves the ease of use of the indoor positioning method, and in the process of creating the environmental fingerprint database, the environmental data server can simultaneously acquire the environmental information and the The location information is such that the environmental data server can directly calibrate the actual location of the location area based on the location information, thereby realizing synchronous calibration of the environment information and the actual location, thereby greatly reducing the labor and time cost of creating an environment fingerprint database. And improve the accuracy of the environmental fingerprint library to provide positioning services to the positioning terminal
- the environment fingerprint library includes a first fingerprint database.
- the specific process of creating the first fingerprint database is described in detail below with reference to FIG. 3:
- Step 301 The intelligent terminal sends the collected environmental information to the environmental data server.
- the environment information shown in this embodiment is the WiFi information collected by the smart terminal.
- the environment information is exemplified as the WiFi information.
- the WiFi information may also be The Bluetooth information and the like are not limited in this embodiment.
- the smart terminal may collect and report the WiFi information of the indoor environment according to the WiFi scanning period of the smart terminal, where the WiFi information refers to the smart terminal moving in the positioning area.
- the smart terminal scans the AP data list, and the AP data list includes the AP data scanned in one or more scan cycles, and each AP data scans the AP's MAC address and RSSI data for the smart terminal.
- the MAC address and the RSSI data are reported once every other WIFI scan period, and the period may be, for example, 2.3 seconds.
- Each AP has a unique MAC address.
- the RSSI data varies according to the distance from the AP and whether there is an obstacle between the distances. It should be noted that the WiFi information obtained in one scanning cycle can be represented by the following two groups:
- n is the number of APs scanned in the period, and depends on the distribution of the current location AP of the smart terminal and the WiFi scanning mechanism of the smart terminal, and the RSSI indicates the signal strength of any AP scanned by the smart terminal.
- Step 302 The UWB positioning system sends the collected location information to the environmental data server.
- step 302 For the specific implementation process of the step 302 shown in this embodiment, please refer to the step 202 shown in FIG. 2, which is not specifically described in this embodiment.
- Step 303 The environment data server receives the environment information and the location information.
- Step 304 The environment data server creates a first fingerprint database.
- the environment data server may collect the collected WiFi information, and the environment data server counts, in a first area unit, a total number of sampling times of all APs and each AP in the first area unit.
- the number of times of sampling, the number of times of sampling of each AP is represented by N i , so that the probability of occurrence of each AP can be counted, since the MAC address can uniquely identify an AP, and thus belongs to any AP in the first area unit.
- the probability of occurrence can be calculated by the following formula (1):
- the occurrence P (MAC i ) indicates the probability of occurrence of the AP having the MAC address MAC i in the first area unit, and the denominator in the formula is the total of all the collected APs in the first area unit. frequency.
- the first positioning fingerprint shown in this embodiment includes an appearance probability (MAC i ) of any AP included in the first area unit.
- the first positioning fingerprint further includes the A Gaussian mixture distribution function gmNorm (RSSI) of the RSSI sequence possessed by any of the APs included in the first area unit.
- RSSI A Gaussian mixture distribution function gmNorm
- RSSI Gaussian mixture distribution function
- the RSSI sequence of any AP in the first area unit is an RSSI sequence that is sampled by the AP in a preset time period and includes at least one RSSI; for the RSSI sequence, it can be regarded as a hybrid.
- Gaussian model which is composed of K single gaussian single model (GSM) linear, each GSM is called a component in the mixed Gaussian model. Therefore, the RSSI value in the RSSI sequence of an AP obeys the following probability distribution function (PDF), that is, the Gaussian mixture distribution function gmNorm (RSSI) satisfies the following formula (2):
- ⁇ k is a weighting coefficient, indicating the probability of selecting the Kth GSM, the probability can be calculated according to the expectation maximization (EM) algorithm;
- the Kth GSM Norm (RSSI) is the probability of the Kth GSM
- the density function that is, the Gaussian mixture distribution function gmNorm (RSSI) is obtained by multiplying K norm (RSSI) by respective weighting coefficients and accumulating them.
- ⁇ is the mean of the RSSI sequence and ⁇ is the standard deviation of the RSSI sequence.
- the first positioning fingerprint shown in this embodiment includes a probability P (PerformanceP(MAC i ) of any AP included in the first area unit, and a Gaussian mixture distribution function gmNorm (RSSI) of an RSSI sequence of any AP.
- the first positioning fingerprint further includes actual position coordinates of the first area unit.
- the actual position coordinate of the first area unit may be an actual position coordinate of a positive center of the first area unit in a GPS coordinate system.
- the actual location coordinates of the first area unit are not necessarily in the center of the first area unit, and the actual location coordinates of each area unit may be according to the AP set corresponding to the first area unit.
- the RSSI sequence of each of the APs is calculated, wherein the AP set corresponding to the first area unit includes all APs detected during the movement of the smart terminal in the first area unit, Since the RSSI is characterized by the closer the distance, the stronger the signal, the farther the distance is, the weaker the signal is, and the actual position of each AP is fixed, so it can be based on the RSSI sequence corresponding to each AP in the AP set.
- the actual location is estimated such that the RSSI sequence corresponding to each AP in the AP set is obtained from the actual location measurement.
- the environment data server obtains the location information reported by the UWB positioning system, where the smart terminal is in the first Each time the location coordinates of the environment information are reported in the area unit, the environment data server may calculate an average value of all position coordinates reported by the smart terminal in the first area unit as the first area unit. Actual location.
- the environment data server shown in this embodiment may also be determined in the first area unit.
- the target location where the target location is any location within the first regional unit, the environmental data server may determine that the location coordinate of the target location is the actual location coordinate of the first regional unit.
- the positioning area shown in this embodiment is located on the 15th floor of the A building, for example, in units of 15 floors, the environmental data server summarizes all the WiFi received on the 15th floor of the A building.
- the information and all the location information further cause the environmental data server to create a first fingerprint library corresponding to the 15th floor (ie, the location area) of the A building based on all the WiFi information and the location information.
- Step 401 The terminal to be located sends the target WiFi information to the positioning engine.
- the positioning engine shown in this embodiment may be operated by a positioning engine capable of performing positioning services on the terminal to be located.
- the positioning engine shown in this embodiment may be run on the environment data server shown in the foregoing embodiment, or may be operated. On a server different from the environment data server, in a case where the positioning engine runs on a server different from the environment data server, the positioning engine may receive an environmental fingerprint created by the environment data server. Library.
- the to-be-located terminal that needs to perform the positioning service may send the target WiFi information collected in units of the scanning period to the environmental data server.
- the positioning engine shown in this embodiment may be used for the terminal to be located.
- the current location is positioned.
- the target WiFi information shown in this embodiment is the WiFi information collected by the terminal to be located in the target time period.
- the target WiFi information shown in this embodiment is information for performing indoor positioning, and the specific collection process of the target WiFi information is shown in the foregoing embodiment, and details are not described herein.
- the terminal to be located transmits the WiFi information collected in the target time period to the positioning engine, and the end time point of the target time segment shown in this embodiment is the target to be sent by the terminal to be located.
- the start time period of the target time period is any time point before the time when the target WiFi information is transmitted, that is, the duration of the target time period is not limited in this embodiment.
- Step 402 The positioning engine receives the target WiFi information.
- the positioning engine may receive the target WiFi information, and locate the to-be-located terminal according to the target WiFi information.
- Step 403 The positioning engine calculates a target matching value of the positioning area unit.
- the environment data server shown in this embodiment can create a first fingerprint database corresponding to different floors, and the positioning engine shown in this embodiment can pass the building.
- the identification module determines a specific target floor in the building where the terminal to be located is located. If the positioning area shown in this embodiment is located in the target floor, the positioning engine can dynamically load the location corresponding to the target floor.
- the first fingerprint database is described to achieve positioning of the terminal to be located.
- the first fingerprint database created by the environment data server is a fingerprint database corresponding to the 15th floor of the A building, and the positioning engine shown in this embodiment is identified.
- the positioning engine can dynamically load the first fingerprint library corresponding to the 15th floor of the A building.
- the positioning engine may match the target WiFi information with the first fingerprint database that the positioning engine has created.
- the specific process of the matching of the target WiFi information with the first fingerprint database is described in the following steps.
- the specific description of the first fingerprint database is shown in the embodiment shown in FIG. 3 . Specifically, it will not be described in detail in this embodiment.
- the positioning area unit shown in this embodiment is any one of the plurality of area units included in the positioning area.
- the specific process of calculating the target matching value by the positioning engine is described in detail below:
- the positioning engine shown in this embodiment needs to determine whether the MAC address of the AP included in the target WiFi information is the same as the MAC address of one of the plurality of APs corresponding to the location area unit in the first fingerprint database. the same;
- the positioning engine may calculate the target matching value by using a first matching value algorithm, and if not, the positioning engine may calculate the target matching value by using a second matching value algorithm.
- the positioning engine acquires an appearance probabilityoc (MAC i ) of any AP in the positioning area unit, a Gaussian mixture distribution function gmNorm (RSSI) of the RSSI sequence, and an actual location of the positioning area unit, and specifically acquires
- MAC i appearance probabilityoc
- RSSI Gaussian mixture distribution function gmNorm
- the positioning engine may calculate the target matching value Pa of the positioning area unit based on the formula (4) shown below;
- the Px is a first target sub-matching value
- the first target sub-matching value is a sub-matching value of any one of the plurality of APs detected by the to-be-located terminal in the positioning area unit, where n is The total number of APs detected by the smart terminal in the location area unit.
- the target matching value Pa of the positioning area unit shown in this embodiment is the sum of the sub-matching values of all APs corresponding to the positioning area unit.
- the positioning engine may calculate the first target sub-matching value Px by formula (5);
- the MAC i is a surveying phase
- the second target AP is a surveying phase
- the occurrenceence P (MAC i ) is an appearance probability of the second target AP
- the gmNorm (RSSI) is a Gaussian mixture distribution function obeyed by the RSSI sequence of the second target AP, the occurrenceP(MAC i ) and the
- RSSI For the specific acquisition process of the gmNorm (RSSI), please refer to the embodiment shown in FIG. 3, which is not specifically described in this embodiment.
- the positioning engine shown in this embodiment may multiply the occurrence probabilityocenceP(MAC i ) of the second target AP by the mixed Gaussian distribution function gmNorm (RSSI) obeyed by the RSSI sequence of the second target AP,
- RSSI mixed Gaussian distribution function
- the product takes a base 10 logarithm to obtain the first target submatch value.
- the positioning engine may calculate the target matching value Pb of the positioning area unit based on the formula (6) shown below;
- Py is a second target sub-matching value
- the second target sub-matching value is a sub-matching value of any one of the plurality of APs detected by the to-be-located terminal in the positioning area unit, where n is The total number of APs detected by the smart terminal in the location area unit.
- the target matching value Pb of the positioning area unit shown in this embodiment is the sum of the sub-matching values of all APs corresponding to the positioning area unit.
- the positioning engine may calculate the second target sub-matching value Py by formula (7);
- the MAC i is a surveying phase
- the MAC address of the second target AP and the second target AP is a surveying phase
- the AP to be located is any AP of the multiple APs detected by the positioning area unit.
- occurenceP (MAC i) is the probability of occurrence of the second target AP
- the occurenceP (MAC i) acquisition process in particular please refer to the embodiment shown in FIG. 3, the specific embodiment is not repeated in the present embodiment.
- the positioning engine shown in this embodiment can subtract the occurrence of the chanceP(MAC i ) by 1 to obtain the second target sub-matching value Py.
- the positioning engine shown in this embodiment determines that the positioning area unit is an edge area located in the positioning area, acquiring, by the positioning engine, an area unit located at an edge position in the positioning area.
- the positioning engine may subtract the preset parameter from the target matching value of the area unit located at the edge position in the positioning area, and the size of the preset parameter is not limited in this embodiment.
- the target matching value of the area unit minus the size of the preset parameter may be inversely proportional to the distance of the area unit from the center of the positioning area.
- Step 404 The positioning engine obtains a matching list.
- the positioning engine may perform the numerical values of all the target matching values in descending order. Sorting to get the matching list.
- Step 405 The positioning engine acquires the first positioning position coordinate according to the WiFi fingerprint matching algorithm.
- the positioning engine may obtain the actual position coordinates Wi of any one of the first N regional units in the matching list. Specifically, the positioning engine may obtain the ranking by querying the first fingerprint database.
- the specific process of setting the actual position of the area unit in the first N zone unit the specific process of setting the actual location of the area unit in the first fingerprint library is shown in the embodiment shown in FIG. 3 , and details are not described herein.
- the positioning engine may calculate the first positioning position coordinate Dx based on the formula (8) shown below.
- the positioning engine shown in this embodiment may select, as the first positioning position coordinate Dx, an average value of actual position coordinates of the area units ranked in the first N bits in the matching list.
- the positioning engine may determine the actual position of the terminal to be positioned in the positioning area according to the first positioning position coordinate, thereby The positioning engine is capable of providing a positioning service to the to-be-located terminal based on the first positioning location coordinate.
- the environment fingerprint library includes a first fingerprint library and a second fingerprint library, and the first fingerprint library and the second fingerprint database are created as shown in FIG. 5 below. The specific process is described in detail:
- Step 501 The intelligent terminal sends the environment information to the environmental data server.
- the environment information shown in this embodiment includes the WiFi information and the sensor information.
- the sensor information shown in this embodiment is information collected by the sensor of the smart terminal and can be used for positioning.
- the sensor shown in this embodiment includes an accelerometer, a gravity sensor, a gyroscope, a magnetometer, a direction sensor, At least one of the pedometers and the like is not limited in this embodiment, and the smart terminal shown in this embodiment is specifically referred to as the structure of the smart terminal shown in FIG. 1 , and details are not described herein.
- Step 502 The UWB positioning system sends the collected location information to the environmental data server.
- step 502 For the specific implementation process of step 502 shown in this embodiment, please refer to step 302 shown in FIG. 3, and the specific implementation process is not described herein.
- Step 503 The environment data server receives the environment information and the location information.
- Step 504 The environment data server simultaneously creates a first fingerprint library and a second fingerprint database.
- the positioning area shown in this embodiment is located on the 15th floor of the A building as an example.
- the environment data server is collected on the 15th floor of the A building. All the WiFi information, the sensor information, and all the location information, so that the environmental data server creates a first fingerprint database corresponding to the 15th floor (ie, the location area) of the A building according to all the WiFi information and the location information.
- the environmental data server creates a second fingerprint database corresponding to the 15th floor (ie, the positioning area) of the A building according to all the sensor information and the location information, and the specific process of the environmental data server to create the first fingerprint database, please For details, refer to the embodiment shown in FIG. 3, which is not specifically described in this embodiment.
- the environmental data server obtains a sequence of transition probabilities.
- the environment data server shown in this embodiment creates the transition probability sequence by using a floor unit.
- the environment data server may The sensor information reported by all the smart terminals located on the 15th floor is counted, so that the environmental data server can create a transition probability sequence corresponding to the 15th floor according to the sensor information reported by all the smart terminals located on the 15th floor.
- the transition probability sequence shown in this embodiment includes a transition probability corresponding to any area unit of the location area, and the following is an example of calculating, by using an environment data server, a transition probability of the first area unit, where The first area unit is any area unit included in the positioning area, and the calculation process of the transition probability corresponding to other area units included in the positioning area is as follows:
- the environmental data server may obtain the transition probability of the smart terminal moving in the positioning area.
- the surveying unit can move from the first area unit to the ith second area unit, where the target step size is
- the first area unit is a regional unit that passes through the target step size and is counted by the environment data server
- the second area unit is a unit that is counted by the environment data server. The area unit in which the end position of the target step is located.
- the plurality of area units formed by the environmental data server dividing the positioning area, a plurality of second area units adjacent to the first area unit, and the target is traveling in different directions in the surveying personnel
- the end position of the target step may be located in a different second area unit of the plurality of second area units.
- FIG. 6 is an example, wherein FIG. 6 shows each area unit formed by the environment data server dividing the positioning area.
- the smart terminal can move to the inside of the second region unit 603.
- the smart terminal can move to the inside of the second region unit 605.
- the smart terminal can move to the inside of the second area unit 607.
- the smart terminal can also travel the target step size in the fourth direction 608, the fifth direction 609, the sixth direction 610, the seventh direction 611, and the eighth direction 612 as shown in FIG. 6.
- the possible traveling direction of the smart terminal is 8 If the area unit is provided with an obstacle that forms an occlusion on the surveying unit, for example, the smart terminal travels in the direction 609 along the trajectory of the target step size, and if a wall or the like is provided, the survey can be performed. If the person forms an occluded obstacle, the surveyor will not be able to travel the target step size in direction 609.
- the target step size of the smart terminal movement shown in this embodiment is not greater than the side length of the positioning area, and the transition probability transitionP(STEP i ) is a quotient of the first sub-sensor information and the target sensor information.
- the first sub-sensor information is in a process in which the smart terminal moves the target step size in any direction to transfer to the i-th second area unit, where the smart terminal is in the first area
- the number of times the sensor information reported in the unit is sampled N i .
- the intelligent terminal in the first unit region information is reported by the sensor sampled the number of times N i said intelligent terminals to the number of times N i said sampled data reported to the environment server .
- the target sensor information is the smart terminal located in the first area unit, and the target step size is moved in all directions that can be traveled to transfer the smart terminal to the second area unit.
- the total number of times all sensor information reported by the smart terminal in the first area unit is sampled during the process Where n is the number of the second area units.
- the smart terminal travels the target step in the first direction 602
- the number of times the sensor information reported by the smart terminal in the first area unit 601 is sampled by the smart terminal is continued.
- N 1 when the intelligent terminal 604 in a second direction of travel of the target step size, said intelligent terminal unit in the first region 601 is reported by the sensor information sampled frequency intelligent terminal N 2, the smart When the terminal travels the target step in the third direction 606, the number of times the sensor information reported by the smart terminal in the first area unit 601 is sampled by the smart terminal N 3 , and the smart terminal is in the fourth direction 608
- the target step size is advanced, the sensor information reported by the smart terminal in the first area unit 601 is sampled by the smart terminal N 4 , and the smart terminal travels in the fifth direction 609 to the target step size when said intelligent terminal unit in the first region 601 is reported by the sensor information sampled frequency intelligent terminal N 5, when the intelligent terminal 610 in the direction of travel of the sixth step of the target, Said intelligent terminal
- the smart terminal travels the target step in the eighth direction 612, the smart terminal is in the first area unit 601. If the reported sensor information is sampled by the intelligent terminal N 8 , the environmental data server can obtain the target sensor information as N 1 +N 2 +N 3 +N 4 +N 5 +N 6 +N 7 + N 8 .
- the environmental data server can calculate the transition probability transitionP(STEP i ) of the first regional unit by using the following formula (9):
- the numerator is the sensor information reported by the smart terminal in the first area unit during the process of moving to the ith second area unit when the smart terminal of the first area unit moves by one target step
- the number of times of sampling, the denominator is a process in which the smart terminal located in the first area unit moves to all the second area units, and the total information of the sensor information reported by the smart terminal in the first area unit is sampled frequency.
- the environmental data server can calculate the transition probability of the intelligent terminal from one regional unit to another regional unit. This process completes the preparation of the transition probability in the hidden Markov model.
- the environmental data server acquires the transition probability of the first regional unit, and so on, the environmental data server may acquire the transition probability of any regional unit included in the positioning region, and the environmental data server
- the created transition probability sequence includes transition probabilities for all of the regional units included in the location area.
- the environmental data server may acquire an output probability sequence.
- the environment data server shown in this embodiment creates the output probability sequence in units of floors. For example, if the environment data server creates an output probability sequence corresponding to the 15th floor of the room, the environment data server may The sensor information reported by all the smart terminals located on the 15th floor is counted, so that the environmental data server can create an output probability sequence corresponding to the 15th floor according to the sensor information reported by all the smart terminals located on the 15th floor.
- the output probability sequence shown in this embodiment includes an output probability corresponding to any area unit of the positioning area, and the following is an example of calculating an output probability of the first area unit by the environment data server, where The first area unit is any area unit included in the positioning area, and the calculation process of the output probability corresponding to other area units included in the positioning area is as follows:
- the output probability of the first area unit is the matching degree between the sensor information reported by the smart terminal collected by the environmental data server in the first area unit and the first area unit,
- the surveying personnel can calculate the historical matching degree of the first regional unit every time the first regional unit is passed during the surveying phase, for example, if in the surveying stage, the survey is performed.
- the person in the travel trajectory passes through the first area unit M times, and the environmental data server can acquire the M historical matching degrees of the first area unit, that is, the historical matching degree of the first area unit.
- the number of times is equal to the number of times the surveyor passes through the first area unit.
- the environment data server determines an average value of all the historical matching degrees of the first area unit as an output probability of the first area unit.
- the environmental data server may calculate the output probability matchValue(grld j ) of the first regional unit based on formula (10):
- Grld j in the formula (10) represents the first area unit
- M represents the number of historical matching degrees of the first area unit calculated by the environmental data server
- the matchHistory m represents M pieces of the history.
- the matchHistory m value range is [0, 1] for any historical match in the match.
- the target history matching degree matchHistory m is the M history matching unit first region Any historical match in degrees.
- the environment data server reports from the smart terminal.
- the environmental data server may obtain the smart terminal in the K-1th step according to the second sub-sensor information.
- the target heading Azimuth at the last moment; wherein the smart terminal is located at the last moment of the K-1th step is a reference position 702 as shown in FIG. 7, and the K is an integer greater than or equal to 1;
- the target heading is the direction of travel of the K-1th step.
- the environmental data server may calculate, according to the angular velocity reported by the gyroscope set by the smart terminal or the magnetic field strength reported by the magnetometer, to obtain the target heading.
- the target heading refers to a probability that the smart terminal moves into the first area unit after the K-1 step according to the target heading.
- the environment data server may count the direction in which the smart terminal moves within the positioning area and the time period in which the smart terminal is located in the first area unit, and the direction constructed by the environment data server
- the sequence includes a direction in which the smart terminal moves within the positioning area and a corresponding time period.
- the environmental data server counts a deviation angle minDiff formed between any direction included in the direction sequence midAzi and the target heading Azimuth, the unit of the deviation angle minDiff is an angle, and is located in the interval [-180 Within °, 180 °].
- the environmental data server may perform normalization processing as shown in the following formula (11) on the deviation angle minDiff to obtain a traveling direction matching degree azimuthMatch m :
- the following describes how the environmental data server calculates the output probability based on the obtained traveling direction matching degree matchHistory m :
- the environmental data server may calculate the target geomagnetism information, the matching degree of the traveling direction matching degree matchHistory m and the first positioning area as the output probability by logistic regression.
- the target geomagnetic information is obtained by the environmental data server, in the process of moving the target step by the smart terminal, the sensor information reported by the smart terminal in the first area unit, and from the Geomagnetic information extracted from sensor information.
- the target geomagnetism information includes a first component value magE, a second component value magN, a third component value magU, and a geomagnetism precision value magVal, wherein the first component value magE is in a local cartes coordinate system (local cartesian coordinates coordinate Under the system, ENU), the X-direction component value parallel to the horizontal plane; the second component value magN is the Y-direction component value parallel to the horizontal plane under the ENU; the third component value magU is under the ENU, The vertical component of the Z direction perpendicular to the horizontal plane; the geomagnetic accuracy value magVal represents the measurement accuracy of the component values of the respective directions.
- ENU local cartesian coordinates coordinate Under the system
- the environmental data server may calculate the target historical match degree matchHistory m based on logistic regression.
- Logistic regression is a kind of linear regression, which is based on linear regression and a sigmoid function.
- the expression is as shown in formula (12):
- the logistic regression is to adapt the probability of occurrence of an event to a logical curve.
- the logical curve is an S-shaped curve.
- the sigmoid function is characterized by a quick change and a gradual decrease. Slow, finally saturated, the sigmoid function can be seen in Figure 8:
- the advantage of the sigmoid function is that its variable is from negative infinity to positive infinity, while the range of values is [0,1], and since the sigmoid function between [0,1] can be a probability function. So that the logistic regression function can be associated with the matchHistory m distribution.
- the environment data server shown in this embodiment may calculate the target history matching degree matchHistory m of the first area unit based on the formula (13), and the calculation formula is as follows:
- the second parameter W i is the first parameter X
- the specific value range of the second parameter W i is not limited in this embodiment, and the experience value obtained by the surveying personnel in the process of surveying and determining the training based on the collected data may be obtained, for example,
- the weight value corresponding to X 3 ⁇ 0.184297
- the weight value corresponding to X 4 W 4 -0.117742
- the environment data server shown in this embodiment creates a second fingerprint database based on the acquired output probability and the transition probability. Specifically, the environment data server shown in this embodiment creates a transition probability sequence and the Outputting a probability sequence, the environmental data server may create a second fingerprint database corresponding to the transition probability sequence and the output probability sequence floor. In the above example, the transition probability sequence and the output probability sequence are corresponding to the 15th floor. The sequence of the second fingerprint created is also corresponding to the 15th floor.
- the environment data server uses the sensor information to obtain the second fingerprint database as an example for example.
- the smart terminal may also obtain the acquired location.
- the second fingerprint database is sent to the environment data server, which is not limited in this embodiment.
- the environmental data server creates a second fingerprint library in a hidden markov model (HMM) based on the transition probability sequence acquired by the above steps and the output probability.
- HMM hidden markov model
- the environmental data server shown in this embodiment may construct the second fingerprint database in the form of a search tree based on the output probability sequence and the transition probability sequence, wherein the environmental data server is based on a surveyor During the process of travel, the output probability of any zone unit passing through and the transition probability can construct a layer in the search tree.
- Step 901 The terminal to be located sends the target WiFi information to the positioning engine.
- Step 902 The positioning engine receives the target WiFi information.
- Step 903 The positioning engine calculates a target matching value of the positioning area unit.
- Step 904 The positioning engine obtains a matching list.
- Step 905 The positioning engine acquires the first positioning location according to the WiFi fingerprint matching algorithm.
- step 901 to the step 905 shown in this embodiment is shown in the step 401 to the step 405 as shown in FIG. 4, and the specific execution process is not described in this embodiment.
- the indoor positioning method shown in this embodiment includes a first positioning phase and a second positioning phase.
- the first positioning phase is referred to as “rough positioning” and the second positioning phase is referred to as “fine positioning”. That is, in the first positioning phase (shown in steps 901 to 905), the initial indoor location (first positioning location) of the object to be located is determined by the WiFi matching positioning technique, and the first positioning phase is first.
- the positioning position is used as a center to define a to-be-positioned area in a circular shape, a positive direction, and the like, and then the geomagnetic matching technology is used to further calculate the precise position of the object to be positioned in the to-be-positioned area, and the second positioning stage is described by the following steps.
- the specific implementation process is described:
- Step 906 The positioning engine determines an area to be located.
- the area to be located is a frame to be positioned in a circular shape, a positive direction, or the like, as shown in the embodiment, and the area of the to-be-positioned area is relative to the above-mentioned positioning area.
- the area is reduced, and the positioning of the to-be-positioned area based on the reduced area is performed in the second positioning stage, thereby improving the accuracy of positioning.
- the positioning engine may determine the to-be-positioned area based on the first positioning position, which may be determined by the positioning engine.
- the shape of the to-be-positioned area is not limited in this embodiment.
- the to-be-positioned area may be in the shape of a circle, a direction, or the like.
- the location point 700 is the first positioning location Dx determined by the positioning engine via step 905, and the positioning engine may determine the to-be-positioned area 704.
- the center of the locating area 704 is the area to be located.
- Step 907 The positioning engine acquires a sequence of sensor information.
- the positioning engine shown in this embodiment may determine the sensor information sequence, where the sensor information sequence is that the to-be-positioned terminal is in the to-be-positioned area.
- Step 908 The positioning engine acquires the target area unit set by using the sensor information sequence.
- the location information obtained in step 906 is geomagnetically matched with respect to the area to be located with the reduced area of the positioning area, thereby calculating the sensor information sequence and the location.
- the matching degree of all the positioning area units included in the positioning area is described.
- the positioning engine determines, based on the Viterbi Algorithm, the second fingerprint database in the HMM, and the sensor information.
- a sequence of hidden states corresponding to the sequence, and the sequence of hidden states shown in this embodiment is the set of location area units, where the set of location area units is included in the positioning phase, and the user carrying the smart terminal sequentially
- the set of positioning area units shown in this embodiment includes the area units that pass through the front-to-back order in the chronological order of the smart terminal movement trajectories.
- the positioning engine may determine, by using the sensor information sequence, a plurality of the positioning area unit sets having different probability values, and the positioning area unit set having different probability values represents a user carrying the smart terminal in a positioning stage. A plurality of possible travel trajectories are traveled, and the positioning engine shown in this embodiment can determine the set of locating area units having the largest probability value for positioning.
- Step 909 The positioning engine determines a second positioning position.
- the positioning engine may determine that the actual position of the last area unit is the positioning position according to the time sequence elapsed by the user. Specifically, the positioning engine shown in this embodiment may determine the actual location of the last regional unit by querying the first fingerprint database.
- Step 910 The positioning engine acquires a movement trajectory of the to-be-positioned terminal at a future time according to the second positioning position.
- the positioning engine shown in this embodiment uses the second positioning position as a starting position, and derives a moving trajectory of the to-be-positioned terminal at a future time according to a Pedestrian Dead Reckoning (PDR).
- PDR Pedestrian Dead Reckoning
- the positioning engine may acquire data such as acceleration, angular velocity, magnetic force, and pressure during the traveling of the user carrying the terminal to be located based on the PDR algorithm, and the positioning engine may use the acquired data to the user.
- the calculation of the step size and the direction of the movement, so as to predict the movement trajectory of the user carrying the terminal to be located at a future time the positioning engine can locate the to-be-positioned based on the movement trajectory of the terminal to be positioned at a future time
- the terminal provides location services.
- the improved Viterbi algorithm positioning service of the HMM can effectively reduce the complexity and calculation amount of the geomagnetic matching, and improve the efficiency and accuracy of positioning the terminal to be positioned.
- FIG. 10 is an indoor application shown in the application.
- the positioning system includes positioning base stations 103 disposed at four corners of the positioning area, and each of the positioning base stations 103 can be fixed by using three brackets and externally connected with a lithium battery.
- the positioning system is further provided with an environmental data server 104 capable of communicating with the four corners of the positioning base station 103, which may be a computer, such as a portable computer such as a notebook computer, in the application scenario, in the environment
- the data server 104 is exemplified for the notebook computer.
- the environment data server 104 is configured to implement the indoor positioning function, and the environment data server 104 shown in the application scenario runs a UWB client program, thereby making the environment
- the data server 104 can receive the location information reported by the UWB positioning terminal 102 and the positioning base station 103 to the environment data server 104.
- the environment data server 104 runs a server program for data collection, and the server program for running data collection can The location information and the environmental information reported by the smart terminal 101 are received to generate an environmental fingerprint library.
- the smart terminal 101 and the UWB positioning terminal 102 are worn on the body, and the manner in which the surveyor carries the smart terminal 101 is not limited.
- the surveyor can place the smart terminal 101 in the pocket.
- the UWB positioning terminal 102 can be used to carry the UWB positioning terminal 102 in a plurality of manners, and the UWB positioning terminal 102 can be fixed on the top of the helmet by a lithium battery, and is manually powered by the lithium battery.
- the surveyor can wear the helmet.
- the advantage of carrying the UWB positioning terminal 102 in a helmet manner is that, on the one hand, the UWB positioning terminal 102 is not blocked by the human body, and the surveying personnel are more likely to be obstructed by obstacles during walking than other installation forms (eg, badges) On the other hand, the UWB positioning terminal 102 is placed on the top of the head and is closest to the actual motion track of the surveyor, and the disturbance caused by the motion is the smallest.
- the physical arrow in FIG. 1 is a transmission path indicating that the smart terminal 101 reports the environmental information to the environmental data server 104, and the dotted arrow indicates the transmission path of the UWB positioning terminal 102 and the positioning base station 103 reporting the location information to the environmental data server 104. .
- Figure 10 shows an example of the 5th floor of Area N4 of the Nanjing Research and Development Building of Huawei Research Institute.
- the box area of the 5th floor of Area 5 of the R&D building of Nanjing Research Institute of Huawei is selected (20 meters by car).
- the range of 13 meters is the location area 1001, the area is recorded as zone1, and four positioning base stations are arranged in the four corners of the zone 1.
- the description of the structure of the specific positioning base station is shown in FIG. 1 , and details are not described herein.
- the positioning area 1001 includes 7 rows of stations, and the reachable area includes 1 long aisle and 6 vertical short aisles. Due to the limitation of the positioning range of the positioning base station, when the positioning range is expanded, the mobile positioning base station needs to be delineated to another positioning area. In order to cover all the reachable areas, the adjacent two positioning areas need to be partially overlapped, so that the phase is guaranteed to be in phase. The transition probability of the discretized lattice between adjacent positioning regions is continuous, thereby effectively ensuring the realization of indoor positioning.
- the area of the plane area shown in Figure 10 is (43.5 m + 40 m) ⁇ 13 m. Therefore, it can be divided into 7 positioning areas, namely zone1, zone2, ..., zone7, each zone is collected for about 10 minutes.
- the environment information and the location information are used to generate the environment fingerprint database.
- the environment information, the location information, and the environment fingerprint database please refer to the foregoing embodiment, and details are not described herein.
- the UWB positioning system can also be used as an error measurement tool for online positioning.
- the surveying personnel carry the intelligent terminal, and at the same time wear the helmet equipped with the UWB positioning terminal, and walk freely within the deployment range of the positioning base station.
- the environment data server may further collect environment information of about 5 minutes in the location area 1001 and perform the simulation test on the location information to test the accuracy of positioning the terminal to be located in the location area 1001 and verify the manual survey. The validity of the data.
- the trajectory of the surveyor within the location area 1001 covers as much as possible of all aisles and reachable areas.
- the environment fingerprint database can be created for the zones 2, . . . , zone 7 in turn, and the entire survey of the area shown in FIG. 10 takes about 4 hours.
- the results of the manual survey are composed of the environmental information and the location information shown in the above embodiment, and are saved in a CSV file.
- the data processing stage mainly processes the results of the manual survey stage to generate an environmental fingerprint. Specifically, in the data processing stage, the environmental data
- the server 104 first reads the CSV file, and divides the positioning area 1001 into a plurality of squares in advance, and each of the squares is the area unit shown in the above embodiment, and creates a fingerprint corresponding to each of the area units.
- the environment data server divides the positioning area 1001 into a plurality of area units for the WiFi information, and each area unit is a 3 m ⁇ 3 m grid, and the first fingerprint database created by the environment data server includes For the first positioning fingerprint corresponding to each area unit, the specific process is shown in the above embodiment.
- the environment data server divides the positioning area 1001 into a grid of 0.3 m ⁇ 0.3 m for each sensor information, and each grid serves as a regional unit, and creates a second fingerprint database based on the divided area units, and creates a specific description of the second fingerprint database. Please refer to the above embodiment for details, and details are not described herein.
- the environment data server creates the first fingerprint database and the second fingerprint database
- the environment data server is based on the indoor positioning process shown in the above embodiment.
- the positioning server can be provided to the terminal to be located located in the positioning area 1001.
- the embodiment of the present invention further provides a server.
- the server shown in this embodiment is used to execute the process of creating a first fingerprint database shown in FIG. 2 to FIG. 4, and realizing positioning of the terminal to be located through the first fingerprint database.
- the specific implementation process is not described in this embodiment.
- the server shown in this embodiment includes:
- the receiving unit 1101 is configured to receive the environment information that is sent by the terminal to be located in the location area, where the environment information is the information that is detected by the terminal to be located, and the location to be located is different when the location of the terminal to be located is different.
- the environmental information detected by the terminal is different;
- the acquiring unit 1102 is configured to acquire an environmental fingerprint database corresponding to the positioning area, where the environmental fingerprint database includes at least one positioning fingerprint, the positioning area includes at least one area unit, wherein the target positioning fingerprint corresponds to the first area unit
- the target location fingerprint is one of the at least one location fingerprint
- the first area unit is one of the at least one area unit
- the target location fingerprint includes target environment information and a target location.
- Information the target environment information is environment information that is sent to the smart terminal in the first area unit, and the target location information is sent by the ultra-wideband UWB positioning system to instruct the smart terminal to send the target environment. Position coordinates of the information;
- the obtaining unit 1102 includes:
- the first obtaining module 11021 is configured to: when the smart terminal moves in the positioning area, the smart terminal scans all the smart terminals scanned in the preset period during the preset period. Environment information and all location information reported by the UWB positioning system, wherein one of the location information is used to indicate location coordinates when the smart terminal sends one of the environmental information, the environment
- the information includes wireless fidelity WiFi information and/or sensor information, the WiFi information including a media medium control MAC address and received signal strength indicator RSSI data of each wireless network access point AP scanned by the smart terminal, the sensor
- the information is information collected by the sensor of the smart terminal;
- the first processing module 11022 is configured to determine target location information according to all the location information reported by the UWB positioning system, where the location coordinate indicated by the target location information is located in the first regional unit;
- the second processing module 11023 is configured to determine target environment information according to the all the environment information reported by the smart terminal, where the target environment information is environment information reported by the smart terminal in the first area unit;
- the third processing module 11024 is configured to determine that the target positioning fingerprint is a positioning fingerprint that includes the target location information and the target environment information.
- the target environment information includes the WiFi information
- the third processing module 11024 includes:
- the first calculation sub-module 110241 is configured to count the total number of samples of all APs scanned by the smart terminal in the first area unit. And a sampling number N i of the first target AP, where the first target AP is the i-th AP scanned by the smart terminal in the first area unit, and the first area unit is The number of APs scanned by the smart terminal is n, the i and the n are positive integers greater than or equal to 1, and the i is less than or equal to the n;
- a second calculation sub-module 110242 configured to calculate an occurrence probability of the first target AP, chanceP(MACi), by using the following formula
- the first determining sub-module 110243 is configured to determine that the target positioning fingerprint includes a first positioning fingerprint, where the first positioning fingerprint includes an appearance probability earthquake(MAC i ) of the first target AP.
- a first acquisition sub-module 110244 configured to acquire a target RSSI sequence of the first target AP, where the target RSSI sequence includes an RSSI scanned by the first target AP each time by the smart terminal;
- a third calculation sub-module 110245 configured to calculate a probability density function Norm (RSSI) of a single target Gaussian distribution model GSM according to the following formula;
- the ⁇ is the mean of the target RSSI sequence, and ⁇ is the standard deviation of the target RSSI sequence;
- a fourth calculation sub-module 110246, configured to calculate a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP according to the following formula;
- ⁇ k is a preset weighting coefficient, and the K is a positive integer greater than or equal to 1;
- the second determining submodule 110247 is configured to determine that the first positioning fingerprint includes a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP.
- RSSI Gaussian mixture distribution function
- a third determining sub-module 110248, configured to determine a location coordinate of the target location, where the target location is located at any location within the first regional unit;
- the fourth determining submodule 110249 is configured to determine that the first positioning fingerprint includes location coordinates of the target location.
- the environment information is the WiFi information that is scanned by the terminal to be located in the target time period, and the server further includes:
- the first calculating unit 1103 is configured to: if the MAC address of any AP included in the environment information is the same as the MAC address of an AP included in the first positioning fingerprint, calculate the first target sub-match value by using the following formula Px;
- a second calculating unit 1104 configured to calculate a matching value corresponding to the first area unit according to the following formula
- the third calculating unit 1105 is configured to: if the MAC address of any AP included in the environment information is different from the MAC address of any AP included in the first positioning fingerprint, calculate the second target by using the following formula Sub-match value Py;
- a fourth calculating unit 1106, configured to calculate a matching value corresponding to the first area unit according to the following formula
- the matching unit 1107 is configured to acquire a positioning location coordinate corresponding to the environment information in the environment fingerprint database, where the positioning location coordinate is a location coordinate of the terminal to be located in the positioning area;
- the matching unit 1107 includes:
- the second obtaining module 11071 is configured to obtain a matching list, where the matching list includes all the regional units included in the positioning area, and all the regional units included in the matching list are large to small according to the matching value. Sort in order;
- a third obtaining module 11072 configured to acquire, in the matching list, a position coordinate wi of the target position corresponding to any one of the regional units in the first N bits;
- the fourth obtaining module 11073 is configured to calculate the first positioning position coordinate Dx by the following formula
- the determining module 11074 is configured to determine that the positioning position coordinate is the first positioning position coordinate Dx.
- FIG. 2 to FIG. 4 is used for the description of the configuration of the server shown in this embodiment, and details are not described in detail in this embodiment.
- FIG. 12 Another structure of the server provided by the embodiment of the present invention is exemplarily described below with reference to FIG. 12, wherein the server shown in FIG. 12 is used for execution.
- the server shown in this embodiment is configured to perform the positioning of the terminal to be located by using the first fingerprint database and the second fingerprint database, as shown in FIG. 5 and FIG. 9 .
- the specific implementation process is shown in FIG. 5 and the embodiment shown in FIG. 9. The specific implementation process is not described in this embodiment.
- the server shown in this embodiment includes:
- the receiving unit 1201 is configured to receive the environment information that is sent by the terminal to be located in the location area, where the environment information is the information that is detected by the terminal to be located, and the location to be located is different when the location of the terminal to be located is different.
- the environmental information detected by the terminal is different;
- the obtaining unit 1202 is configured to acquire an environment fingerprint database corresponding to the positioning area, where the environment fingerprint database includes at least one positioning fingerprint, the positioning area includes at least one area unit, wherein the target positioning fingerprint corresponds to the first area unit
- the target location fingerprint is one of the at least one location fingerprint
- the first area unit is one of the at least one area unit
- the target location fingerprint includes target environment information and a target location.
- Information the target environment information is environment information that is sent to the smart terminal in the first area unit, and the target location information is sent by the ultra-wideband UWB positioning system to instruct the smart terminal to send the target environment. Position coordinates of the information;
- the obtaining unit 1202 includes:
- the first obtaining module 12021 is configured to: when the smart terminal moves in the positioning area, the smart terminal scans all the smart terminals scanned in the preset period in the preset period Environment information and all location information reported by the UWB positioning system, wherein one of the location information is used to indicate location coordinates when the smart terminal sends one of the environmental information, the environment
- the information includes wireless fidelity WiFi information and/or sensor information, the WiFi information including a media medium control MAC address and received signal strength indicator RSSI data of each wireless network access point AP scanned by the smart terminal, the sensor
- the information is information collected by the sensor of the smart terminal;
- the first processing module 12022 is configured to determine target location information according to the location information reported by the UWB positioning system, where location coordinates indicated by the target location information are located in the first regional unit;
- the second processing module 12023 is configured to determine target environment information according to the all the environment information reported by the smart terminal, where the target environment information is environment information reported by the smart terminal in the first area unit;
- the third processing module 12024 is configured to determine that the target positioning fingerprint is a positioning fingerprint that includes the target location information and the target environment information.
- the third processing module 12024 creates a description of the specific structure of the first positioning fingerprint, which is shown in FIG. 11 , which is not described in detail in this embodiment, and the target is shown in the embodiment.
- the third processing module 12024 is further configured to: determine that the target positioning fingerprint includes the first positioning fingerprint and the second positioning fingerprint, where the environment information includes the WiFi information and the sensor information.
- the second positioning fingerprint is a positioning fingerprint of the hidden Markov model HMM acquired according to the sensor information.
- the server further includes:
- a fifth calculating unit 1203, configured to calculate a transition probability of the first regional unit by using a transition probability transitionP(STEP i ) for performing training to obtain the second localized fingerprint;
- the numerator is transferred to the i-th second area unit in a process of moving the kth step of the movement of the surveyor carrying the smart terminal in the first area unit, wherein the smart terminal is in the first The number of times the sensor information reported in the area unit is sampled, the second location area is a area unit adjacent to the first area unit in the location area, and the number of the second area unit is n And the n and the k are positive integers greater than or equal to 1, and the denominator is a process in which the smart terminal located in the first area unit moves to all the second area units, the smart terminal The total number of times the sensor information reported in the first area unit is sampled.
- a sixth calculating unit 1204 configured to calculate a target traveling direction matching degree azimuthMatch m in the first area unit according to the following formula, the azimuthMatch m is a surveying personnel carrying the smart terminal in the first area unit, along the a direction of travel matching when the target traveling direction m is moved, the target traveling direction m being any direction in which the smart terminal moves within the first area unit;
- the minDiff is a deviation angle formed between any direction included in the target direction sequence midAzi and the target heading Azimuth
- the target heading Azimuth is a k-1 step step for the surveyor carrying the intelligent terminal a probability of moving into the first area unit, the target direction sequence midAzi including the target traveling direction and a target time period, wherein the target time period is that the smart terminal is within the first area unit a period of time during which the target travel direction moves;
- a first processing unit 1205, configured to acquire target geomagnetic information, where the target geomagnetic information is a kth step of moving by a surveying personnel carrying the smart terminal, where the smart terminal is in the first regional unit Geomagnetic information included in the reported sensor information, the target geomagnetism information includes a first component value magE, a second component value magN, a third component value magU, and a geomagnetism precision value magVal, wherein the first component value magE is In the center coordinate system ENU, along the X-direction component value parallel to the horizontal plane, the second component value magN is the Y-direction component value parallel to the horizontal plane under the ENU, and the third component value magU is under the ENU a vertical component value in the Z direction perpendicular to the horizontal plane; the geomagnetic accuracy value magVal represents the measurement accuracy;
- a third processing unit 1207 configured to calculate, by using the following formula, a target history matching degree matchHistory m corresponding to the target traveling direction in the first area unit;
- a fourth processing unit 1208, configured to calculate an output probability matchValue(grld j ) of the first regional unit according to the following formula
- grld j represents the first regional unit
- M represents the number of historical matching degrees of the first regional unit
- the target historical matching degree matchHistory m represents any historical matching degree of the M historical matching degrees.
- the fifth processing unit 1209 is configured to create a second positioning fingerprint of the hidden Markov model HMM based on the transition probability of the first regional unit and the output probability.
- the matching unit 1210 is configured to acquire a positioning location coordinate corresponding to the environment information in the environment fingerprint database, where the positioning location coordinate is a location coordinate of the to-be-positioned terminal in the positioning area;
- the matching unit 1210 includes:
- the first determining module 12101 is configured to determine an area to be located, where a coordinate of a position included in the to-be-positioned area is the first positioning position coordinate Dx, and an area of the to-be-positioned area is smaller than an area of the positioning area. ;
- the second determining module 12102 is configured to acquire a sequence of sensor information sent by the terminal to be located, where the sensor information sequence includes target sensor information and a target reporting time point, where the target sensor information is the to-be-located terminal in the to-be-positioned area And at least one of the reported at least one sensor information, where the target reporting time point is a time point at which the to-be-targeted terminal reports the target sensor information;
- a third determining module 12103 configured to determine, according to a Viterbi algorithm, a set of positioning area units corresponding to the sensor information sequence and having different probability values, where the positioning area unit set includes the During the moving process of the intelligent terminal, at least one area unit passes through the chronological order in order from the front to the back;
- a fourth determining module 12104 configured to determine a second positioning position, where the second positioning position is the positioning area unit having the highest probability value, and is sorted at any position included in the last area unit;
- the fifth determining module 12105 is configured to determine that the positioning position coordinate is the second positioning position coordinate.
- the prediction unit 1211 is configured to use the second positioning position coordinate as a starting position, and determine, according to the pedestrian dead reckoning PDR, a movement trajectory of the to-be-positioned terminal at a future time.
- the server 1300 includes:
- the receiver 1302, the transmitter 1303, the one or more processors 1301, and the memory 1304 may be connected by a bus or other means, wherein the bus connection is taken as an example in FIG.
- the one or more programs are stored in the memory 1304, the one or more programs including instructions that, when executed by the server, cause the server to perform an indoor as shown in the above embodiments
- the one or more programs including instructions that, when executed by the server, cause the server to perform an indoor as shown in the above embodiments
- the specific implementation process please refer to the above description, which is not described in detail in this embodiment.
- Embodiments of the present invention also provide a computer readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by a server, cause the server to execute as in the above embodiment
- a server storing one or more programs, the one or more programs including instructions that, when executed by a server, cause the server to execute as in the above embodiment
- the specific positioning process please refer to the above description, which is not described in detail in this embodiment.
- the computer program product includes one or more computer instructions.
- the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
- the computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be from a website site, computer, server or data center Transfer to another website site, computer, server, or data center by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL), or wireless (eg, infrared, wireless, microwave, etc.).
- wire eg, coaxial cable, fiber optic, digital subscriber line (DSL), or wireless (eg, infrared, wireless, microwave, etc.).
- the computer readable storage medium can be any available media that can be stored by a computer or a data storage device such as a server, data center, or the like that includes one or more available media.
- the usable medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (such as a solid state disk (SSD)).
- the disclosed system, apparatus, and method may be implemented in other manners.
- the device embodiments described above are merely illustrative.
- the division of the unit is only a logical function division.
- there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
- the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
- the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
- each functional unit in the embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
- the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
- the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
- a computer readable storage medium A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present application.
- the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .
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Abstract
Provided in an embodiment of the present invention are a method, server, and positioning system for indoor positioning; the method comprises: receiving environment information sent by a terminal to be positioned within a positioning area; acquiring an environment fingerprint database corresponding to the positioning area, the environment fingerprint database comprising at least one target positioning fingerprint, and the target positioning fingerprint comprising target environment information and target location information; and acquiring positioning location coordinates corresponding to the environment information in the environment fingerprint database. Hence, a reference point does not need to be calibrated in advance for the positioning area during indoor positioning, surveying personnel need only walk freely within the positioning area carrying an intelligent terminal and an ultra wide band (UWB) positioning terminal, and the speed, posture and walking trajectory of the surveying personnel are not required, thereby reducing the difficulty of implementing the indoor positioning method shown in the embodiment and improving the ease of use of the indoor positioning method.
Description
本申请要求于2018年1月11日提交中国专利局、申请号为201810025177.5、发明名称为“一种室内定位系统和方法”、以及于2018年6月04日提交中国专利局、申请号为201810564917.2、发明名称为“一种室内定位系统和方法”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。This application is required to be submitted to the Chinese Patent Office on January 11, 2018, the application number is 201810025177.5, the invention name is "an indoor positioning system and method", and submitted to the Chinese Patent Office on June 4, 2018, the application number is 201810564917.2 The priority of the Chinese patent application, which is incorporated herein by reference in its entirety in its entirety in its entirety herein in its entirety in its entirety in its entirety in
本申请涉及定位技术领域,具体涉及一种室内定位的方法、服务器及定位系统。The present application relates to the field of positioning technologies, and in particular, to a method, a server, and a positioning system for indoor positioning.
在室内和室外的环境下,连续、可靠地提供基于位置的服务(location based services,LBS)可以为用户带来良好的体验。室外定位及其LBS已经非常成熟,基于全球定位系统(global positioning system,GPS)的位置服务已被广泛应用。近年来,位置服务的相关技术和产业正在向室内发展。Continuous and reliable location-based services (LBS) provide a good experience for users in both indoor and outdoor environments. Outdoor positioning and its LBS are very mature, and location services based on global positioning system (GPS) have been widely used. In recent years, related technologies and industries for location services are developing indoors.
由于室内收不到GPS信号,业界通常采用的定位技术为指纹匹配技术,该技术需要事先通过人工携带智能终端来采集室内环境信息,建立位置指纹库,智能终端通过感知环境数据信息并与位置指纹库匹配,计算得到最可能的位置。Since the GPS signal is not received indoors, the positioning technology commonly used in the industry is a fingerprint matching technology. The technology needs to manually collect the indoor environment information by manually carrying the intelligent terminal, and establish a location fingerprint database. The intelligent terminal senses the environmental data information and the location fingerprint. The library is matched and the most likely position is calculated.
通过人工逐点式采集室内环境信息的过程非常耗时费力,同时对勘测人员也具有较高的要求。例如:只能在每个事先标定好的参考点处停留一段时间采集环境信息,而无法采集勘测人员自由运动状态下的环境信息,更无法采集特定行为模式(如以不同的速度行走、拐弯或者调头行走、手持终端设备甩动手臂行走、终端设备置于口袋或者背包里行走等)下的环境信息,并且勘测人员对参考点的判断及对设备的操作均会引入误差,从而导致采集的数据质量不高,最终的定位精度也不高。The process of manually collecting indoor environmental information by point-by-point is very time-consuming and laborious, and also has high requirements for surveyors. For example, it is only possible to collect environmental information for a period of time at each reference point that has been previously calibrated, and it is not possible to collect environmental information under the free motion state of the surveyor, and it is also impossible to collect specific behavior patterns (such as walking at different speeds, turning or The environmental information under the walking of the head, the hand-held terminal equipment moving the arm, the terminal equipment being placed in a pocket or a backpack, etc., and the surveying personnel's judgment on the reference point and the operation of the equipment will introduce errors, resulting in the collected data. The quality is not high, and the final positioning accuracy is not high.
发明内容Summary of the invention
本申请实施例提供了一种能够提高定位精度以及定位效率的室内定位的方法、服务器及定位系统。The embodiment of the present application provides a method, a server, and a positioning system for indoor positioning capable of improving positioning accuracy and positioning efficiency.
本发明实施例第一方面提供了一种室内定位方法,包括:A first aspect of the embodiments of the present invention provides an indoor positioning method, including:
步骤A、服务器接收待定位终端在定位区域内发送的环境信息。Step A: The server receives environment information sent by the terminal to be located in the location area.
其中,所述环境信息为待定位终端所检测到的信息,且所述待定位终端在所述定位区域内处于不同位置时,所述待定位终端所检测到的所述环境信息不同,具体的,所述环境信息包括蓝牙、基站、GPS、WiFi以及一些传感器采集到的数据等,其中,传感器包括加速度计、重力传感器、陀螺仪、磁力计、方向传感器、计步器等。The environment information is the information that is detected by the terminal to be located, and the environment information that is detected by the terminal to be located is different when the terminal to be located is in different locations in the location area, and the specific The environmental information includes Bluetooth, a base station, a GPS, a WiFi, and data collected by some sensors, etc., wherein the sensor includes an accelerometer, a gravity sensor, a gyroscope, a magnetometer, a direction sensor, a pedometer, and the like.
步骤B、服务器获取与所述定位区域对应的环境指纹库。Step B: The server acquires an environment fingerprint database corresponding to the location area.
本实施例所示的服务器可预先创建与所述定位区域对应的环境指纹库,所述环境指纹库包括至少一个定位指纹,所述定位区域包括至少一个区域单元,所述服务器可创建不同的定位指纹与不同的区域单元一一对应的关系,具体的,目标定位指纹与第一区域单元对应,所述目标定位指纹为所述至少一个定位指纹中的一个定位指纹,所述第一区域单元为所述至少一个区域单元中的一个区域单元。The server shown in this embodiment may pre-create an environment fingerprint database corresponding to the positioning area, the environment fingerprint library includes at least one positioning fingerprint, the positioning area includes at least one area unit, and the server may create different positioning. a one-to-one correspondence between the fingerprint and the different area units. Specifically, the target positioning fingerprint corresponds to the first area unit, and the target positioning fingerprint is one of the at least one positioning fingerprint, and the first area unit is One of the at least one area unit.
更具体的,所述目标定位指纹包括目标环境信息和目标位置信息,所述目标环境信息 为移动至所述第一区域单元内的智能终端发送的环境信息,所述目标位置信息为超宽带UWB定位系统发送的用于指示所述智能终端发送所述目标环境信息时的位置坐标。More specifically, the target location fingerprint includes target environment information and target location information, the target environment information is environment information transmitted to the smart terminal in the first area unit, and the target location information is ultra-wideband UWB And a location coordinate sent by the positioning system to indicate that the smart terminal sends the target environment information.
步骤C、服务器获取所述环境指纹库中,与所述环境信息对应的定位位置坐标。Step C: The server acquires positioning location coordinates corresponding to the environment information in the environment fingerprint database.
其中,所述定位位置坐标为所述待定位终端在所述定位区域内的位置坐标。The positioning position coordinate is a position coordinate of the to-be-positioned terminal in the positioning area.
采用方面所示的室内定位方法的优势在于,对定位区域无需事先标定参考点,勘测人员携带智能终端以及UWB定位终端在所述定位区域内自由行走即可,对勘测人员的速度,姿态以及行走轨迹均不做要求,从而降低了本实施例所示的室内定位方法的实现难度,提升了室内定位方法的易用性,而且在创建所述环境指纹库的过程中,服务器可同时获取到所述环境信息以及所述位置信息,使得服务器可直接基于所述位置信息对定位区域的实际位置进行标定,实现了环境信息与实际位置的同步标定,大大降低了创建环境指纹库的人力和时间成本,且提高了环境指纹库对待定位终端提供定位服务的精度。The advantage of the indoor positioning method shown in the aspect is that the reference point does not need to be calibrated in advance, and the surveying personnel carry the intelligent terminal and the UWB positioning terminal can walk freely in the positioning area, and the speed, posture and walking of the surveying personnel The trajectory is not required, thereby reducing the difficulty of implementing the indoor positioning method shown in this embodiment, improving the ease of use of the indoor positioning method, and in the process of creating the environmental fingerprint database, the server can simultaneously obtain the location. The environment information and the location information enable the server to directly calibrate the actual location of the location area based on the location information, thereby realizing synchronous calibration of the environment information and the actual location, thereby greatly reducing the labor and time cost of creating the environment fingerprint database. And improve the accuracy of the environmental fingerprint library to provide positioning services to the positioning terminal.
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,本方面所示的室内定位方法还包括上述所示的环境指纹库的创建过程,所述环境指纹库的具体创建过程为:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the embodiments, the indoor positioning method shown in the foregoing aspect further includes the process of creating the environment fingerprint database, where the environment is The specific creation process of the fingerprint library is:
步骤A01、服务器获取所述智能终端在所述定位区域内移动的过程中,所述智能终端每隔预设周期上报的在所述预设周期内所述智能终端扫描到的所有环境信息和所述UWB定位系统上报的所有位置信息。Step A01: The server obtains all environmental information and information scanned by the smart terminal during the preset period, which is reported by the smart terminal in the preset period, in the process of the mobile terminal moving in the positioning area. All location information reported by the UWB positioning system.
所述所有位置信息中的一个位置信息用于指示所述智能终端发送所述所有环境信息中的一个环境信息时的位置坐标,所述环境信息包括无线保真WiFi信息和/或传感器信息,所述WiFi信息包括所述智能终端扫描到的每个无线网络接入点AP的媒体介质控制MAC地址和接收信号强度指示RSSI数据,所述传感器信息为所述智能终端的传感器所采集到的信息。One of the location information is used to indicate location coordinates when the smart terminal sends one of the environmental information, and the environment information includes wireless fidelity WiFi information and/or sensor information. The WiFi information includes a media medium control MAC address and a received signal strength indicator RSSI data of each wireless network access point AP scanned by the smart terminal, and the sensor information is information collected by a sensor of the smart terminal.
步骤A02、服务器根据所述UWB定位系统上报的所述所有位置信息确定出目标位置信息。Step A02: The server determines the target location information according to all the location information reported by the UWB positioning system.
其中,所述目标位置信息所指示的位置坐标位于所述第一区域单元内。The location coordinates indicated by the target location information are located in the first regional unit.
步骤A03、服务器根据所述智能终端上报的所述所有环境信息确定出目标环境信息。Step A03: The server determines the target environment information according to all the environment information reported by the smart terminal.
所述目标环境信息为所述智能终端在所述第一区域单元内所上报的环境信息;The target environment information is environment information reported by the smart terminal in the first area unit;
步骤A04、服务器确定所述目标定位指纹为包括有所述目标位置信息和所述目标环境信息的定位指纹。Step A04: The server determines that the target positioning fingerprint is a positioning fingerprint that includes the target location information and the target environment information.
本方面所示的环境指纹库的创建过程,勘测人员同时佩戴智能终端以及UWB定位终端,从而使得在对勘测人员的行走轨迹以及行走方式不做要求的情况下,服务器即可同时获取到所述环境信息以及所述位置信息,使得所述环境数据服务器可直接基于所述位置信息对定位区域的实际位置进行标定,实现了环境信息与实际位置的同步标定,大大降低了创建环境指纹库的人力和时间成本。In the process of creating the environmental fingerprint database shown in the present aspect, the surveying personnel simultaneously wear the smart terminal and the UWB positioning terminal, so that the server can simultaneously obtain the same in the case that the surveying personnel's walking trajectory and the walking manner are not required. The environment information and the location information enable the environmental data server to directly calibrate the actual location of the location area based on the location information, thereby realizing synchronous calibration of the environment information and the actual location, thereby greatly reducing the manpower for creating the environment fingerprint database. And time cost.
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,本实现方式以所述目标环境信息包括所述WiFi信息为例,则所述步骤A04具体包括:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the embodiments of the present disclosure, in the implementation manner, where the target environment information includes the WiFi information, the step A04 specifically includes :
步骤A041、服务器统计所述第一区域单元内,被所述智能终端扫描到的所有AP的总 采样次数
以及第一目标AP的采样次数N
i。
Step A041: The server counts the total number of samples of all APs scanned by the smart terminal in the first area unit. And the number of samples N i of the first target AP.
其中,所述第一目标AP为所述第一区域单元内,被所述智能终端扫描到的第i个AP,且所述第一区域单元内,被所述智能终端扫描到的AP的数量为n,所述i以及所述n为大于或等于1的正整数,且所述i小于或等于所述n。The first target AP is the i-th AP scanned by the smart terminal in the first area unit, and the number of APs scanned by the smart terminal in the first area unit Is n, the i and the n are positive integers greater than or equal to 1, and the i is less than or equal to the n.
步骤A042、服务器通过如下公式计算所述第一目标AP的出现概率occurenceP(MAC
i)。
Step A042: The server calculates an appearance probability (PerformanceP(MAC i ) of the first target AP by using the following formula.
步骤A043、服务器确定所述目标定位指纹包括第一定位指纹,所述第一定位指纹包括所述第一目标AP的出现概率occurenceP(MAC
i)。
Step A043: The server determines that the target positioning fingerprint includes a first positioning fingerprint, where the first positioning fingerprint includes an appearance probability earthquake(MAC i ) of the first target AP.
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,本实现方式以所述目标环境信息包括所述WiFi信息为例,则所述步骤A04具体包括:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the embodiments of the present disclosure, in the implementation manner, where the target environment information includes the WiFi information, the step A04 specifically includes :
步骤A111、服务器获取所述第一目标AP的目标RSSI序列。Step A111: The server acquires a target RSSI sequence of the first target AP.
所述目标RSSI序列包括所述第一目标AP每次被所述智能终端扫描到的RSSI;The target RSSI sequence includes an RSSI scanned by the first target AP by the smart terminal each time;
步骤A112、服务器根据如下公式计算单个目标高斯分布模型GSM的概率密度函数Norm(RSSI);Step A112: The server calculates a probability density function Norm (RSSI) of a single target Gaussian distribution model GSM according to the following formula;
其中,所述μ是目标RSSI序列的均值,σ是目标RSSI序列的标准差;
Wherein, the μ is the mean of the target RSSI sequence, and σ is the standard deviation of the target RSSI sequence;
步骤A113、服务器根据如下公式计算第一目标AP的高斯混合分布函数gmNorm(RSSI);Step A113: The server calculates a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP according to the following formula;
其中,π
k为预设的加权系数,所述K为大于或等于1的正整数;
Where π k is a preset weighting coefficient, and the K is a positive integer greater than or equal to 1;
步骤A114、服务器确定所述第一定位指纹包括所述第一目标AP的高斯混合分布函数gmNorm(RSSI)。Step A114: The server determines that the first positioning fingerprint includes a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP.
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,所述步骤A04具体包括:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the embodiments, the step A04 specifically includes:
步骤A121、所述服务器确定目标位置的位置坐标,所述目标位置为位于所述第一区域单元内的任一位置;Step A121: The server determines location coordinates of a target location, where the target location is any location located in the first regional unit;
步骤A122、所述服务器确定所述第一定位指纹包括所述目标位置的位置坐标。Step A122: The server determines that the first positioning fingerprint includes location coordinates of the target location.
基于本实现方式,实现了基于智能终端所检测到的WiFi信息进行环境指纹库的创建过程,基于WiFi信息所创建的环境指纹库能够实现对待定位终端的精确定位,而且通过待定位终端采集到的WiFi信息即可实现室内定位过程,无需在待定位终端上安装新的器件,节省了室内定位实现的成本,提升了本方面所示的室内定位方法的易用性。Based on the implementation manner, the environment fingerprint database is created based on the WiFi information detected by the smart terminal, and the environment fingerprint database created based on the WiFi information can accurately locate the terminal to be located, and is collected by the terminal to be located. The WiFi information can realize the indoor positioning process without installing a new device on the terminal to be positioned, saving the cost of indoor positioning and improving the ease of use of the indoor positioning method shown in this aspect.
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,为实现基于WiFi信息所创建的环境指纹库实现室内定位,则所述室内定位方法还包括:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the embodiments of the present disclosure, the indoor positioning method further includes:
步骤C01、服务器通过如下公式计算第一目标子匹配数值Px;Step C01, the server calculates the first target sub-matching value Px by the following formula;
Px=log
10(occurenceP(MAC
i).gmNorm(RSSI));
Px=log 10 (occurenceP(MAC i ).gmNorm(RSSI));
具体的,所述环境信息为所述待定位终端在目标时间段内扫描到的WiFi信息,且在所述服务器确定出所述环境信息所包括的任一AP的MAC地址与所述第一定位指纹所包括的一个AP的MAC地址相同,则触发执行步骤C01。Specifically, the environment information is WiFi information scanned by the to-be-positioned terminal in a target time period, and the server determines, at the server, a MAC address of any AP included in the environment information, and the first location If the MAC address of one AP included in the fingerprint is the same, step C01 is triggered.
步骤C02、服务器根据如下公式计算所述第一区域单元对应的匹配数值。Step C02: The server calculates a matching value corresponding to the first area unit according to the following formula.
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,为实现基于WiFi信息所创建的环境指纹库实现室内定位,则所述室内定位方法还包括:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the embodiments of the present disclosure, the indoor positioning method further includes:
步骤C11、服务器通过如下公式计算第二目标子匹配数值Py;Step C11, the server calculates the second target sub-matching value Py by the following formula;
Py=log
10(1-occurenceP(MAC
i));
Py=log 10 (1-occurenceP(MAC i ));
具体的,若所述服务器确定出所述环境信息所包括的任一AP的MAC地址与所述第一定位指纹所包括的任一AP的MAC地址均不相同,则触发执行所述步骤C11。Specifically, if the server determines that the MAC address of any AP included in the environment information is different from the MAC address of any AP included in the first positioning fingerprint, the step C11 is triggered.
步骤C12、所述服务器根据如下公式计算所述第一区域单元对应的匹配数值;Step C12: The server calculates a matching value corresponding to the first area unit according to the following formula;
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,基于上述所创建的环境指纹库,为实现室内定位,则所述步骤C具体包括:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the present disclosure, the step C includes:
步骤C21、服务器获取匹配列表。Step C21: The server obtains a matching list.
其中,所述匹配列表包括所述定位区域包括的所有区域单元,且所述匹配列表所包括的所有所述区域单元按所述匹配数值由大到小的顺序进行排序。The matching list includes all the area units included in the positioning area, and all the area units included in the matching list are sorted in descending order of the matching values.
步骤C22、服务器获取所述匹配列表中,排序在前N位的区域单元中任一区域单元所对应的所述目标位置的位置坐标wi。Step C22: The server acquires, in the matching list, the location coordinates wi of the target location corresponding to any regional unit in the first N-bit regional unit.
步骤C23、服务器通过如下公式计算第一定位位置坐标Dx;Step C23, the server calculates the first positioning position coordinate Dx by the following formula;
步骤C24、服务器确定所述定位位置坐标为所述第一定位位置坐标Dx。Step C24: The server determines that the positioning position coordinate is the first positioning position coordinate Dx.
本实现方式中,服务器基于已创建的环境指纹库,在所述待定位终端采集到所述WiFi信息后,所述服务器即可基于待定位终端所采集的WiFi信息进行室内定位,在定位过程中,因环境指纹库的创建,提高了室内定位的精度以及效率。In the implementation manner, the server is based on the created environment fingerprint database. After the WiFi information is collected by the terminal to be located, the server may perform indoor positioning based on the WiFi information collected by the terminal to be located. Due to the creation of an environmental fingerprint library, the accuracy and efficiency of indoor positioning are improved.
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,所述目标环境信息包括所述WiFi信息以及所述传感器信息,则所述步骤A04具体包括:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the embodiment, the target environment information includes the WiFi information and the sensor information, where the step A04 specifically includes:
步骤A31、服务器确定所述目标定位指纹包括所述第一定位指纹以及第二定位指纹,所述第二定位指纹为根据所述传感器信息所获取到的呈隐马尔可夫模型HMM的定位指纹。Step A31: The server determines that the target positioning fingerprint includes the first positioning fingerprint and the second positioning fingerprint, and the second positioning fingerprint is a positioning fingerprint of the hidden Markov model HMM acquired according to the sensor information.
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,本实 现方式所示包括如下步骤:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the embodiments of the present disclosure, the implementation manner includes the following steps:
步骤E11、服务器通过如下公式计算所述第一区域单元的转移概率transitionP(STEP
i),所述转移概率transitionP(STEP
i)用于进行训练以得到所述第二定位指纹;
Step E11: The server calculates a transition probability transitionP(STEP i ) of the first area unit by using a formula, where the transition probability transitionP(STEP i ) is used for training to obtain the second positioning fingerprint;
其中,分子为位于所述第一区域单元内的携带所述智能终端的勘测人员移动的第k个步长转移至第i个第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的次数,所述第二定位区域为在所述定位区域内与所述第一区域单元相邻的区域单元,且所述第二区域单元的数量为n个,所述n以及所述k为大于或等于1的正整数,分母为位于所述第一区域单元内的所述智能终端移动到所有所述第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的总次数。
Wherein, the numerator is transferred to the i-th second area unit in a process of moving the kth step of the movement of the surveyor carrying the smart terminal in the first area unit, wherein the smart terminal is in the first The number of times the sensor information reported in the area unit is sampled, the second location area is a area unit adjacent to the first area unit in the location area, and the number of the second area unit is n And the n and the k are positive integers greater than or equal to 1, and the denominator is a process in which the smart terminal located in the first area unit moves to all the second area units, the smart terminal The total number of times the sensor information reported in the first area unit is sampled.
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,本实现方式所示包括如下步骤:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the embodiments of the present disclosure, the implementation manner includes the following steps:
步骤E21、服务器根据如下公式计算所述第一区域单元中目标行进方向匹配度azimuthMatch
m,所述azimuthMatch
m为携带所述智能终端的勘测人员在所述第一区域单元内,沿目标行进方向m进行移动时的行进方向匹配度,所述目标行进方向m为所述智能终端在所述第一区域单元内进行移动的任一方向;
Step E21: The server calculates a target traveling direction matching degree azimuthMatch m in the first area unit according to the following formula, where the azimuthMatch m is a surveying personnel carrying the smart terminal in the first area unit, along a target traveling direction m a direction of travel matching when moving, the target traveling direction m being any direction in which the smart terminal moves within the first area unit;
其中,所述minDiff为目标方向序列midAzi所包括的任一方向与目标航向Azimuth之间所形成的偏差角度,所述目标航向Azimuth为携带所述智能终端的勘测人员经过第k-1个步长移动至所述第一区域单元内的概率,所述目标方向序列midAzi包括所述目标行进方向以及目标时间段,所述目标时间段为所述智能终端在所述第一区域单元内沿所述目标行进方向进行移动的时间段;
Wherein the minDiff is a deviation angle formed between any direction included in the target direction sequence midAzi and the target heading Azimuth, and the target heading Azimuth is a k-1 step step for the surveyor carrying the intelligent terminal a probability of moving into the first area unit, the target direction sequence midAzi including the target traveling direction and a target time period, wherein the target time period is that the smart terminal is within the first area unit a period of time during which the target travel direction moves;
步骤E22、服务器获取目标地磁信息,所述目标地磁信息为携带所述智能终端的勘测人员移动的第k个步长的过程中,所述智能终端在所述第一区域单元内所上报传感器信息所包括的地磁信息,所述目标地磁信息包括第一分量值magE、第二分量值magN、第三分量值magU以及地磁精度值magVal,其中,所述第一分量值magE为在站心坐标系ENU下,沿与水平面平行的X方向分量值,所述第二分量值magN为在ENU下,与水平面平行Y方向分量值,所述第三分量值magU为在ENU下,与水平面垂直的Z方向垂直分量值;所述地磁精度值magVal表示测量精度;In step E22, the server acquires the target geomagnetic information, and the target geomagnetic information is the k-th step of the movement of the surveying personnel carrying the smart terminal, and the smart terminal reports the sensor information in the first regional unit. The geomagnetic information included, the target geomagnetism information includes a first component value magE, a second component value magN, a third component value magU, and a geomagnetism precision value magVal, wherein the first component value magE is at a center coordinate In the ENU, along the X-direction component value parallel to the horizontal plane, the second component value magN is the Y-direction component value parallel to the horizontal plane under the ENU, and the third component value magU is under the ENU, perpendicular to the horizontal plane. The Z-direction vertical component value; the geomagnetic accuracy value magVal represents the measurement accuracy;
步骤E23、服务器根据所述目标地磁信息确定预设输入集合X,其中X={X
1=1,X
2=magE,X
3=magN,X
4=magU,X
5=magVal,X
6=azimthMatch
m};
Step E23: The server determines, according to the target geomagnetic information, a preset input set X, where X={X 1 =1, X 2 =magE, X 3 =magN, X 4 =magU, X 5 =magVal, X 6 =azimthMatch m };
通过如下公式计算所述第一区域单元中,与所述目标行进方向对应的目标历史匹配度matchHistory
m;
Calculating a target history matching degree matchHistory m corresponding to the target traveling direction in the first area unit by using a formula;
其中,
表示对6个目标参数集合X
iW
i求取S型生长曲线sigmoid函数,所述目标参数集合X
iW
i包括第一参数X
i以及第二参数W
i,所述第一参数X
i为所述预设输入集合所包括的任一参数,所述第二参数W
i为与所述第一参数X
i对应的权重值;
among them, Representing an S-type growth curve sigmoid function for the six target parameter sets X i W i , the target parameter set X i W i comprising a first parameter X i and a second parameter W i , wherein the first parameter X i is Any parameter included in the preset input set, the second parameter W i being a weight value corresponding to the first parameter X i ;
步骤E24、服务器根据如下公式计算所述第一区域单元的输出概率matchValue(grld
j);
Step E24: The server calculates an output probability matchValue(grld j ) of the first area unit according to the following formula;
其中,grld
j表示所述第一区域单元,M表示所述第一区域单元的历史匹配度的数量,所述目标历史匹配度matchHistory
m表示M个所述历史匹配度中的任一历史匹配度;
Wherein, grld j represents the first regional unit, M represents the number of historical matching degrees of the first regional unit, and the target historical matching degree matchHistory m represents any historical matching degree of the M historical matching degrees. ;
步骤E25、服务器基于所述第一区域单元的转移概率以及所述输出概率创建呈隐马尔可夫模型HMM的第二定位指纹。Step E25: The server creates a second positioning fingerprint that is a hidden Markov model HMM based on the transition probability of the first regional unit and the output probability.
本实施例所示的数据服务器可基于所述输出概率序列和所述转移概率序列构建呈搜索树形式的所述第二指纹库,其中,所述服务器根据勘测人员所行进的过程中,所经过任一区域单元的输出概率以及转移概率可构建出所述搜索树中的一层,进一步的提高了对待定位终端进行定位的准确性以及效率。The data server shown in this embodiment may construct the second fingerprint library in the form of a search tree based on the output probability sequence and the transition probability sequence, wherein the server passes according to a process that the surveyor travels. The output probability and transition probability of any regional unit can construct a layer in the search tree, which further improves the accuracy and efficiency of positioning the terminal to be located.
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,本实现方式所示包括如下步骤:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the embodiments of the present disclosure, the implementation manner includes the following steps:
步骤F11、服务器确定待定位区域。Step F11: The server determines an area to be located.
所述待定位区域所包括的一个位置的坐标为所述第一定位位置坐标Dx,且所述待定位区域的面积小于所述定位区域的面积;The coordinate of a position included in the to-be-positioned area is the first positioning position coordinate Dx, and the area of the to-be-positioned area is smaller than the area of the positioning area;
步骤F12、服务器获取待定位终端发送的传感器信息序列,所述传感器信息序列包括目标传感器信息以及目标上报时间点,所述目标传感器信息为所述待定位终端在所述待定位区域内,所上报的至少一个传感器信息中的任一个,所述目标上报时间点为所述待定位终端上报所述目标传感器信息的时间点;Step F12: The server acquires a sequence of sensor information sent by the terminal to be located, where the sensor information sequence includes target sensor information and a target reporting time point, where the target sensor information is that the to-be-located terminal is in the to-be-positioned area, and reported Any one of the at least one sensor information, the target reporting time point is a time point at which the to-be-targeted terminal reports the target sensor information;
步骤F13、服务器基于维特比算法确定出所述第二定位指纹中,与所述传感器信息序列对应,且具有不同概率值的定位区域单元集合,所述定位区域单元集合包括所述智能终端移动过程中按经过的时间顺序由前到后依次经过至少一个区域单元;Step F13: The server determines, according to the Viterbi algorithm, a set of positioning area units corresponding to the sensor information sequence and having different probability values, where the positioning area unit set includes the smart terminal moving process. Passing at least one area unit in order from the front to the back in the chronological order;
步骤F14、服务器确定第二定位位置,所述第二定位位置为具有最高概率值的所述定位区域单元中,排序在最后的区域单元所包括的任一位置;Step F14: The server determines a second positioning position, where the second positioning position is the positioning area unit having the highest probability value, and is sorted at any position included in the last area unit;
步骤F15、服务器确定所述定位位置坐标为所述第二定位位置坐标。Step F15: The server determines that the positioning position coordinate is the second positioning position coordinate.
采用本方面所示的方法,服务器实现室内定位方法的过程可包括第一定位阶段以及第 二定位阶段,第一定位阶段称为“粗略定位”,第二定位阶段称为“精细定位”,即在所述第一定位阶段(步骤F11所示),通过WiFi匹配的定位技术确定出待定位对象的初始室内位置(第一定位位置),在所述第二定位阶段以第一定位位置作为中心框定一个呈圆形、正方向等形状的待定位区域,然后在该待定位区域采用地磁匹配技术进一步计算待定位对象的精确位置,从而提高了室内定位的速度以及准确性,而且采用HMM的改进维特比算法的定位服务,能够有效的降低了地磁匹配的复杂度和计算量,提升了对待定位终端进行定位的效率和精确度。The method for implementing the indoor positioning method by the server may include a first positioning phase and a second positioning phase, where the first positioning phase is referred to as “rough positioning” and the second positioning phase is referred to as “fine positioning”, ie, In the first positioning phase (shown in step F11), an initial indoor location (first positioning location) of the object to be located is determined by a WiFi matching positioning technique, and the first positioning location is used as a center in the second positioning phase. Frame a to-be-positioned area in the shape of a circle, a positive direction, etc., and then use the geomagnetic matching technique to further calculate the precise position of the object to be positioned in the to-be-positioned area, thereby improving the speed and accuracy of the indoor positioning, and improving the HMM. The positioning service of the Viterbi algorithm can effectively reduce the complexity and calculation of geomagnetic matching, and improve the efficiency and accuracy of positioning the terminal to be positioned.
结合本发明实施例第一方面,本发明实施例第一方面的一种可选的实现方式中,本实现方式所示包括如下步骤:With reference to the first aspect of the embodiments of the present invention, in an optional implementation manner of the first aspect of the embodiments of the present disclosure, the implementation manner includes the following steps:
步骤F21、所述服务器以所述第二定位位置坐标为起始位置,根据步行者航位推算PDR确定出所述待定位终端在未来时刻的移动轨迹。Step F21: The server uses the second positioning position coordinate as a starting position, and determines a movement trajectory of the to-be-positioned terminal at a future time according to the pedestrian dead reckoning PDR.
采用本方面所示,服务器可基于第二定位位置,对携带有待定位终端的用户在未来时刻的移动轨迹进行预测,基于已预测的移动轨迹,能够为用户提供效率更好,准确性更好的室内定位服务,从而降低了服务器在未来时刻对用户提供室内定位服务的计算量。According to the aspect, the server can predict the movement trajectory of the user carrying the terminal to be located at a future time based on the second positioning position, and can provide the user with better efficiency and better accuracy based on the predicted movement trajectory. The indoor positioning service reduces the amount of calculations that the server provides to the indoor positioning service for users in the future.
本发明实施例第二方面提供了一种服务器,包括:A second aspect of the embodiments of the present invention provides a server, including:
接收单元,用于接收待定位终端在定位区域内发送的环境信息,所述环境信息为待定位终端所检测到的信息,且在所述待定位终端所处位置不同时,所述待定位终端所检测到的所述环境信息不同;a receiving unit, configured to receive environment information that is sent by the terminal to be located in the location area, where the environment information is information detected by the terminal to be located, and when the location of the terminal to be located is different, the terminal to be located is The detected environmental information is different;
获取单元,用于获取与所述定位区域对应的环境指纹库,所述环境指纹库包括至少一个定位指纹,所述定位区域包括至少一个区域单元,其中,目标定位指纹与第一区域单元对应,所述目标定位指纹为所述至少一个定位指纹中的一个定位指纹,所述第一区域单元为所述至少一个区域单元中的一个区域单元,所述目标定位指纹包括目标环境信息和目标位置信息,所述目标环境信息为移动至所述第一区域单元内的智能终端发送的环境信息,所述目标位置信息为超宽带UWB定位系统发送的用于指示所述智能终端发送所述目标环境信息时的位置坐标;An acquiring unit, configured to acquire an environment fingerprint database corresponding to the positioning area, where the environment fingerprint database includes at least one positioning fingerprint, the positioning area includes at least one area unit, wherein the target positioning fingerprint corresponds to the first area unit, The target location fingerprint is one of the at least one location fingerprint, the first area unit is one of the at least one area unit, and the target location fingerprint includes target environment information and target location information. The target environment information is environment information that is sent to the smart terminal in the first area unit, where the target location information is sent by the ultra-wideband UWB positioning system to instruct the smart terminal to send the target environment information. Position coordinates
匹配单元,用于获取所述环境指纹库中,与所述环境信息对应的定位位置坐标,所述定位位置坐标为所述待定位终端在所述定位区域内的位置坐标。And a matching unit, configured to acquire a positioning location coordinate corresponding to the environment information in the environment fingerprint database, where the positioning location coordinate is a location coordinate of the terminal to be located in the positioning area.
本方面所示的服务器用于执行上述第一方面所示的室内定位方法,具体执行过程以及有益效果的说明,请详见上述第一方面所示,具体不做赘述。The server shown in this aspect is used to perform the indoor positioning method shown in the first aspect, and the specific execution process and the description of the beneficial effects are shown in the above first aspect, and details are not described herein.
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述获取单元包括:In an optional implementation manner of the second aspect of the embodiments of the present disclosure, the acquiring unit includes:
第一获取模块,用于获取所述智能终端在所述定位区域内移动的过程中,所述智能终端每隔预设周期上报的在所述预设周期内所述智能终端扫描到的所有环境信息和所述UWB定位系统上报的所有位置信息,所述所有位置信息中的一个位置信息用于指示所述智能终端发送所述所有环境信息中的一个环境信息时的位置坐标,所述环境信息包括无线保真WiFi信息和/或传感器信息,所述WiFi信息包括所述智能终端扫描到的每个无线网络接入点AP的媒体介质控制MAC地址和接收信号强度指示RSSI数据,所述传感器信息为所述智 能终端的传感器所采集到的信息;a first acquiring module, configured to acquire, in a process of moving the smart terminal in the positioning area, all environments scanned by the smart terminal in the preset period reported by the smart terminal every preset period Information and all location information reported by the UWB positioning system, wherein one of the location information is used to indicate location coordinates when the smart terminal sends one of the environmental information, the environmental information Included with wireless fidelity WiFi information and/or sensor information, the WiFi information including a media medium control MAC address and received signal strength indicator RSSI data of each wireless network access point AP scanned by the smart terminal, the sensor information Information collected by the sensor of the smart terminal;
第一处理模块,用于根据所述UWB定位系统上报的所述所有位置信息确定出目标位置信息,所述目标位置信息所指示的位置坐标位于所述第一区域单元内;a first processing module, configured to determine target location information according to all the location information reported by the UWB positioning system, where location coordinates indicated by the target location information are located in the first regional unit;
第二处理模块,用于根据所述智能终端上报的所述所有环境信息确定出目标环境信息,所述目标环境信息为所述智能终端在所述第一区域单元内所上报的环境信息;a second processing module, configured to determine target environment information according to the all the environment information reported by the smart terminal, where the target environment information is environment information reported by the smart terminal in the first area unit;
第三处理模块,用于确定所述目标定位指纹为包括有所述目标位置信息和所述目标环境信息的定位指纹。And a third processing module, configured to determine that the target positioning fingerprint is a positioning fingerprint that includes the target location information and the target environment information.
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述目标环境信息包括所述WiFi信息,则所述第三处理模块包括:According to a second aspect of the embodiments of the present invention, in an optional implementation manner of the second aspect of the embodiments, the target environment information includes the WiFi information, and the third processing module includes:
第一计算子模块,用于统计所述第一区域单元内,被所述智能终端扫描到的所有AP的总采样次数
以及第一目标AP的采样次数N
i,所述第一目标AP为所述第一区域单元内,被所述智能终端扫描到的第i个AP,且所述第一区域单元内,被所述智能终端扫描到的AP的数量为n,所述i以及所述n为大于或等于1的正整数,且所述i小于或等于所述n;
a first calculation submodule, configured to count the total number of samples of all APs scanned by the smart terminal in the first area unit And a sampling number N i of the first target AP, where the first target AP is the i-th AP scanned by the smart terminal in the first area unit, and the first area unit is The number of APs scanned by the smart terminal is n, the i and the n are positive integers greater than or equal to 1, and the i is less than or equal to the n;
第二计算子模块,用于通过如下公式计算所述第一目标AP的出现概率occurenceP(MAC
i);
a second calculation submodule, configured to calculate an occurrence probability of the first target AP, chanceP(MAC i ), by using the following formula;
第一确定子模块,用于确定所述目标定位指纹包括第一定位指纹,所述第一定位指纹包括所述第一目标AP的出现概率occurenceP(MAC
i)。
And a first determining submodule, configured to determine that the target positioning fingerprint includes a first positioning fingerprint, where the first positioning fingerprint includes an appearance probability earthquake(MAC i ) of the first target AP.
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述第三处理模块包括:According to a second aspect of the embodiments of the present invention, in an optional implementation manner of the second aspect of the embodiments, the third processing module includes:
第一获取子模块,用于获取所述第一目标AP的目标RSSI序列,所述目标RSSI序列包括所述第一目标AP每次被所述智能终端扫描到的RSSI;a first acquisition sub-module, configured to acquire a target RSSI sequence of the first target AP, where the target RSSI sequence includes an RSSI scanned by the first target AP by the smart terminal;
第三计算子模块,用于根据如下公式计算单个目标高斯分布模型GSM的概率密度函数Norm(RSSI);a third calculation submodule, configured to calculate a probability density function Norm (RSSI) of a single target Gaussian distribution model GSM according to the following formula;
其中,所述μ是目标RSSI序列的均值,σ是目标RSSI序列的标准差;
Wherein, the μ is the mean of the target RSSI sequence, and σ is the standard deviation of the target RSSI sequence;
第四计算子模块,用于根据如下公式计算第一目标AP的高斯混合分布函数gmNorm(RSSI);a fourth calculation submodule, configured to calculate a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP according to the following formula;
其中,π
k为预设的加权系数,所述K为大于或等于1的正整数;
Where π k is a preset weighting coefficient, and the K is a positive integer greater than or equal to 1;
第二确定子模块,用于确定所述第一定位指纹包括所述第一目标AP的高斯混合分布函 数gmNorm(RSSI)。And a second determining submodule, configured to determine that the first positioning fingerprint includes a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP.
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述第三处理模块包括:According to a second aspect of the embodiments of the present invention, in an optional implementation manner of the second aspect of the embodiments, the third processing module includes:
第三确定子模块,用于确定目标位置的位置坐标,所述目标位置为位于所述第一区域单元内的任一位置;a third determining submodule, configured to determine a location coordinate of the target location, where the target location is located at any location within the first regional unit;
第四确定子模块,用于确定所述第一定位指纹包括所述目标位置的位置坐标。And a fourth determining submodule, configured to determine that the first positioning fingerprint includes location coordinates of the target location.
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述环境信息为所述待定位终端在目标时间段内扫描到的WiFi信息,则所述服务器还包括:According to a second aspect of the embodiments of the present invention, in an optional implementation manner of the second aspect of the embodiments of the present disclosure, the environment information is the WiFi information scanned by the to-be-positioned terminal within a target time period, The server also includes:
第一计算单元,用于若所述环境信息所包括的任一AP的MAC地址与所述第一定位指纹所包括的一个AP的MAC地址相同,则通过如下公式计算第一目标子匹配数值Px;a first calculating unit, configured to: if the MAC address of any AP included in the environment information is the same as the MAC address of an AP included in the first positioning fingerprint, calculate the first target sub-match value Px by using the following formula ;
Px=log
10(occurenceP(MAC
i).gmNorm(RSSI));
Px=log 10 (occurenceP(MAC i ).gmNorm(RSSI));
第二计算单元,用于根据如下公式计算所述第一区域单元对应的匹配数值;a second calculating unit, configured to calculate a matching value corresponding to the first area unit according to the following formula;
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述服务器还包括:In an optional implementation manner of the second aspect of the embodiments of the present invention, the server further includes:
第三计算单元,用于若所述环境信息所包括的任一AP的MAC地址与所述第一定位指纹所包括的任一AP的MAC地址均不相同,则通过如下公式计算第二目标子匹配数值Py;a third calculating unit, configured to: if the MAC address of any AP included in the environment information is different from the MAC address of any AP included in the first positioning fingerprint, calculate the second target by using the following formula Matching value Py;
Py=log
10(1-occurenceP(MAC
i));
Py=log 10 (1-occurenceP(MAC i ));
第四计算单元,用于根据如下公式计算所述第一区域单元对应的匹配数值;a fourth calculating unit, configured to calculate a matching value corresponding to the first area unit according to the following formula;
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述匹配单元包括:In an optional implementation manner of the second aspect of the embodiments of the present disclosure, the matching unit includes:
第二获取模块,用于获取匹配列表,所述匹配列表包括所述定位区域包括的所有区域单元,且所述匹配列表所包括的所有所述区域单元按所述匹配数值由大到小的顺序进行排序;a second obtaining module, configured to obtain a matching list, where the matching list includes all the regional units included in the positioning area, and all the regional units included in the matching list are in descending order of the matching value put in order;
第三获取模块,用于获取所述匹配列表中,排序在前N位的区域单元中任一区域单元所对应的所述目标位置的位置坐标wi;a third obtaining module, configured to acquire, in the matching list, a position coordinate wi of the target position corresponding to any one of the regional units in the first N-bit area unit;
第四获取模块,用于通过如下公式计算第一定位位置坐标Dx;a fourth obtaining module, configured to calculate a first positioning position coordinate Dx by the following formula;
确定模块,用于确定所述定位位置坐标为所述第一定位位置坐标Dx。And a determining module, configured to determine that the positioning position coordinate is the first positioning position coordinate Dx.
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述目标环境信息包括所述WiFi信息以及所述传感器信息,则所述第三处理模块还用于,确定所述目标定位指纹包括所述第一定位指纹以及第二定位指纹,所述第二定位指纹为根据所 述传感器信息所获取到的呈隐马尔可夫模型HMM的定位指纹。In an optional implementation manner of the second aspect of the embodiments of the present disclosure, the target environment information includes the WiFi information and the sensor information, and the third processing module further And determining, by the target positioning fingerprint, the first positioning fingerprint and the second positioning fingerprint, wherein the second positioning fingerprint is a positioning fingerprint of the hidden Markov model HMM acquired according to the sensor information.
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述服务器还包括:In an optional implementation manner of the second aspect of the embodiments of the present invention, the server further includes:
第五计算单元,用于通过如下公式计算所述第一区域单元的转移概率transitionP(STEP
i),所述转移概率transitionP(STEP
i)用于进行训练以得到所述第二定位指纹;
a fifth calculating unit, configured to calculate a transition probability transitionP(STEP i ) of the first area unit by using a formula, the transition probability transitionP(STEP i ) is used for training to obtain the second positioning fingerprint;
其中,分子为位于所述第一区域单元内的携带所述智能终端的勘测人员移动的第k个步长转移至第i个第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的次数,所述第二定位区域为在所述定位区域内与所述第一区域单元相邻的区域单元,且所述第二区域单元的数量为n个,所述n以及所述k为大于或等于1的正整数,分母为位于所述第一区域单元内的所述智能终端移动到所有所述第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的总次数。
Wherein, the numerator is transferred to the i-th second area unit in a process of moving the kth step of the movement of the surveyor carrying the smart terminal in the first area unit, wherein the smart terminal is in the first The number of times the sensor information reported in the area unit is sampled, the second location area is a area unit adjacent to the first area unit in the location area, and the number of the second area unit is n And the n and the k are positive integers greater than or equal to 1, and the denominator is a process in which the smart terminal located in the first area unit moves to all the second area units, the smart terminal The total number of times the sensor information reported in the first area unit is sampled.
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述服务器还包括:In an optional implementation manner of the second aspect of the embodiments of the present invention, the server further includes:
第六计算单元,用于根据如下公式计算所述第一区域单元中目标行进方向匹配度azimuthMatch
m,所述azimuthMatch
m为携带所述智能终端的勘测人员在所述第一区域单元内,沿目标行进方向m进行移动时的行进方向匹配度,所述目标行进方向m为所述智能终端在所述第一区域单元内进行移动的任一方向;
a sixth calculating unit, configured to calculate a target traveling direction matching degree azimuthMatch m in the first area unit according to the following formula, wherein the azimuthMatch m is a surveying personnel carrying the smart terminal in the first area unit, along the target a traveling direction matching degree when the traveling direction m is moved, wherein the target traveling direction m is any direction in which the smart terminal moves in the first area unit;
其中,所述minDiff为目标方向序列midAzi所包括的任一方向与目标航向Azimuth之间所形成的偏差角度,所述目标航向Azimuth为携带所述智能终端的勘测人员经过第k-1个步长移动至所述第一区域单元内的概率,所述目标方向序列midAzi包括所述目标行进方向以及目标时间段,所述目标时间段为所述智能终端在所述第一区域单元内沿所述目标行进方向进行移动的时间段;
Wherein the minDiff is a deviation angle formed between any direction included in the target direction sequence midAzi and the target heading Azimuth, and the target heading Azimuth is a k-1 step step for the surveyor carrying the intelligent terminal a probability of moving into the first area unit, the target direction sequence midAzi including the target traveling direction and a target time period, wherein the target time period is that the smart terminal is within the first area unit a period of time during which the target travel direction moves;
第一处理单元,用于获取目标地磁信息,所述目标地磁信息为携带所述智能终端的勘测人员移动的第k个步长的过程中,所述智能终端在所述第一区域单元内所上报传感器信息所包括的地磁信息,所述目标地磁信息包括第一分量值magE、第二分量值magN、第三分量值magU以及地磁精度值magVal,其中,所述第一分量值magE为在站心坐标系ENU下,沿与水平面平行的X方向分量值,所述第二分量值magN为在ENU下,与水平面平行Y方向分量值,所述第三分量值magU为在ENU下,与水平面垂直的Z方向垂直分量值;所述地磁精度值magVal表示测量精度;a first processing unit, configured to acquire target geomagnetic information, wherein the target geomagnetic information is in a process of moving the kth step of the surveying personnel of the smart terminal, where the smart terminal is located in the first regional unit And reporting the geomagnetism information included in the sensor information, the target geomagnetism information including a first component value magE, a second component value magN, a third component value magU, and a geomagnetism precision value magVal, wherein the first component value magE is In the center coordinate system ENU, along the X-direction component value parallel to the horizontal plane, the second component value magN is a value of the Y-direction component parallel to the horizontal plane under the ENU, and the third component value magU is under the ENU. a vertical component value in the Z direction perpendicular to the horizontal plane; the geomagnetic accuracy value magVal represents the measurement accuracy;
第二处理单元,用于根据所述目标地磁信息确定预设输入集合X,其中X={X
1=1,X
2=magE,X
3=magN,X
4=magU,X
5=magVal,X
6=azimthMatch
m};
a second processing unit, configured to determine a preset input set X according to the target geomagnetic information, where X={X 1 =1, X 2 =magE, X 3 =magN, X 4 =magU, X 5 =magVal,X 6 =azimthMatch m };
第三处理单元,用于通过如下公式计算所述第一区域单元中,与所述目标行进方向对应的目标历史匹配度matchHistory
m;
a third processing unit, configured to calculate, by using the following formula, a target history matching degree matchHistory m corresponding to the target traveling direction in the first area unit;
其中,
表示对6个目标参数集合X
iW
i求取S型生长曲线sigmoid函数,所述目标参数集合X
iW
i包括第一参数X
i以及第二参数W
i,所述第一参数X
i为所述预设输入集合所包括的任一参数,所述第二参数W
i为与所述第一参数X
i对应的权重值;
among them, Representing an S-type growth curve sigmoid function for the six target parameter sets X i W i , the target parameter set X i W i comprising a first parameter X i and a second parameter W i , wherein the first parameter X i is Any parameter included in the preset input set, the second parameter W i being a weight value corresponding to the first parameter X i ;
第四处理单元,用于根据如下公式计算所述第一区域单元的输出概率matchValue(grld
j)
a fourth processing unit, configured to calculate an output probability matchValue(grld j ) of the first area unit according to the following formula
其中,grld
j表示所述第一区域单元,M表示所述第一区域单元的历史匹配度的数量,所述目标历史匹配度matchHistory
m表示M个所述历史匹配度中的任一历史匹配度;
Wherein, grld j represents the first regional unit, M represents the number of historical matching degrees of the first regional unit, and the target historical matching degree matchHistory m represents any historical matching degree of the M historical matching degrees. ;
第五处理单元,用于基于所述第一区域单元的转移概率以及所述输出概率创建呈隐马尔可夫模型HMM的第二定位指纹。And a fifth processing unit, configured to create a second positioning fingerprint that is a hidden Markov model HMM based on the transition probability of the first regional unit and the output probability.
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述匹配单元还包括:In an optional implementation manner of the second aspect of the embodiments of the present disclosure, the matching unit further includes:
第一确定模块,用于确定待定位区域,所述待定位区域所包括的一个位置的坐标为所述第一定位位置坐标Dx,且所述待定位区域的面积小于所述定位区域的面积;a first determining module, configured to determine an area to be located, where a coordinate of a position included in the to-be-positioned area is the first positioning position coordinate Dx, and an area of the to-be-positioned area is smaller than an area of the positioning area;
第二确定模块,用于获取待定位终端发送的传感器信息序列,所述传感器信息序列包括目标传感器信息以及目标上报时间点,所述目标传感器信息为所述待定位终端在所述待定位区域内,所上报的至少一个传感器信息中的任一个,所述目标上报时间点为所述待定位终端上报所述目标传感器信息的时间点;a second determining module, configured to acquire a sequence of sensor information sent by the terminal to be located, where the sensor information sequence includes target sensor information and a target reporting time point, where the target sensor information is that the terminal to be located is in the to-be-positioned area And any one of the reported at least one sensor information, where the target reporting time point is a time point at which the to-be-targeted terminal reports the target sensor information;
第三确定模块,用于基于维特比算法确定出所述第二定位指纹中,与所述传感器信息序列对应,且具有不同概率值的定位区域单元集合,所述定位区域单元集合包括所述智能终端移动过程中按经过的时间顺序由前到后依次经过至少一个区域单元;a third determining module, configured to determine, according to a Viterbi algorithm, a set of positioning area units corresponding to the sensor information sequence and having different probability values, where the positioning area unit set includes the smart During the moving of the terminal, at least one area unit passes through the chronological order in order from the front to the back;
第四确定模块,用于确定第二定位位置,所述第二定位位置为具有最高概率值的所述定位区域单元中,排序在最后的区域单元所包括的任一位置;a fourth determining module, configured to determine a second positioning position, where the second positioning position is the positioning area unit having the highest probability value, and is sorted at any position included in the last area unit;
第五确定模块,用于确定所述定位位置坐标为所述第二定位位置坐标。And a fifth determining module, configured to determine that the positioning position coordinate is the second positioning position coordinate.
基于本发明实施例第二方面,本发明实施例第二方面的一种可选的实现方式中,所述服务器还包括:In an optional implementation manner of the second aspect of the embodiments of the present invention, the server further includes:
预测单元,用于以所述第二定位位置坐标为起始位置,根据步行者航位推算PDR确定 出所述待定位终端在未来时刻的移动轨迹。And a prediction unit, configured to use the second positioning position coordinate as a starting position, and determine, according to the pedestrian dead reckoning PDR, a movement trajectory of the to-be-positioned terminal at a future time.
本发明实施例第三方面提供了一种定位系统,包括服务器、待定位终端、智能终端以及超宽带UWB定位系统,所述服务器如上述本发明实施例第二方面所示,具体不做赘述;A third aspect of the embodiments of the present invention provides a positioning system, including a server, a terminal to be located, an intelligent terminal, and an ultra-wideband UWB positioning system. The server is not shown in the second embodiment of the present invention;
所述待定位终端用于在定位区域内向所述服务器发送的环境信息,所述环境信息为待定位终端所检测到的信息,且在所述待定位终端所处位置不同时,所述待定位终端所检测到的所述环境信息不同;The to-be-located terminal is used to send the environment information to the server in the location area, where the environment information is the information detected by the terminal to be located, and the location to be located is different when the location of the to-be-located terminal is different. The environmental information detected by the terminal is different;
所述服务器用于获取与所述定位区域对应的环境指纹库,所述环境指纹库包括至少一个定位指纹,所述定位区域包括至少一个区域单元,其中,目标定位指纹与第一区域单元对应,所述目标定位指纹为所述至少一个定位指纹中的一个定位指纹,所述第一区域单元为所述至少一个区域单元中的一个区域单元,所述目标定位指纹包括目标环境信息和目标位置信息,所述目标环境信息为移动至所述第一区域单元内的所述智能终端发送的环境信息,所述目标位置信息为所述UWB定位系统发送的用于指示所述智能终端发送所述目标环境信息时的位置坐标;The server is configured to acquire an environment fingerprint database corresponding to the location area, where the environment fingerprint database includes at least one location fingerprint, the location area includes at least one area unit, where the target location fingerprint corresponds to the first area unit, The target location fingerprint is one of the at least one location fingerprint, the first area unit is one of the at least one area unit, and the target location fingerprint includes target environment information and target location information. The target environment information is environment information that is sent to the smart terminal in the first area unit, where the target location information is sent by the UWB positioning system to instruct the smart terminal to send the target. Position coordinates when environmental information;
所述服务器还用于,获取所述环境指纹库中,与所述环境信息对应的定位位置坐标,所述定位位置坐标为所述待定位终端在所述定位区域内的位置坐标。The server is further configured to acquire, in the environment fingerprint database, location location coordinates corresponding to the environment information, where the location location coordinates are location coordinates of the to-be-positioned terminal in the location area.
本发明实施例第四方面提供了一种服务器,包括:A fourth aspect of the embodiments of the present invention provides a server, including:
一个或多个处理器、存储器、总线系统、以及一个或多个程序,所述处理器和所述存储器通过所述总线系统相连;One or more processors, memories, bus systems, and one or more programs, the processors and the memory being coupled by the bus system;
其中所述一个或多个程序被存储在所述存储器中,所述一个或多个程序包括指令,所述指令当被所述服务器执行时使所述服务器执行如上述本发明实施例第一方面所示的室内定位的方法,具体执行过程不做赘述。Wherein the one or more programs are stored in the memory, the one or more programs comprising instructions that, when executed by the server, cause the server to perform the first aspect of the embodiments of the present invention as described above The method of indoor positioning shown in the figure, the specific implementation process will not be described.
本发明实施例第五方面提供了一种存储一个或多个程序的计算机可读存储介质,所述一个或多个程序包括指令,所述指令当被服务器执行时使所述服务器执行如上述本发明实施例第一方面所示的室内定位的方法,具体执行过程不做赘述。A fifth aspect of an embodiment of the present invention provides a computer readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by a server, cause the server to execute as described above The method for indoor positioning shown in the first aspect of the present invention is not described in detail.
本发明实施例提供了一种室内定位的方法、服务器及定位系统,执行室内定位的过程中,服务器接收待定位终端在定位区域内发送的环境信息,服务器还可获取与所述定位区域对应的环境指纹库,所述环境指纹库包括至少一个目标定位指纹,所述目标定位指纹包括目标环境信息和目标位置信息,服务器获取所述环境指纹库中,与所述环境信息对应的定位位置坐标,所述定位位置坐标为所述待定位终端在所述定位区域内的位置坐标。可见,进行室内定位的过程中,对定位区域无需事先标定参考点,勘测人员携带智能终端以及UWB定位终端在所述定位区域内自由行走即可,对勘测人员的速度,姿态以及行走轨迹均不做要求,从而降低了本实施例所示的室内定位方法的实现难度,提升了室内定位方法的易用性,而且在创建所述环境指纹库的过程中,服务器可同时获取到所述环境信息以及所述位置信息,使得服务器可直接基于所述位置信息对定位区域的实际位置进行标定,实现了环境信息与实际位置的同步标定,大大降低了创建环境指纹库的人力和时间成本,且提高了环境指纹库对待定位终端提供定位服务的精度。The embodiment of the invention provides a method, a server and a positioning system for indoor positioning. In the process of performing indoor positioning, the server receives the environment information sent by the terminal to be located in the positioning area, and the server may also acquire the corresponding area corresponding to the positioning area. An environmental fingerprint database, the environment fingerprint database includes at least one target positioning fingerprint, the target positioning fingerprint includes target environment information and target location information, and the server acquires positioning location coordinates corresponding to the environment information in the environment fingerprint database. The positioning position coordinate is a position coordinate of the to-be-positioned terminal in the positioning area. It can be seen that in the process of indoor positioning, the reference area does not need to be calibrated in advance, and the surveying personnel carry the intelligent terminal and the UWB positioning terminal can walk freely in the positioning area, and the speed, posture and walking trajectory of the surveying personnel are not The requirements are reduced, thereby reducing the implementation difficulty of the indoor positioning method shown in this embodiment, improving the ease of use of the indoor positioning method, and in the process of creating the environmental fingerprint database, the server can simultaneously obtain the environmental information. And the location information, so that the server can directly calibrate the actual location of the location area based on the location information, thereby realizing synchronous calibration of the environment information and the actual location, thereby greatly reducing the labor and time cost of creating the environment fingerprint database, and improving The environmental fingerprint library provides the accuracy of the positioning service to the positioning terminal.
图1为本发明所提供的定位系统的一种实施例结构示意图;1 is a schematic structural view of an embodiment of a positioning system provided by the present invention;
图2为本发明所提供的室内定位方法的一种实施例步骤流程图;2 is a flow chart of steps of an embodiment of an indoor positioning method provided by the present invention;
图3为本发明所提供的室内定位方法的另一种实施例步骤流程图;3 is a flow chart of steps of another embodiment of an indoor positioning method provided by the present invention;
图4为本发明所提供的室内定位方法的另一种实施例步骤流程图;4 is a flow chart showing steps of another embodiment of the indoor positioning method provided by the present invention;
图5为本发明所提供的室内定位方法的另一种实施例步骤流程图;FIG. 5 is a flow chart showing steps of another embodiment of an indoor positioning method according to the present invention; FIG.
图6为本发明所提供的室内定位方法的一种应用场景示意图;FIG. 6 is a schematic diagram of an application scenario of an indoor positioning method according to the present invention; FIG.
图7为本发明所提供的室内定位方法的另一种应用场景示意图;FIG. 7 is a schematic diagram of another application scenario of the indoor positioning method provided by the present invention; FIG.
图8为sigmoid函数的示意图;Figure 8 is a schematic diagram of a sigmoid function;
图9为本发明所提供的室内定位方法的另一种实施例步骤流程图;9 is a flow chart of steps of another embodiment of an indoor positioning method provided by the present invention;
图10为本发明所提供的室内定位方法的另一种应用场景示意图;FIG. 10 is a schematic diagram of another application scenario of the indoor positioning method provided by the present invention; FIG.
图11为本发明所提供的服务器的一种实施例结构示意图;11 is a schematic structural diagram of an embodiment of a server provided by the present invention;
图12为本发明所提供的服务器的另一种实施例结构示意图;12 is a schematic structural diagram of another embodiment of a server provided by the present invention;
图13为本发明所提供的服务器的另一种实施例结构示意图。FIG. 13 is a schematic structural diagram of another embodiment of a server provided by the present invention.
为了使本技术领域的人员更好地理解本申请方案,下面将结合本申请实施例中的附图,对本申请实施例进行描述。The embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象,而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外,术语“包括”或“具有”及其任何变形,意图在于覆盖不排他的包含,例如,包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元,而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。The terms "first", "second", "third", "fourth", etc. (if present) in the specification and claims of the present application and the above figures are used to distinguish similar objects without having to use To describe a specific order or order. It is to be understood that the data so used may be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than what is illustrated or described herein. In addition, the term "comprises" or "comprises" or any variations thereof, is intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those that are clearly listed Steps or units, but may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.
为了更为准确的描述本申请实施例,下面对一些本申请实施例中可能涉及的室内定位技术以及该技术的优缺点进行说明,下面分两类进行介绍,一类是类GPS技术,另一类是指纹匹配定位技术。类GPS技术通常可以有以下几种:In order to describe the embodiment of the present application more accurately, some indoor positioning technologies that may be involved in the embodiments of the present application and the advantages and disadvantages of the technology are described below. The following two types are introduced, one is a GPS-like technology, and the other is a GPS-like technology. One type is fingerprint matching positioning technology. GPS-like technologies can usually have the following types:
1、射频定位,射频是具有一定波长的电磁波,射频识别(radio frequency identification,RFID)利用了电感和电磁耦合或雷达反射的传输特性,实现对物体的自动识别。定位系统通常由电子标签、射频读写器、中间件以及计算机数据库组成;不能进行实时定位,定位精度低,抗干扰能力较差。1. Radio frequency positioning, radio frequency is an electromagnetic wave with a certain wavelength. Radio frequency identification (RFID) utilizes the transmission characteristics of inductance and electromagnetic coupling or radar reflection to realize automatic recognition of objects. The positioning system usually consists of electronic tags, RF readers, middleware and computer databases; real-time positioning is not possible, positioning accuracy is low, and anti-interference ability is poor.
2、超声波定位,超声波定位大多采用反射式测距法,该定位系统由一个主测距器和若干个电子标签组成,主测距器放置于移动机器人上,电子标签放置于室内空间的固定位置。定位过程如下:先由主测距器发送同频率的信号给各个电子标签,电子标签接收信号后又反射传输给主测距器,从而可以确定各个电子标签到主测距器之间的距离和坐标。定位精度可达厘米级,缺陷是超声波在传输过程中衰减明显从而影响其定位的有效范围。2. Ultrasonic positioning, ultrasonic positioning mostly adopts reflective ranging method. The positioning system consists of a main range finder and several electronic tags. The main range finder is placed on the mobile robot, and the electronic tag is placed in a fixed position in the indoor space. . The positioning process is as follows: the main range finder sends the same frequency signal to each electronic tag, and the electronic tag receives the signal and then reflects and transmits it to the main range finder, thereby determining the distance between each electronic tag and the main range finder. coordinate. The positioning accuracy can reach centimeter level, and the defect is that the ultrasonic wave attenuates significantly during the transmission process and affects the effective range of its positioning.
3、红外定位,红外线是一种波长介于无线电波和可见光之间的电磁波,使待测物体附上一个电子标识,该标识通过红外发射机向室内固定放置的红外接收机周期性地发送待 测物体的ID,接收机再通过有线网络将数据传输给数据库。定位精度5至10米,缺陷是红外线在传输过程中易受物体或墙体阻隔,且传输距离较短,系统结构较复杂,有效性和实用性不够。3. Infrared positioning, infrared is an electromagnetic wave with a wavelength between radio waves and visible light, so that the object to be tested is attached with an electronic identification, and the identification is periodically sent to the infrared receiver fixedly placed indoors by the infrared transmitter. The object's ID is measured and the receiver transmits the data to the database over a wired network. The positioning accuracy is 5 to 10 meters. The defect is that the infrared light is easily blocked by the object or the wall during the transmission process, and the transmission distance is short, the system structure is complicated, and the effectiveness and practicability are insufficient.
4、紫蜂ZigBee,该定位系统通过若干个待定位的盲节点和一个已知位置的参考节点与网关组网,盲节点之间相互协调通信实现定位。信号传输受多径效应和移动的影响都很大,而且定位精度取决于信道物理品质、信号源密度、环境和算法的准确性,导致定位软件的成本较高。4. ZigBee, the positioning system passes through a number of blind nodes to be located and a reference node of a known location and a gateway network, and the blind nodes coordinate and communicate with each other to achieve positioning. Signal transmission is greatly affected by multipath effects and motion, and the positioning accuracy depends on the channel physical quality, signal source density, environment and algorithm accuracy, resulting in higher cost of positioning software.
5、iBeacon定位,iBeacon是一个基于低功耗蓝牙技术的2.4G射频技术,根据射频场强随距离衰减的模型测距定位。射频信号的传播易受环境干扰,不稳定,定位精度为3米。5, iBeacon positioning, iBeacon is a 2.4G radio frequency technology based on low-power Bluetooth technology, model ranging positioning according to RF field strength with distance attenuation. The propagation of RF signals is susceptible to environmental interference and is unstable, with a positioning accuracy of 3 meters.
6、超宽带(Ultra Wide Band,UWB)定位,UWB采用时间间隔极短(小于1纳秒)、1GHz以上带宽的脉冲进行通信,无需载波,也称脉冲无线电通信。UWB通过在较宽的频谱上传送极低功率的信号,能在10米的范围内实现数百Mbps至数Gbps的数据传输率,具有抗干扰性强、传输速率高、带宽极宽、发送功率小等诸多优势。通过在室内布置若干个已知坐标的定位基站,由定位人员携带定位标签在定位基站包含的可到达区域内自由移动,标签按照一定的频率发射脉冲信号给定位基站,通过TDOA算法计算出定位标签的位置,定位基站将结果回传给位置服务器。每个标签都有唯一的ID,通过ID将待定位物体(或人员)与标签联系起来,支持上千个标签同时定位。6, Ultra Wide Band (UWB) positioning, UWB uses a very short time interval (less than 1 nanosecond), 1GHz or more bandwidth for communication, no carrier, also known as pulse radio communication. UWB can achieve data transmission rates of hundreds of Mbps to several Gbps in a range of 10 meters by transmitting extremely low power signals over a wide spectrum. It has strong anti-interference, high transmission rate, wide bandwidth, and transmission power. Small and many other advantages. By arranging a plurality of positioning base stations with known coordinates in the room, the positioning tag carried by the positioning personnel is freely movable in the reachable area included in the positioning base station, and the tag transmits a pulse signal to the positioning base station according to a certain frequency, and the positioning tag is calculated by the TDOA algorithm. The location, the positioning base station returns the result to the location server. Each tag has a unique ID that associates the object (or person) to be located with the tag by ID, supporting thousands of tags to be positioned simultaneously.
指纹匹配定位技术中,人工勘测是进行指纹匹配定位的基础和前提,该环节需要投入大量的人力和时间成本。传统的人工勘测方式是事先在室内定位区域标记好参考点,由勘测人员携带智能终端在每个参考点停留一段时间以采集环境信息。或者事先在室内定位区域标记参考线,由勘测人员携带智能终端在每个参考线上匀速走动以采集环境信息。这种方式耗时费力,因为定位区域的大小、参考点的密度、每个参考点的采集时间决定了勘测任务的工作量以及定位的精度。此外,这种方式只能采集勘测人员在参考点静止状态或参考线匀速走动下的环境信息,对勘测人员的运动模式的要求比较高,无法采集自由运动状态下的环境信息,更无法采集跟位置相关的行为模式(如行走速度,前进方向,拐弯信息等);最后,由于勘测人员对参考位置的判断、对智能终端的操作都会引入误差,采集到的环境数据信息与真实位置存在一定程度的偏差,影响了定位的精度。In the fingerprint matching and positioning technology, manual surveying is the basis and premise of fingerprint matching and positioning, and this part requires a lot of manpower and time cost. The traditional manual survey method is to mark the reference point in the indoor positioning area in advance, and the surveying personnel carry the intelligent terminal to stay at each reference point for a period of time to collect environmental information. Or the reference line is marked in the indoor positioning area in advance, and the surveying personnel carry the intelligent terminal to move around on each reference line to collect environmental information. This method is time consuming and laborious, because the size of the positioning area, the density of the reference point, and the acquisition time of each reference point determine the workload of the survey task and the accuracy of the positioning. In addition, this method can only collect the environmental information of the surveyor at the reference point stationary state or the reference line moving at a constant speed. The requirements of the surveyer's motion mode are relatively high, and the environmental information under the free motion state cannot be collected. Position-related behavioral modes (such as walking speed, heading direction, turning information, etc.); Finally, due to the judgment of the surveying personnel on the reference position and the operation of the intelligent terminal, errors are introduced, and the collected environmental data information and the real position have a certain degree. The deviation affects the accuracy of the positioning.
需要说明的是,传统的指纹匹配定位方法依赖人工的现场勘测来构建指纹库,即安排专业的工程人员携带专业的设备到现场开展专业的位置测量和环境数据采集工作,对每一片定位区域,都需要在其中的每一个参考位置上进行一段时间的勘测,非常耗费时间、财力和人力。因此,无论采用何种信号指纹,人工勘测一度是指纹匹配定位最艰巨的任务,也是阻碍指纹定位实际推广的最大瓶颈。It should be noted that the traditional fingerprint matching positioning method relies on manual site survey to construct a fingerprint database, that is, a professional engineering personnel is arranged to carry professional equipment to the site to carry out professional position measurement and environmental data collection work, for each piece of positioning area, It takes a period of time to survey each of these reference locations, which is time consuming, financial and manpower. Therefore, no matter what kind of signal fingerprint is used, manual surveying is once the most difficult task of fingerprint matching and positioning, and it is also the biggest bottleneck that hinders the actual promotion of fingerprint positioning.
指纹匹配定位技术可以包括以下几种:Fingerprint matching positioning technology can include the following:
1、地磁定位,在众多基于地磁匹配的室内定位算法中,粒子滤波是最常采用的算法之一,被用来解决地磁指纹区分度不高、传感器偏差及噪声等问题,并可提高定位精度。但是,粒子滤波一方面容易受用户行为模型(如行走速度)影响,定位误差通常会累积逐 渐变大。一旦丢失就很难跟上,系统鲁棒性不高;另一方面该算法通常对手机的姿态有非常严格的限制,如手机方向必须跟用户前进方向始终保持一致,缺乏普适性。1. Geomagnetic localization, particle filtering is one of the most commonly used algorithms in geolocation matching based on geomagnetic matching. It is used to solve geomagnetic fingerprint discrimination, sensor deviation and noise, and improve positioning accuracy. . However, particle filtering is susceptible to user behavior models (such as walking speed) on the one hand, and positioning errors usually accumulate over time. Once lost, it is difficult to keep up, the system is not robust; on the other hand, the algorithm usually has very strict restrictions on the posture of the mobile phone. For example, the direction of the mobile phone must always be consistent with the user's heading direction, and there is no universality.
2、WiFi定位,基于WiFi匹配的定位技术,需要事先设置参考位置。所采集的环境信息包括无线网络接入点(access point,AP)的MAC地址和接收信号强度指示(received signal strength indication,RSSI)值。然后据此建立指纹数据库,定位时将接收到的AP与数据库中的指纹进行匹配,计算得到一个最合适的位置。常用的匹配算法有最近邻(nearest neighbor,NN)、K近邻(k nearest neighbor,KNN)、加权K近邻(weighted k nearest neighbor,WKNN)、神经网络等算法。2, WiFi positioning, based on WiFi matching positioning technology, you need to set the reference location in advance. The collected environmental information includes a MAC address of a wireless network access point (AP) and a received signal strength indication (RSSI) value. Then, the fingerprint database is established according to the method, and the received AP is matched with the fingerprint in the database to obtain a most suitable location. Commonly used matching algorithms include nearest neighbor (NN), k nearest neighbor (KNN), weighted k nearest neighbor (WKNN), and neural network.
基于上述各种定位技术的特点以及局限性,为了使得用户仅需要携带如手机等具有环境数据信息采集能力的终端便可实现室内精确定位。本申请实施例中采用UWB技术结合人工勘测和指纹匹配定位技术,实现室内的精确定位。本申请实施例中的环境数据信息包括蓝牙、基站、GPS、传感器探测到的数据、WiFi信息,其中传感器包括加速度计、重力传感器、陀螺仪、磁力计、方向传感器、计步器等之中的至少一种,根据指纹所采用的数据不同,可以有不同的单独使用或者组合方式。Based on the characteristics and limitations of the above various positioning technologies, in order to enable the user to carry only terminals having environmental data information collection capabilities such as mobile phones, accurate indoor positioning can be achieved. In the embodiment of the present application, UWB technology is combined with manual surveying and fingerprint matching positioning technology to achieve accurate positioning in the room. The environmental data information in the embodiment of the present application includes Bluetooth, a base station, a GPS, a sensor detected data, and WiFi information, wherein the sensor includes an accelerometer, a gravity sensor, a gyroscope, a magnetometer, a direction sensor, a pedometer, and the like. At least one of them may be used separately or in combination depending on the data used for the fingerprint.
下面对本申请实施例的所采用的定位系统的具体结构进行说明,请参阅图1,图1是本申请实施例的室内定位方法所应用的定位系统的架构示意图,如图1所示,本实施例所示的定位系统包括智能终端101、UWB定位系统,以及环境数据服务器104,其中,所述UWB定位系统包括UWB定位终端102以及定位基站103。The specific structure of the positioning system used in the embodiment of the present application is described. Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of a positioning system applied to an indoor positioning method according to an embodiment of the present application. As shown in FIG. 1 , the implementation is as shown in FIG. 1 . The positioning system shown in the example includes a smart terminal 101, a UWB positioning system, and an environmental data server 104, wherein the UWB positioning system includes a UWB positioning terminal 102 and a positioning base station 103.
本实施例所示的智能终端101是指具备智能感知、存储、处理环境信息能力的一类嵌入式计算机系统设备,一般指智能手机、平板等。本实施例所示的环境信息是指能为智能终端101所感知的用户所在位置的环境数据信息,包括蓝牙、基站、WiFi、GPS、智能终端101的传感器所探测到的数据等,其中,所述智能终端101的传感器包括加速度计、重力传感器、陀螺仪、磁力计、方向传感器、计步器等,所述智能终端101可将采集到的环境信息上报给所述环境数据服务器104。The smart terminal 101 shown in this embodiment refers to a type of embedded computer system device capable of intelligently sensing, storing, and processing environment information, and generally refers to a smart phone, a tablet, and the like. The environment information shown in this embodiment refers to environment data information that can be used by the smart terminal 101, including Bluetooth, base station, WiFi, GPS, data detected by sensors of the smart terminal 101, and the like. The sensor of the smart terminal 101 includes an accelerometer, a gravity sensor, a gyroscope, a magnetometer, a direction sensor, a pedometer, and the like, and the smart terminal 101 can report the collected environment information to the environment data server 104.
本实施例中,所述UWB定位终端102为固定在物体上或勘测人员身体上的UWB定位标签,具有唯一的ID,勘测人员携带该定位标签在定位区域内的可到达区域中以正常速度行走,其中,本实施例对所述UWB定位终端102具体设置类型不做限定,例如,所述UWB定位终端102所设置的类型可为工牌型、腕带型、安全帽型等;携带所述UWB定位终端102的勘测人员在定位区域内的可到达区域中以正常速度行走,所述定位基站103实时解算出定位终端102的位置,所述定位基站103可按固定周期向所述环境数据服务器104上报所述UWB定位终端102的位置信息,所述位置信息包括但不限于时间戳以及当前坐标等,其中,所述固定周期可由工作人员进行设置,例如,所述固定周期可为100毫秒、1秒、3秒等,本实施例中以所述固定周期为100毫秒为例进行示例性说明。In this embodiment, the UWB positioning terminal 102 is a UWB positioning tag fixed on the object or on the body of the surveying person, and has a unique ID. The surveying personnel carry the positioning tag to walk at a normal speed in the reachable area in the positioning area. The type of the UWB positioning terminal 102 is not limited. For example, the type of the UWB positioning terminal 102 can be a card type, a wristband type, a helmet type, etc.; The surveying personnel of the UWB positioning terminal 102 walk at a normal speed in the reachable area in the positioning area, the positioning base station 103 calculates the position of the positioning terminal 102 in real time, and the positioning base station 103 can go to the environmental data server at a fixed period. The location information of the UWB positioning terminal 102 is reported, and the location information includes, but is not limited to, a timestamp and a current coordinate, etc., wherein the fixed period may be set by a staff member, for example, the fixed period may be 100 milliseconds. 1 second, 3 seconds, etc., in the embodiment, the fixed period is 100 milliseconds as an example for exemplary description.
本实施例对执行所述环境数据服务器104的服务器的数量不做限定,为实现室内定位,则本实施例可通过至少一个服务器实现所述环境数据服务器104的功能。In this embodiment, the number of servers that execute the environment data server 104 is not limited. To implement indoor positioning, the embodiment may implement the function of the environment data server 104 by using at least one server.
基于图1所示的定位系统,本申请可实现室内定位方法,以下结合图2所示对本申请 所提供的室内定位方法的具体执行过程进行说明:Based on the positioning system shown in FIG. 1 , the present application can implement an indoor positioning method. The specific implementation process of the indoor positioning method provided by the present application is described below with reference to FIG. 2 :
步骤201、智能终端将采集到的环境信息发送给环境数据服务器。Step 201: The intelligent terminal sends the collected environment information to the environmental data server.
步骤202、UWB定位系统将采集到的位置信息发送给环境数据服务器。Step 202: The UWB positioning system sends the collected location information to the environmental data server.
具体的,本实施例所示的步骤201以及步骤202的执行时序为同时执行,具体的,在勘测阶段,勘测人员可随身同时携带智能终端以及UWB定位终端,勘测人员在所述定位区域内连续行走一定的时间,本实施例对勘测人员行走的轨迹、速度、方向以及携带所述智能终端的方式不做限定,只要勘测人员的移动轨迹满足预设条件即可。本实施例所示的所述预设条件为勘测人员行走的轨迹覆盖所述定位区域内所有勘测人员能够达到的区域,且对所有能够达到的区域勘测人员所覆盖的次数大于或等于预设次数,本实施例以所述预设次数为两次为例进行示例性说明。Specifically, the execution timings of step 201 and step 202 shown in this embodiment are performed simultaneously. Specifically, in the survey stage, the survey personnel can carry the intelligent terminal and the UWB positioning terminal at the same time, and the survey personnel continuously in the positioning area. During a certain period of time, the trajectory, speed, direction, and manner of carrying the smart terminal of the surveying personnel are not limited in this embodiment, as long as the moving trajectory of the surveying personnel satisfies the preset condition. The preset condition shown in this embodiment is that the trajectory of the surveying personnel covers the area that all surveyors in the positioning area can reach, and the number of times covered by all the reachable surveyors is greater than or equal to the preset number of times. This embodiment is exemplified by taking the preset number of times as two examples.
可见,采用本实施例所示的方法,只要勘测人员的移动轨迹满足所述预设条件,则勘测人员可在所述定位区域内自由的行走,降低了对勘测人员的限制,从而提升了人工勘测的易用性。It can be seen that, by using the method shown in this embodiment, as long as the moving trajectory of the surveying person satisfies the preset condition, the surveying personnel can walk freely within the positioning area, thereby reducing restrictions on the surveying personnel, thereby improving the manual. The ease of use of the survey.
因勘测人员同时携带智能终端以及UWB定位终端,则使得勘测人员在所述定位区域内行走的过程中,在相同的时刻,所述智能终端以及所述UWB定位终端位于相同的位置。Because the surveying personnel carry the smart terminal and the UWB positioning terminal at the same time, the smart terminal and the UWB positioning terminal are located at the same position at the same time during the walking of the surveying personnel in the positioning area.
本实施例中,所述UWB定位终端为固定在物体上或勘测人员身体上的UWB定位标签,具有唯一的ID,勘测人员携带该定位标签在定位区域内的可到达区域中以正常速度行走,其中,本实施例对所述UWB定位终端具体设置类型不做限定,例如,所述UWB定位终端所设置的类型可为工牌型、腕带型、安全帽型等;携带所述UWB定位终端的勘测人员在定位区域内的可到达区域中以正常速度行走,在行走过程中,UWB定位终端按照一定的频率发射脉冲信号给定位基站,定位基站通过到达时间差(TDOA)算法实时解算出UWB定位终端的位置坐标,所述定位基站可按固定周期向所述环境数据服务器上报所述UWB定位终端的位置信息,所述位置信息包括但不限于时间戳以及位置坐标等,其中,所述固定周期可由工作人员进行设置,例如,所述固定周期可为100毫秒、1秒、3秒等,本实施例中以所述固定周期为100毫秒为例进行示例性说明。In this embodiment, the UWB positioning terminal is a UWB positioning tag fixed on the object or on the body of the surveying person, and has a unique ID, and the surveying personnel carries the positioning tag to walk at a normal speed in the reachable area in the positioning area. The type of the setting of the UWB positioning terminal is not limited in this embodiment. For example, the type of the UWB positioning terminal may be a card type, a wristband type, a helmet type, etc.; and the UWB positioning terminal is carried. The surveying personnel walks at a normal speed in the reachable area in the positioning area. During the walking process, the UWB positioning terminal transmits a pulse signal to the positioning base station according to a certain frequency, and the positioning base station calculates the UWB positioning in real time through the time difference of arrival (TDOA) algorithm. a location coordinate of the terminal, the positioning base station may report the location information of the UWB positioning terminal to the environmental data server according to a fixed period, where the location information includes, but is not limited to, a time stamp and a location coordinate, etc., wherein the fixed period It can be set by a staff member, for example, the fixed period can be 100 milliseconds, 1 second, 3 seconds, etc., this embodiment The example is described by taking the fixed period as 100 milliseconds as an example.
本实施例所示的所述环境信息为所述智能终端在所述定位区域移动的过程中,能够被所述智能终端所感知到信息,且在携带所述智能终端的勘测人员移动至所述定位区域内不同的位置时,所述智能终端所检测到的环境信息不同,本实施例的所述环境信息包括蓝牙、基站、GPS、WiFi以及一些传感器采集到的数据等,其中,传感器包括加速度计、重力传感器、陀螺仪、磁力计、方向传感器、计步器等。The environment information shown in this embodiment is that the smart terminal can be perceived by the smart terminal in the process of moving the positioning area, and the surveying personnel carrying the smart terminal move to the When the location of the location is different, the environment information detected by the smart terminal is different. The environment information in this embodiment includes Bluetooth, a base station, a GPS, a WiFi, and data collected by some sensors, where the sensor includes an acceleration. Meters, gravity sensors, gyroscopes, magnetometers, direction sensors, pedometers, etc.
步骤203、环境数据服务器接收所述环境信息以及所述位置信息。Step 203: The environment data server receives the environment information and the location information.
步骤204、环境数据服务器创建环境指纹库。Step 204: The environment data server creates an environment fingerprint database.
具体的,所述环境数据服务器为创建所述环境指纹库,则所述环境数据服务器需要获取到所述智能终端在所述定位区域内所发送的所有环境信息,且所述环境数据服务器还需要获取到所述UWB定位终端在所述定位区域内所发送的所有位置信息,所述环境数据服务器即可根据已获取到所有所述环境信息以及所有所述位置信息进行环境指纹库的创建,其中,所述环境信息和所述位置信息为相互对应的信息,所述位置信息用于指示智能终端发 送对应的环境信息时在所述定位区域内的位置坐标。Specifically, the environment data server is configured to create the environment fingerprint database, and the environment data server needs to obtain all environment information sent by the smart terminal in the location area, and the environment data server further needs Acquiring all the location information sent by the UWB positioning terminal in the positioning area, the environment data server may create an environment fingerprint database according to all the environment information and all the location information that have been obtained, wherein The location information and the location information are mutually corresponding information, and the location information is used to indicate location coordinates in the location area when the smart terminal sends the corresponding environment information.
为更好的理解,以本实施例所示的定位区域位于A栋楼的15楼为例进行示例性说明,即以15楼层为单位,所述环境数据服务器汇总在A栋楼的15楼所接收到的所有环境信息以及所有位置信息,进而使得所述环境数据服务器根据所有环境数据以及所述位置信息创建与A栋楼的15楼(即定位区域)对应的环境指纹库。For a better understanding, the positioning area shown in this embodiment is located on the 15th floor of the A building as an example. The environment data server is summarized in the 15th floor of the A building. All the environmental information received and all the location information, so that the environmental data server creates an environmental fingerprint database corresponding to the 15th floor (ie, the positioning area) of the A building according to all the environmental data and the location information.
本实施例所示的环境数据服务器为创建所述环境指纹库,则所述环境数据服务器首先需要在所述智能终端的时间系统与所述UWB定位终端的时间系统为已同步的情况下,获取目标环境信息以及目标位置坐标的对应关系,所述目标位置坐标为所述定位区域内的目标位置所具有的坐标,而所述目标位置为所述定位区域内的任一位置,具体的,所述智能终端在所述目标位置处向所述环境数据服务器上报的环境信息为所述目标环境信息,而所述UWB定位终端在所述目标位置处将所述目标位置坐标上报给所述环境数据服务器,从而使得环境数据服务器获取到所述目标环境信息以及所述目标位置坐标的对应关系。The environment data server shown in this embodiment is to create the environment fingerprint database, and the environment data server first needs to acquire when the time system of the smart terminal and the time system of the UWB positioning terminal are synchronized. a correspondence between the target environment information and the target position coordinates, wherein the target position coordinate is a coordinate of the target position in the positioning area, and the target position is any position in the positioning area, specifically, The environment information reported by the smart terminal to the environmental data server at the target location is the target environment information, and the UWB positioning terminal reports the target location coordinates to the environmental data at the target location a server, such that the environment data server obtains the correspondence between the target environment information and the target location coordinates.
可选的,在所述智能终端将所述环境信息实时上报给所述环境数据服务器,以及所述UWB定位系统将所述位置信息实时上报给所述环境数据服务器的情况下,所述环境数据服务器即可直接根据所述智能终端所上报的所述环境信息以及所述UWB定位系统所上报的位置信息获取到所述目标环境信息以及所述目标位置坐标的对应关系。Optionally, in the case that the smart terminal reports the environmental information to the environmental data server in real time, and the UWB positioning system reports the location information to the environmental data server in real time, the environmental data is The server can directly obtain the correspondence between the target environment information and the target location coordinates according to the environment information reported by the smart terminal and the location information reported by the UWB positioning system.
还可选的,在所述智能终端周期性的向所述环境数据服务器上报所述环境信息,以及所述UWB定位终端周期性的向所述环境数据服务器上报所述位置信息,且所述智能终端向所述环境数据服务器上报所述环境信息的周期和所述UWB定位终端向所述环境数据服务器上报所述位置信息的周期不同的情况下,所述环境数据服务器如何创建所述目标环境信息以及目标位置坐标的对应关系的具体过程进行说明:Optionally, the smart terminal periodically reports the environmental information to the environmental data server, and the UWB positioning terminal periodically reports the location information to the environmental data server, and the smart information How the environment data server creates the target environment information when the period in which the terminal reports the environment information to the environment data server and the period in which the UWB positioning terminal reports the location information to the environment data server is different And the specific process of the correspondence of the coordinates of the target position is explained:
例如,所述智能终端向所述环境数据服务器上报所述环境信息的第一周期为10毫秒,而所述UWB定位终端向所述环境数据服务器上报所述位置信息的第二周期为100毫秒,所述环境数据服务器需要获取到所述第二周期内,每经过一个所述第一周期的位置坐标,即所述环境数据服务器需要获取到100毫秒中,每经过一个10毫秒的位置坐标,具体的获取方式为所述环境数据服务器在第二周期的结束时间点接收到所述UWB定位终端所上报的位置坐标,所述环境数据服务器对所述UWB定位终端在第二周期的结束时间点所上报的位置坐标进行插值计算以获取到所述第二周期内,每经过一个所述第一周期的位置坐标,进而使得环境数据服务器即可获取到所述第二周期内,所述智能终端在每一个第一周期所上报的环境信息以及所对应的位置坐标。For example, the first period in which the smart terminal reports the environmental information to the environmental data server is 10 milliseconds, and the second period in which the UWB positioning terminal reports the location information to the environmental data server is 100 milliseconds. The environmental data server needs to acquire the position coordinates of the first period in the second period, that is, the environment data server needs to acquire the position coordinates of each 10 milliseconds in each 100 milliseconds. The obtaining manner is that the environment data server receives the location coordinates reported by the UWB positioning terminal at the end time of the second period, and the environment data server connects the UWB positioning terminal to the end time of the second period. Performing interpolation calculation on the reported position coordinates to obtain the position coordinates of the first period in the second period, so that the environment data server can obtain the second period, the smart terminal is The environmental information reported in each first cycle and the corresponding position coordinates.
在所述环境数据服务器获取到所述目标环境信息以及所述目标位置坐标的对应关系的情况下,所述环境数据服务器即可创建环境指纹库,具体的,所述环境数据服务器为创建所述环境指纹库,则所述环境数据服务器需要预先对所述定位区域进行划分,从而使得划分后的所述定位区域包括X*Y个区域单元,每个所述区域单元对应一个定位指纹,所有所述区域单元所对应的所有定位指纹组成所述环境指纹库。In the case that the environment data server obtains the correspondence between the target environment information and the target location coordinates, the environment data server may create an environment fingerprint database. Specifically, the environment data server creates the In the environmental fingerprint database, the environment data server needs to divide the positioning area in advance, so that the divided positioning area includes X*Y area units, and each of the area units corresponds to one positioning fingerprint. All the positioning fingerprints corresponding to the area unit constitute the environmental fingerprint library.
具体的,所述X和Y均为大于0的整数。该区域单元的大小是可以执行设定的,例如0.3米乘0.3米,1米乘1米,1米5乘1米5,2米乘2米,2米乘3米以及3米乘3米等, 环境数据服务器可根据定位精度的需求的不同灵活进行设置,具体在本实施例中不作限定,且本实施例所示的定位的精确度和所述区域单元的大小成反比。Specifically, the X and Y are integers greater than 0. The size of the area unit can be set, for example 0.3 m by 0.3 m, 1 m by 1 m, 1 m 5 by 1 m 5, 2 m by 2 m, 2 m by 3 m and 3 m by 3 m The environment data server can be flexibly set according to the requirements of the positioning accuracy, which is not limited in this embodiment, and the accuracy of the positioning shown in this embodiment is inversely proportional to the size of the area unit.
可以理解,将定位区域分为X*Y个区域单元,区域单元即分割的最小单位;接着,对于每个区域单元,均对应一个定位指纹,以下对所述环境指纹库的创建过程进行说明:It can be understood that the positioning area is divided into X*Y area units, and the area unit is the smallest unit of division; then, for each area unit, one positioning fingerprint is corresponding, and the following describes the creation process of the environment fingerprint library:
以创建与第一区域单元对应的第一定位指纹为例进行示例性说明,其中,所述第一区域单元为所述定位区域所包括的多个区域单元中的任一区域单元,而所述第一定位指纹为所述环境指纹库中,与所述第一区域单元对应的定位指纹。For example, the first location fingerprint corresponding to the first area unit is used as an example, wherein the first area unit is any one of the plurality of area units included in the location area, and the The first positioning fingerprint is a positioning fingerprint corresponding to the first area unit in the environmental fingerprint database.
与所述第一区域单元对应的定位指纹是指,第一环境信息以及与第一环境信息对应的第一位置坐标,具体的,所述环境数据服务器根据上述已确定的所述目标环境信息以及目标位置坐标的对应关系,确定出与第一位置坐标所对应的所述第一环境信息,其中,所述第一位置坐标为勘测人员移动至所述第一区域单元内部时,勘测人员所携带的所述UWB定位终端所上报的位置信息所包括的位置坐标,而所述第一环境信息为勘测人员移动至所述第一位置坐标时,勘测人员所携带的智能终端上报的环境信息。The location fingerprint corresponding to the first area unit refers to the first environment information and the first location coordinates corresponding to the first environment information. Specifically, the environment data server is configured according to the determined target environment information and Corresponding relationship of the target position coordinates, the first environment information corresponding to the first position coordinate is determined, wherein the first position coordinate is carried by the surveyor when the surveyor moves to the inside of the first area unit The location information included in the location information reported by the UWB positioning terminal, and the first environment information is environment information reported by the smart terminal carried by the surveyor when the surveyor moves to the first location coordinate.
因现有方案中,需要安排勘测人员携带专业的定位设备到现场开展专业的位置测量和环境数据采集工作,对每一片定位区域,都需要在其中的每一个参考位置上进行一段时间的勘测,非常耗费时间、财力和人力。因此,无论采用何种信号指纹,人工勘测一度是指纹匹配定位最艰巨的任务,也是阻碍指纹定位实际推广的最大瓶颈。Because of the existing solution, the survey personnel need to arrange professional positioning equipment to carry out professional position measurement and environmental data collection work on the spot. For each positioning area, it is necessary to carry out a survey for each time in each of the reference positions. Very time consuming, financial and manpower. Therefore, no matter what kind of signal fingerprint is used, manual surveying is once the most difficult task of fingerprint matching and positioning, and it is also the biggest bottleneck that hinders the actual promotion of fingerprint positioning.
而本实施例所示的环境数据服务器即可基于已创建的所述环境指纹库对位于所述定位区域内的待定位终端提供定位服务,采用本实施例所示的环境指纹库的创建过程的优势在于,对定位区域无需事先标定参考点,勘测人员携带智能终端以及UWB定位终端在所述定位区域内自由行走即可,对勘测人员的速度,姿态以及行走轨迹均不做要求,从而降低了本实施例所示的室内定位方法的实现难度,提升了室内定位方法的易用性,而且在创建所述环境指纹库的过程中,所述环境数据服务器可同时获取到所述环境信息以及所述位置信息,使得所述环境数据服务器可直接基于所述位置信息对定位区域的实际位置进行标定,实现了环境信息与实际位置的同步标定,大大降低了创建环境指纹库的人力和时间成本,且提高了环境指纹库对待定位终端提供定位服务的精度。The environment data server shown in this embodiment can provide a location service to the to-be-located terminal located in the location area based on the created environment fingerprint database, and the environment fingerprint database creation process shown in this embodiment is used. The advantage is that the positioning area does not need to be calibrated in advance, and the surveying personnel carry the intelligent terminal and the UWB positioning terminal can walk freely in the positioning area, and the speed, posture and walking trajectory of the surveying personnel are not required, thereby reducing the requirement. The difficulty of implementing the indoor positioning method shown in this embodiment improves the ease of use of the indoor positioning method, and in the process of creating the environmental fingerprint database, the environmental data server can simultaneously acquire the environmental information and the The location information is such that the environmental data server can directly calibrate the actual location of the location area based on the location information, thereby realizing synchronous calibration of the environment information and the actual location, thereby greatly reducing the labor and time cost of creating an environment fingerprint database. And improve the accuracy of the environmental fingerprint library to provide positioning services to the positioning terminal
以下对本实施例所示的环境指纹库的几种情况进行示例性说明:The following describes several cases of the environmental fingerprint library shown in this embodiment:
所述环境指纹库的第一种情况为,所述环境指纹库包括第一指纹库,以下结合图3所示对创建所述第一指纹库的具体过程进行详细说明:In the first case of the environment fingerprint database, the environment fingerprint library includes a first fingerprint database. The specific process of creating the first fingerprint database is described in detail below with reference to FIG. 3:
步骤301、智能终端将采集到的环境信息发送给环境数据服务器。Step 301: The intelligent terminal sends the collected environmental information to the environmental data server.
本实施例所示的环境信息为所述智能终端采集到的WiFi信息,本实施例以所述环境信息为WiFi信息为例进行示例性说明,在其他实施例中,所述WiFi信息还可为蓝牙信息等,具体在本实施例中不做限定。The environment information shown in this embodiment is the WiFi information collected by the smart terminal. In this embodiment, the environment information is exemplified as the WiFi information. In other embodiments, the WiFi information may also be The Bluetooth information and the like are not limited in this embodiment.
以下对所述WiFi信息所包括的具体内容进行说明:The following describes the specific content included in the WiFi information:
具体的,所述智能终端可按所述智能终端的WiFi扫描周期为单位对室内环境的WiFi信息进行采集和上报,其中,所述WiFi信息是指所述智能终端在所述定位区域内移动的过程中,所述智能终端扫描到AP数据列表,且AP数据列表包括一个或多个扫描周期内扫 描到的AP数据,而每条AP数据为所述智能终端扫描到AP的MAC地址和RSSI数据;该MAC地址和RSSI数据每隔一个WIFI扫描周期便上报一次,该周期例如可以是2.3秒。其中,每个AP均具有唯一的MAC地址,对于RSSI,根据离该AP的距离以及该距离之间是否有障碍等情形下RSSI数据均会有所不同。需要说明的是,一个扫描周期中获得的WiFi信息可以采用如下二元组进行表示:Specifically, the smart terminal may collect and report the WiFi information of the indoor environment according to the WiFi scanning period of the smart terminal, where the WiFi information refers to the smart terminal moving in the positioning area. During the process, the smart terminal scans the AP data list, and the AP data list includes the AP data scanned in one or more scan cycles, and each AP data scans the AP's MAC address and RSSI data for the smart terminal. The MAC address and the RSSI data are reported once every other WIFI scan period, and the period may be, for example, 2.3 seconds. Each AP has a unique MAC address. For RSSI, the RSSI data varies according to the distance from the AP and whether there is an obstacle between the distances. It should be noted that the WiFi information obtained in one scanning cycle can be represented by the following two groups:
{MAC
1,RSSI
1},{MAC
2,RSSI
2},...,{MAC
n,RSSI
n};
{MAC 1 , RSSI 1 }, {MAC 2 , RSSI 2 }, ..., {MAC n , RSSI n };
其中,n表示该周期内扫描到的AP的个数,取决于智能终端当前位置AP的分布情况以及智能终端的WiFi扫描机制,RSSI则表示智能终端扫描到的任一AP的信号强度。Where n is the number of APs scanned in the period, and depends on the distribution of the current location AP of the smart terminal and the WiFi scanning mechanism of the smart terminal, and the RSSI indicates the signal strength of any AP scanned by the smart terminal.
所述智能终端将所述WiFi信息发送至所述服务器的具体过程,请参见图2所示的智能终端将所述环境信息发送至所述服务器的具体过程,具体不做赘述。For a specific process of the smart terminal sending the WiFi information to the server, refer to the specific process of the smart terminal sending the environment information to the server, as shown in FIG. 2 , and details are not described herein.
步骤302、UWB定位系统将采集到的位置信息发送给环境数据服务器。Step 302: The UWB positioning system sends the collected location information to the environmental data server.
本实施例所示的步骤302的具体执行过程,请详见图2所示的步骤202所示,具体在本实施例中不做赘述。For the specific implementation process of the step 302 shown in this embodiment, please refer to the step 202 shown in FIG. 2, which is not specifically described in this embodiment.
步骤303、环境数据服务器接收所述环境信息以及所述位置信息。Step 303: The environment data server receives the environment information and the location information.
步骤304、环境数据服务器创建第一指纹库。Step 304: The environment data server creates a first fingerprint database.
具体的,所述环境数据服务器可统计所采集到的所述WiFi信息,所述环境数据服务器以第一区域单元为单位,统计第一区域单元内,所有AP的总采样次数以及每个AP的采样次数,每个AP的采样次数用N
i进行表示,从而能够统计出每个AP的出现概率,由于MAC地址能够唯一标识一个AP,从而,属于所述第一区域单元内的任一AP的出现概率可以采用如下公式(1)计算:
Specifically, the environment data server may collect the collected WiFi information, and the environment data server counts, in a first area unit, a total number of sampling times of all APs and each AP in the first area unit. The number of times of sampling, the number of times of sampling of each AP is represented by N i , so that the probability of occurrence of each AP can be counted, since the MAC address can uniquely identify an AP, and thus belongs to any AP in the first area unit. The probability of occurrence can be calculated by the following formula (1):
其中,occurenceP(MAC
i)表示所具有的MAC地址为MAC
i的AP在所述第一区域单元内的出现概率,公式中的分母即在所述第一区域单元内所有采集到的AP的总次数。
The occurrence P (MAC i ) indicates the probability of occurrence of the AP having the MAC address MAC i in the first area unit, and the denominator in the formula is the total of all the collected APs in the first area unit. frequency.
即,本实施例所示的所述第一定位指纹包括所述第一区域单元内所包括的任一AP的出现概率occurenceP(MAC
i),具体的,所述第一定位指纹还包括所述第一区域单元内所包括的任一AP所具有的RSSI序列的高斯混合分布函数gmNorm(RSSI)。
That is, the first positioning fingerprint shown in this embodiment includes an appearance probability (MAC i ) of any AP included in the first area unit. Specifically, the first positioning fingerprint further includes the A Gaussian mixture distribution function gmNorm (RSSI) of the RSSI sequence possessed by any of the APs included in the first area unit.
以下对RSSI序列的高斯混合分布函数gmNorm(RSSI)的获取过程进行详细说明:The following is a detailed description of the acquisition process of the Gaussian mixture distribution function gmNorm (RSSI) of the RSSI sequence:
属于所述第一区域单元中的任一AP的RSSI序列为,该AP在预设时间段内被采样得到的包括有至少一个RSSI构成的RSSI序列;对于该RSSI序列,可以看做是一个混合高斯模型,该混合高斯模型是由K个单高斯分布模型(gaussian single model,GSM)线性组成,每个GSM称为该混合高斯模型中的一个组件。从而一个AP的RSSI序列中的RSSI值服从以下概率密度函数(probability distribution function,PDF),即该高斯混合分布函数gmNorm(RSSI)满足如下公式(2):The RSSI sequence of any AP in the first area unit is an RSSI sequence that is sampled by the AP in a preset time period and includes at least one RSSI; for the RSSI sequence, it can be regarded as a hybrid. Gaussian model, which is composed of K single gaussian single model (GSM) linear, each GSM is called a component in the mixed Gaussian model. Therefore, the RSSI value in the RSSI sequence of an AP obeys the following probability distribution function (PDF), that is, the Gaussian mixture distribution function gmNorm (RSSI) satisfies the following formula (2):
其中,π
k为加权系数,表示选中第K个GSM的概率,该概率可根据期望最大化(expectation maximization,EM)算法计算得到;第K个GSM的Norm(RSSI)为第K个GSM的概率密度函数,即该高斯混合分布函数gmNorm(RSSI)为K个Norm(RSSI)分别乘以各自的加权系数并累加得到。
Where π k is a weighting coefficient, indicating the probability of selecting the Kth GSM, the probability can be calculated according to the expectation maximization (EM) algorithm; the Kth GSM Norm (RSSI) is the probability of the Kth GSM The density function, that is, the Gaussian mixture distribution function gmNorm (RSSI) is obtained by multiplying K norm (RSSI) by respective weighting coefficients and accumulating them.
其中,单个GSM的Norm(RSSI)满足如下公式(3):Among them, a single GSM Norm (RSSI) satisfies the following formula (3):
其中,所述μ是RSSI序列的均值,σ是RSSI序列的标准差。Wherein μ is the mean of the RSSI sequence and σ is the standard deviation of the RSSI sequence.
本实施例所示的所述第一定位指纹除包括所述第一区域单元内所包括的任一AP的出现概率occurenceP(MAC
i)、任一AP的RSSI序列的高斯混合分布函数gmNorm(RSSI)之外,所述第一定位指纹还包括所述第一区域单元的实际位置坐标。
The first positioning fingerprint shown in this embodiment includes a probability P (PerformanceP(MAC i ) of any AP included in the first area unit, and a Gaussian mixture distribution function gmNorm (RSSI) of an RSSI sequence of any AP. In addition, the first positioning fingerprint further includes actual position coordinates of the first area unit.
可选的,所述第一区域单元的实际位置坐标可为所述第一区域单元的正中心在GPS坐标系中的实际位置坐标。Optionally, the actual position coordinate of the first area unit may be an actual position coordinate of a positive center of the first area unit in a GPS coordinate system.
可选的,所述第一区域单元的实际位置坐标并不一定在所述第一区域单元的正中心,对于每个区域单元的实际位置坐标,可根据所述第一区域单元对应的AP集合中的每个AP的RSSI序列计算得到,其中,与所述第一区域单元对应的AP集合包括所述智能终端在所述第一区域单元内进行移动的过程中,所检测到的所有AP,而由于RSSI的特点是距离越近,信号越强,距离越远,信号越弱,并且每个AP的实际位置本身是固定的,因此可根据AP集合中的每个AP所对应的RSSI序列来估计实际位置,使得从该实际位置测量,得到AP集合中的每个AP所对应的RSSI序列。Optionally, the actual location coordinates of the first area unit are not necessarily in the center of the first area unit, and the actual location coordinates of each area unit may be according to the AP set corresponding to the first area unit. The RSSI sequence of each of the APs is calculated, wherein the AP set corresponding to the first area unit includes all APs detected during the movement of the smart terminal in the first area unit, Since the RSSI is characterized by the closer the distance, the stronger the signal, the farther the distance is, the weaker the signal is, and the actual position of each AP is fixed, so it can be based on the RSSI sequence corresponding to each AP in the AP set. The actual location is estimated such that the RSSI sequence corresponding to each AP in the AP set is obtained from the actual location measurement.
可选的,因所述智能终端在所述第一区域单元内移动的过程中,所述环境数据服务器会根据所述UWB定位系统上报的位置信息获取到,所述智能终端在所述第一区域单元内每次上报所述环境信息时的位置坐标,则所述环境数据服务器可计算所述智能终端在所述第一区域单元内上报的所有位置坐标的均值作为所述第一区域单元的实际位置。Optionally, in the process of moving the smart terminal in the first area unit, the environment data server obtains the location information reported by the UWB positioning system, where the smart terminal is in the first Each time the location coordinates of the environment information are reported in the area unit, the environment data server may calculate an average value of all position coordinates reported by the smart terminal in the first area unit as the first area unit. Actual location.
上述对所述第一区域单元的实际位置确定的过程的说明为可选的示例,不做限定,可选的,本实施例所示的环境数据服务器还可在所述第一区域单元内确定目标位置,所述目标位置为所述第一区域单元内的任一位置,则所述环境数据服务器即可确定出所述目标位置的位置坐标为所述第一区域单元的实际位置坐标。The foregoing description of the process of determining the actual location of the first area unit is an optional example, which is not limited. Alternatively, the environment data server shown in this embodiment may also be determined in the first area unit. The target location, where the target location is any location within the first regional unit, the environmental data server may determine that the location coordinate of the target location is the actual location coordinate of the first regional unit.
还以本实施例所示的定位区域位于A栋楼的15楼为例进行示例性说明,即以15楼层为单位,所述环境数据服务器汇总在A栋楼的15楼所接收到的所有WiFi信息以及所有位置信息,进而使得所述环境数据服务器根据所有WiFi信息以及所述位置信息创建与A栋楼的15楼(即定位区域)对应的第一指纹库。For example, the positioning area shown in this embodiment is located on the 15th floor of the A building, for example, in units of 15 floors, the environmental data server summarizes all the WiFi received on the 15th floor of the A building. The information and all the location information further cause the environmental data server to create a first fingerprint library corresponding to the 15th floor (ie, the location area) of the A building based on all the WiFi information and the location information.
基于图3所示的第一指纹库,以下结合图4所示对定位引擎如何通过所述第一指纹库实现对待定位终端的定位的具体过程进行说明:Based on the first fingerprint database shown in FIG. 3, the specific process of how the positioning engine implements the positioning of the terminal to be located through the first fingerprint database is described below with reference to FIG. 4:
步骤401、待定位终端将目标WiFi信息发送给定位引擎。Step 401: The terminal to be located sends the target WiFi information to the positioning engine.
本实施例所示的定位引擎可运行有能够对所述待定位终端进行定位服务的定位引擎,本实施例所示的定位引擎可运行在上述实施例所示的环境数据服务器上,也可运行在与所 述环境数据服务器不相同的服务器上,在所述定位引擎运行在与所述环境数据服务器不相同的服务器的情况下,所述定位引擎可接收所述环境数据服务器所创建的环境指纹库。The positioning engine shown in this embodiment may be operated by a positioning engine capable of performing positioning services on the terminal to be located. The positioning engine shown in this embodiment may be run on the environment data server shown in the foregoing embodiment, or may be operated. On a server different from the environment data server, in a case where the positioning engine runs on a server different from the environment data server, the positioning engine may receive an environmental fingerprint created by the environment data server. Library.
具体的,需要进行定位服务的待定位终端可将以扫描周期为单位所采集到的目标WiFi信息发送给环境数据服务器。Specifically, the to-be-located terminal that needs to perform the positioning service may send the target WiFi information collected in units of the scanning period to the environmental data server.
所述待定位终端的具体结构可参见如图1所示的智能终端的具体结构,具体在本实施例中不做赘述,本实施例所示的所述定位引擎可对所述待定位终端的当前位置进行定位。For the specific structure of the terminal to be located, refer to the specific structure of the smart terminal shown in FIG. 1 , which is not described in detail in this embodiment. The positioning engine shown in this embodiment may be used for the terminal to be located. The current location is positioned.
本实施例所示的目标WiFi信息为所述待定位终端在目标时间段内所采集到的WiFi信息。本实施例所示的所述目标WiFi信息为用于进行室内定位的信息,且所述目标WiFi信息具体的采集过程,请详见上述实施例所示,具体不做赘述。The target WiFi information shown in this embodiment is the WiFi information collected by the terminal to be located in the target time period. The target WiFi information shown in this embodiment is information for performing indoor positioning, and the specific collection process of the target WiFi information is shown in the foregoing embodiment, and details are not described herein.
具体的,为实现对待定位终端进行定位,则待定位终端将目标时间段内所采集到的WiFi信息发送给定位引擎,本实施例所示的目标时间段的结束时间点为待定位终端发送目标WiFi信息的时刻,所述目标时间段的起始时间段为位于发送目标WiFi信息的时刻之前的任一时间点,即本实施例对所述目标时间段的持续时间不做限定。Specifically, in order to locate the terminal to be located, the terminal to be located transmits the WiFi information collected in the target time period to the positioning engine, and the end time point of the target time segment shown in this embodiment is the target to be sent by the terminal to be located. At the time of the WiFi information, the start time period of the target time period is any time point before the time when the target WiFi information is transmitted, that is, the duration of the target time period is not limited in this embodiment.
步骤402、定位引擎接收所述目标WiFi信息。Step 402: The positioning engine receives the target WiFi information.
定位引擎可接收所述目标WiFi信息,并根据所述目标WiFi信息对所述待定位终端进行定位。The positioning engine may receive the target WiFi information, and locate the to-be-located terminal according to the target WiFi information.
步骤403、定位引擎计算定位区域单元的目标匹配数值。Step 403: The positioning engine calculates a target matching value of the positioning area unit.
由上述对第一指纹库的创建过程可知,本实施例所示的所述环境数据服务器可创建出与不同楼层对应的第一指纹库,则本实施例所示的所述定位引擎可通过建筑识别模块判断出待定位终端所位于的建筑内的具体的目标楼层,本实施例所示的所述定位区域即位于该目标楼层内,则所述定位引擎即可动态加载与目标楼层对应的所述第一指纹库,以实现对待定位终端的定位。According to the above process of creating the first fingerprint database, the environment data server shown in this embodiment can create a first fingerprint database corresponding to different floors, and the positioning engine shown in this embodiment can pass the building. The identification module determines a specific target floor in the building where the terminal to be located is located. If the positioning area shown in this embodiment is located in the target floor, the positioning engine can dynamically load the location corresponding to the target floor. The first fingerprint database is described to achieve positioning of the terminal to be located.
在图3所示为例,所述环境数据服务器所创建的所述第一指纹库为与A栋楼的15楼所对应的指纹库,则本实施例所示的所述定位引擎在识别出所述待定位终端位于A栋楼的15楼时,所述定位引擎即可动态加载与A栋楼的15楼对应的所述第一指纹库。As shown in FIG. 3, the first fingerprint database created by the environment data server is a fingerprint database corresponding to the 15th floor of the A building, and the positioning engine shown in this embodiment is identified. When the terminal to be located is located on the 15th floor of the A building, the positioning engine can dynamically load the first fingerprint library corresponding to the 15th floor of the A building.
具体的,本实施例所示的定位引擎在接收到所述目标WiFi信息后,所述定位引擎即可对所述目标WiFi信息与所述定位引擎已创建的第一指纹库进行匹配。Specifically, after the location engine shown in this embodiment receives the target WiFi information, the positioning engine may match the target WiFi information with the first fingerprint database that the positioning engine has created.
通过下述步骤说明所述定位引擎对所述目标WiFi信息与所述第一指纹库进行匹配的具体过程,其中,所述第一指纹库的具体说明请详见图3所示的实施例,具体在本实施例中不做赘述。The specific process of the matching of the target WiFi information with the first fingerprint database is described in the following steps. The specific description of the first fingerprint database is shown in the embodiment shown in FIG. 3 . Specifically, it will not be described in detail in this embodiment.
本实施例所示的所述定位区域单元为所述定位区域所包括的多个区域单元中的任一区域单元,以下对所述定位引擎计算所述目标匹配数值的具体过程进行详细说明:The positioning area unit shown in this embodiment is any one of the plurality of area units included in the positioning area. The specific process of calculating the target matching value by the positioning engine is described in detail below:
本实施例所示的定位引擎需要判断所述目标WiFi信息所包括的AP的MAC地址是否与所述第一指纹库中,所述定位区域单元所对应的多个AP中的一个AP的MAC地址相同;The positioning engine shown in this embodiment needs to determine whether the MAC address of the AP included in the target WiFi information is the same as the MAC address of one of the plurality of APs corresponding to the location area unit in the first fingerprint database. the same;
若是,则所述定位引擎可通过第一种匹配数值的算法计算所述目标匹配数值,若否,则所述定位引擎可通过第二种匹配数值的算法计算所述目标匹配数值。If yes, the positioning engine may calculate the target matching value by using a first matching value algorithm, and if not, the positioning engine may calculate the target matching value by using a second matching value algorithm.
以下对定位引擎通过第一种匹配数值的算法的具体执行过程进行说明:The following describes the specific execution process of the positioning engine through the first algorithm for matching values:
具体的,所述定位引擎获取所述定位区域单元中,任一AP的出现概率occurenceP(MAC
i)、RSSI序列的高斯混合分布函数gmNorm(RSSI)以及所述定位区域单元的实际位置,具体获取过程,请详见图3所示的实施例,具体在本实施例中不做限定。
Specifically, the positioning engine acquires an appearance probabilityoc (MAC i ) of any AP in the positioning area unit, a Gaussian mixture distribution function gmNorm (RSSI) of the RSSI sequence, and an actual location of the positioning area unit, and specifically acquires For the process, please refer to the embodiment shown in FIG. 3, which is not limited in this embodiment.
所述定位引擎即可基于如下所示的公式(4)计算所述定位区域单元的目标匹配数值Pa;The positioning engine may calculate the target matching value Pa of the positioning area unit based on the formula (4) shown below;
其中,Px为第一目标子匹配数值,所述第一目标子匹配数值为所述待定位终端在所述定位区域单元所检测到的多个AP中任一AP的子匹配数值,n为所述智能终端在所述定位区域单元所检测到的AP的总数量。可见,本实施例所示的定位区域单元的目标匹配数值Pa为所述定位区域单元所对应的所有AP的子匹配数值的和。The Px is a first target sub-matching value, and the first target sub-matching value is a sub-matching value of any one of the plurality of APs detected by the to-be-located terminal in the positioning area unit, where n is The total number of APs detected by the smart terminal in the location area unit. It can be seen that the target matching value Pa of the positioning area unit shown in this embodiment is the sum of the sub-matching values of all APs corresponding to the positioning area unit.
所述定位引擎可通过公式(5)计算所述第一目标子匹配数值Px;The positioning engine may calculate the first target sub-matching value Px by formula (5);
Px=log
10(occurenceP(MAC
i).gmNorm(RSSI))···············(5);
Px=log 10 (occurenceP(MAC i ).gmNorm(RSSI))················ (5);
其中,MAC
i为勘测阶段,第二目标AP所具有的MAC地址,所述第二目标AP为勘测阶段,所述智能终端在所述定位区域单元所检测到的多个AP中任一AP,occurenceP(MAC
i)为所述第二目标AP的出现概率,而所述gmNorm(RSSI)为所述第二目标AP的RSSI序列所服从的高斯混合分布函数,所述occurenceP(MAC
i)以及所述gmNorm(RSSI)的具体获取过程,请详见图3所示的实施例,具体在本实施例中不做赘述。
The MAC i is a surveying phase, the MAC address of the second target AP, and the second target AP is a surveying phase, and any one of the plurality of APs detected by the smart terminal in the positioning area unit, The occurrenceence P (MAC i ) is an appearance probability of the second target AP, and the gmNorm (RSSI) is a Gaussian mixture distribution function obeyed by the RSSI sequence of the second target AP, the occurrenceP(MAC i ) and the For the specific acquisition process of the gmNorm (RSSI), please refer to the embodiment shown in FIG. 3, which is not specifically described in this embodiment.
可见,本实施例所示的定位引擎可将所述第二目标AP的出现概率occurenceP(MAC
i)乘以所述第二目标AP的RSSI序列所服从的混合高斯分布函数gmNorm(RSSI),对该乘积取以10为底的对数以获取到所述第一目标子匹配数值。
It can be seen that the positioning engine shown in this embodiment may multiply the occurrence probabilityocenceP(MAC i ) of the second target AP by the mixed Gaussian distribution function gmNorm (RSSI) obeyed by the RSSI sequence of the second target AP, The product takes a base 10 logarithm to obtain the first target submatch value.
以下对定位引擎通过第二种匹配数值的算法的具体执行过程进行说明:The following describes the specific execution process of the positioning engine through the second matching value algorithm:
具体的,所述定位引擎即可基于如下所示的公式(6)计算所述定位区域单元的目标匹配数值Pb;Specifically, the positioning engine may calculate the target matching value Pb of the positioning area unit based on the formula (6) shown below;
其中,Py为第二目标子匹配数值,所述第二目标子匹配数值为所述待定位终端在所述定位区域单元所检测到的多个AP中任一AP的子匹配数值,n为所述智能终端在所述定位区域单元所检测到的AP的总数量。可见,本实施例所示的定位区域单元的目标匹配数值Pb为所述定位区域单元所对应的所有AP的子匹配数值的和。Wherein, Py is a second target sub-matching value, and the second target sub-matching value is a sub-matching value of any one of the plurality of APs detected by the to-be-located terminal in the positioning area unit, where n is The total number of APs detected by the smart terminal in the location area unit. It can be seen that the target matching value Pb of the positioning area unit shown in this embodiment is the sum of the sub-matching values of all APs corresponding to the positioning area unit.
所述定位引擎可通过公式(7)计算所述第二目标子匹配数值Py;The positioning engine may calculate the second target sub-matching value Py by formula (7);
Py=log
10(1-occurenceP(MAC
i))····························(7);
Py=log 10 (1-occurenceP(MAC i ))······································· (7);
其中,MAC
i为勘测阶段,第二目标AP所具有的MAC地址,所述第二目标AP为勘测阶段,所述待定位终端在所述定位区域单元所检测到的多个AP中任一AP,occurenceP(MAC
i)为所述第二目标AP的出现概率,所述occurenceP(MAC
i)的具体获取过 程,请详见图3所示的实施例,具体在本实施例中不做赘述。
The MAC i is a surveying phase, the MAC address of the second target AP, and the second target AP is a surveying phase, and the AP to be located is any AP of the multiple APs detected by the positioning area unit. , occurenceP (MAC i) is the probability of occurrence of the second target AP, the occurenceP (MAC i) acquisition process in particular, please refer to the embodiment shown in FIG. 3, the specific embodiment is not repeated in the present embodiment.
可见,本实施例所示的定位引擎可用1减去所述occurenceP(MAC
i)以获取所述第二目标子匹配数值Py。
It can be seen that the positioning engine shown in this embodiment can subtract the occurrence of the chanceP(MAC i ) by 1 to obtain the second target sub-matching value Py.
可选的,本实施例所示的定位引擎若确定出所述定位区域单元为位于所述定位区域中的边缘区域,则在所述定位引擎获取到位于定位区域中的边缘位置的区域单元的目标匹配数值的情况下,所述定位引擎可对位于定位区域中的边缘位置的区域单元的目标匹配数值减去预设参数,本实施例对所述预设参数的大小不做限定,可选的,所述区域单元的目标匹配数值减去所述预设参数的大小,可与所述区域单元距离所述定位区域的中心的距离成反比。Optionally, if the positioning engine shown in this embodiment determines that the positioning area unit is an edge area located in the positioning area, acquiring, by the positioning engine, an area unit located at an edge position in the positioning area. In the case of the target matching value, the positioning engine may subtract the preset parameter from the target matching value of the area unit located at the edge position in the positioning area, and the size of the preset parameter is not limited in this embodiment. The target matching value of the area unit minus the size of the preset parameter may be inversely proportional to the distance of the area unit from the center of the positioning area.
步骤404、定位引擎获取匹配列表。Step 404: The positioning engine obtains a matching list.
在所述定位引擎可获取到所述定位区域中的所有区域单元所对应的目标匹配数值的情况下,则所述定位引擎可对所获取到的所有目标匹配数值按数值由大到小的顺序进行排序以获取到所述匹配列表。In the case that the positioning engine can obtain the target matching value corresponding to all the regional units in the positioning area, the positioning engine may perform the numerical values of all the target matching values in descending order. Sorting to get the matching list.
步骤405、定位引擎根据WiFi指纹匹配算法获取第一定位位置坐标。Step 405: The positioning engine acquires the first positioning position coordinate according to the WiFi fingerprint matching algorithm.
所述定位引擎可获取所述匹配列表中,排序在前N个区域单元中任一区域单元的实际位置坐标Wi,具体的,所述定位引擎可通过查询所述第一指纹库以获取排序在前N个区域单元中任一区域单元的实际位置坐标Wi,所述第一指纹库设置区域单元的实际位置的具体过程,请详见图3所示的实施例,具体不做赘述。The positioning engine may obtain the actual position coordinates Wi of any one of the first N regional units in the matching list. Specifically, the positioning engine may obtain the ranking by querying the first fingerprint database. For the specific process of setting the actual position of the area unit in the first N zone unit, the specific process of setting the actual location of the area unit in the first fingerprint library is shown in the embodiment shown in FIG. 3 , and details are not described herein.
所述定位引擎可基于下述所示的公式(8)计算所述第一定位位置坐标Dx。The positioning engine may calculate the first positioning position coordinate Dx based on the formula (8) shown below.
可见,本实施例所示的所述定位引擎可在所述匹配列表中选取排序在前N位的区域单元的实际位置坐标的平均值作为所述第一定位位置坐标Dx。It can be seen that the positioning engine shown in this embodiment may select, as the first positioning position coordinate Dx, an average value of actual position coordinates of the area units ranked in the first N bits in the matching list.
在所述定位引擎获取到所述第一定位位置坐标的情况下,所述定位引擎根据所述第一定位位置坐标即可确定出待定位终端在所述定位区域内的实际位置,从而使得所述定位引擎能够基于所述第一定位位置坐标对所述待定位终端提供定位服务。In the case that the positioning engine acquires the coordinates of the first positioning position, the positioning engine may determine the actual position of the terminal to be positioned in the positioning area according to the first positioning position coordinate, thereby The positioning engine is capable of providing a positioning service to the to-be-located terminal based on the first positioning location coordinate.
所述环境指纹库的第二种情况为,所述环境指纹库包括第一指纹库以及第二指纹库,以下结合图5所示对创建所述第一指纹库以及所述第二指纹库的具体过程进行详细说明:In the second case of the environment fingerprint database, the environment fingerprint library includes a first fingerprint library and a second fingerprint library, and the first fingerprint library and the second fingerprint database are created as shown in FIG. 5 below. The specific process is described in detail:
步骤501、智能终端将环境信息发送给环境数据服务器。Step 501: The intelligent terminal sends the environment information to the environmental data server.
本实施例所示的环境信息包括WiFi信息以及传感器信息,其中,所述智能终端采集所述WiFi信息的具体过程,请详见图3所示的实施例,具体在本实施例中不做赘述。The environment information shown in this embodiment includes the WiFi information and the sensor information. The specific process of the smart terminal collecting the WiFi information, as shown in the embodiment shown in FIG. 3, is not described in this embodiment. .
以下对本实施例所示的智能终端采集传感器信息的具体过程进行说明:The following describes the specific process of collecting sensor information by the smart terminal shown in this embodiment:
本实施例所示的所述传感器信息为所述智能终端的传感器所采集到能够用于定位的信息,本实施例所示的传感器包括加速度计、重力传感器、陀螺仪、磁力计、方向传感器、计步器等之中的至少一种,具体在本实施例中不做限定,且本实施例所示的智能终端具体 请参见如图1所示的智能终端的结构,具体不做赘述。The sensor information shown in this embodiment is information collected by the sensor of the smart terminal and can be used for positioning. The sensor shown in this embodiment includes an accelerometer, a gravity sensor, a gyroscope, a magnetometer, a direction sensor, At least one of the pedometers and the like is not limited in this embodiment, and the smart terminal shown in this embodiment is specifically referred to as the structure of the smart terminal shown in FIG. 1 , and details are not described herein.
步骤502、UWB定位系统将采集到的位置信息发送给环境数据服务器。Step 502: The UWB positioning system sends the collected location information to the environmental data server.
本实施例所示的步骤502的具体执行过程,请详见图3所示的步骤302所示,具体执行过程不做赘述。For the specific implementation process of step 502 shown in this embodiment, please refer to step 302 shown in FIG. 3, and the specific implementation process is not described herein.
步骤503、环境数据服务器接收所述环境信息以及所述位置信息。Step 503: The environment data server receives the environment information and the location information.
步骤504、环境数据服务器同时创建第一指纹库以及第二指纹库。Step 504: The environment data server simultaneously creates a first fingerprint library and a second fingerprint database.
具体的,还以本实施例所示的定位区域位于A栋楼的15楼为例进行示例性说明,即以15楼层为单位,所述环境数据服务器汇总在A栋楼的15楼所接收到的所有WiFi信息、传感器信息以及所有位置信息,进而使得所述环境数据服务器根据所有WiFi信息以及所述位置信息创建与A栋楼的15楼(即定位区域)对应的第一指纹库,而所述环境数据服务器根据所有传感器信息以及所述位置信息创建与A栋楼的15楼(即定位区域)对应的第二指纹库,所述环境数据服务器创建所述第一指纹库的具体过程,请详见图3所示的实施例,具体在本实施例中不做赘述。Specifically, the positioning area shown in this embodiment is located on the 15th floor of the A building as an example. The environment data server is collected on the 15th floor of the A building. All the WiFi information, the sensor information, and all the location information, so that the environmental data server creates a first fingerprint database corresponding to the 15th floor (ie, the location area) of the A building according to all the WiFi information and the location information. The environmental data server creates a second fingerprint database corresponding to the 15th floor (ie, the positioning area) of the A building according to all the sensor information and the location information, and the specific process of the environmental data server to create the first fingerprint database, please For details, refer to the embodiment shown in FIG. 3, which is not specifically described in this embodiment.
以下对本实施例所示的环境数据服务器创建所述第二指纹库的具体过程进行说明:The following describes the specific process of creating the second fingerprint database by the environment data server shown in this embodiment:
首先,环境数据服务器获取转移概率序列。First, the environmental data server obtains a sequence of transition probabilities.
具体的,本实施例所示的所述环境数据服务器以楼层为单元创建所述转移概率序列,例如,若环境数据服务器创建与室内的15楼对应的转移概率序列,则所述环境数据服务器可统计出位于15楼的所有智能终端上报的所述传感器信息,以使环境数据服务器能够根据位于15楼的所有智能终端上报的所述传感器信息创建出与15楼对应的转移概率序列。Specifically, the environment data server shown in this embodiment creates the transition probability sequence by using a floor unit. For example, if the environment data server creates a transition probability sequence corresponding to the 15th floor of the room, the environment data server may The sensor information reported by all the smart terminals located on the 15th floor is counted, so that the environmental data server can create a transition probability sequence corresponding to the 15th floor according to the sensor information reported by all the smart terminals located on the 15th floor.
本实施例所示的所述转移概率序列包括所述定位区域的任一区域单元所对应的转移概率,以下对环境数据服务器计算第一区域单元的转移概率为例进行示例性说明,其中,所述第一区域单位为所述定位区域所包括的任一区域单元,对所述定位区域所包括的其他区域单元所对应的转移概率的计算过程,请详见以下所示的计算所述第一区域单元的转移概率的具体过程:The transition probability sequence shown in this embodiment includes a transition probability corresponding to any area unit of the location area, and the following is an example of calculating, by using an environment data server, a transition probability of the first area unit, where The first area unit is any area unit included in the positioning area, and the calculation process of the transition probability corresponding to other area units included in the positioning area is as follows: The specific process of the transfer probability of the regional unit:
本实施例中,在所述环境数据服务器获取到所述传感器信息后,因勘测人员携带所述智能终端在所述定位区域内进行移动的情况下,所移动的移动轨迹满足预设条件,所述预设条件的具体说明请详见图2所示的实施例,具体在本实施例中不做赘述,则所述环境数据服务器可获取智能终端在所述定位区域内进行移动的转移概率。In this embodiment, after the environmental data server obtains the sensor information, if the surveying personnel carry the smart terminal to move in the positioning area, the moved moving trajectory satisfies a preset condition. For details of the preset conditions, please refer to the embodiment shown in FIG. 2 . Specifically, in the embodiment, the environmental data server may obtain the transition probability of the smart terminal moving in the positioning area.
本实施例所示在所述定位区域内,勘测人员携带智能终端移动一个目标步长后,可从所述第一区域单元移动到第i个第二区域单元,其中,所述目标步长为勘测人员在所述定位区域内行走过程中所移动的任一步长,对所述第一区域单元的具体说明请详见图3所示实施例,具体在本实施例中不做赘述,在本实施例中,所述第一区域单位为所述环境数据服务器所统计的所述目标步长行进过程中所经过的区域单元,而所述第二区域单元为所述环境数据服务器所统计的所述目标步长的结束位置所位于的区域单元。In the positioning area, after the surveying personnel carry the smart terminal to move a target step size, the surveying unit can move from the first area unit to the ith second area unit, where the target step size is For the specific description of the first area unit, please refer to the embodiment shown in FIG. 3 for details of the movement of the first area unit in the positioning area, which is not described in detail in this embodiment. In an embodiment, the first area unit is a regional unit that passes through the target step size and is counted by the environment data server, and the second area unit is a unit that is counted by the environment data server. The area unit in which the end position of the target step is located.
其中,所述环境数据服务器对所述定位区域划分所形成的多个区域单元中,与所述第一区域单元相邻有多个第二区域单元,在勘测人员沿不同的方向行进所述目标步长的情况 下,所述目标步长的结束位置会位于多个第二区域单元中不同的第二区域单元内。Wherein the plurality of area units formed by the environmental data server dividing the positioning area, a plurality of second area units adjacent to the first area unit, and the target is traveling in different directions in the surveying personnel In the case of a step size, the end position of the target step may be located in a different second area unit of the plurality of second area units.
勘测人员在勘测的过程中,从所述第一区域单位内开始移动所述目标步长的过程中,因勘测人员移动的方向的不同,则直接会导致勘测人员勘测过程具有不同的轨迹,以图6所示为例,其中,图6所示为所述环境数据服务器将所述定位区域划分后所形成的各个区域单元。During the surveying process, during the surveying process, the surveying personnel move the target step length from the first regional unit. Because the surveying personnel move in different directions, the surveying personnel may directly have different trajectories in the surveying process. FIG. 6 is an example, wherein FIG. 6 shows each area unit formed by the environment data server dividing the positioning area.
在勘测人员位于所述第一区域601内沿第一方向602行进所述目标步长后,所述智能终端即可移动至所述第二区域单元603内部。又如,在勘测人员位于所述第一区域601内沿第二方向604行进所述目标步长后,所述智能终端即可移动至所述第二区域单元605内部。又如,在勘测人员位于所述第一区域601内沿第三方向606行进所述目标步长后,所述智能终端即可移动至所述第二区域单元607内部。以此类推,所述智能终端还可沿如图6所示的第四方向608、第五方向609、第六方向610、第七方向611以及第八方向612行进所述目标步长。After the surveyer is in the first region 601 and travels the target step in the first direction 602, the smart terminal can move to the inside of the second region unit 603. As another example, after the surveyer is in the first region 601 and travels the target step in the second direction 604, the smart terminal can move to the inside of the second region unit 605. For another example, after the surveyer is located in the first area 601 and travels the target step in the third direction 606, the smart terminal can move to the inside of the second area unit 607. By analogy, the smart terminal can also travel the target step size in the fourth direction 608, the fifth direction 609, the sixth direction 610, the seventh direction 611, and the eighth direction 612 as shown in FIG. 6.
可见,在所述区域单元内没有设置对勘测人员形成遮挡的障碍物的情况下,位于所述第一区域单元内行进所述目标步长的过程中,所述智能终端可能的行进方向有8种,而若所述区域单元内设置有对勘测人员形成遮挡的障碍物的情况下,例如,所述智能终端沿方向609行进所述目标步长的轨迹中,若设置有墙壁等能够对勘测人员形成遮挡的障碍物,则勘测人员将不能够沿方向609行进所述目标步长。It can be seen that, in the case that no obstacle blocking the surveying person is disposed in the area unit, in the process of traveling the target step in the first area unit, the possible traveling direction of the smart terminal is 8 If the area unit is provided with an obstacle that forms an occlusion on the surveying unit, for example, the smart terminal travels in the direction 609 along the trajectory of the target step size, and if a wall or the like is provided, the survey can be performed. If the person forms an occluded obstacle, the surveyor will not be able to travel the target step size in direction 609.
本实施例所示的所述智能终端移动的所述目标步长不大于所述定位区域的边长,所述转移概率transitionP(STEP
i)为第一子传感器信息和目标传感器信息的商。
The target step size of the smart terminal movement shown in this embodiment is not greater than the side length of the positioning area, and the transition probability transitionP(STEP i ) is a quotient of the first sub-sensor information and the target sensor information.
具体的,所述第一子传感器信息为智能终端沿任一方向移动所述目标步长以转移至第i个所述第二区域单元内的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的次数N
i。
Specifically, the first sub-sensor information is in a process in which the smart terminal moves the target step size in any direction to transfer to the i-th second area unit, where the smart terminal is in the first area The number of times the sensor information reported in the unit is sampled N i .
若以图6所示为例,所述智能终端移动所述目标步长时,所沿的方向为方向612为例,则所述智能终端需要采集所述智能终端沿方向612移动所述目标步长过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的次数N
i,所述智能终端即可将所述被采样的次数N
i上报给所述环境数据服务器。
For example, as shown in FIG. 6 , when the smart terminal moves the target step, the direction along which the direction is 612 is taken as an example, and the smart terminal needs to collect the smart terminal to move the target step in the direction 612. long process, the intelligent terminal in the first unit region information is reported by the sensor sampled the number of times N i said intelligent terminals to the number of times N i said sampled data reported to the environment server .
其中,所述目标传感器信息为位于所述第一区域单元内的所述智能终端,沿所有可以行进的方向移动所述目标步长以使所述智能终端转移至所述第二区域单元内的过程中,所述智能终端在所述第一区域单元内所上报的所有传感器信息被采样的总次数
其中,n为所述第二区域单元的数量。
The target sensor information is the smart terminal located in the first area unit, and the target step size is moved in all directions that can be traveled to transfer the smart terminal to the second area unit. The total number of times all sensor information reported by the smart terminal in the first area unit is sampled during the process Where n is the number of the second area units.
继续以图6所示为例,所述智能终端沿第一方向602行进所述目标步长时,所述智能终端在所述第一区域单元601内所上报的传感器信息被智能终端采样的次数N
1、所述智能终端沿第二方向604行进所述目标步长时,所述智能终端在所述第一区域单元601内所上报的传感器信息被智能终端采样的次数N
2、所述智能终端沿第三方向606行进所述目标步 长时,所述智能终端在所述第一区域单元601内所上报的传感器信息被智能终端采样的次数N
3、所述智能终端沿第四方向608行进所述目标步长时,所述智能终端在所述第一区域单元601内所上报的传感器信息被智能终端采样的次数N
4、所述智能终端沿第五方向609行进所述目标步长时,所述智能终端在所述第一区域单元601内所上报的传感器信息被智能终端采样的次数N
5、所述智能终端沿第六方向610行进所述目标步长时,所述智能终端在所述第一区域单元601内所上报的传感器信息被智能终端采样的次数N
6、所述智能终端沿第七方向611行进所述目标步长时,所述智能终端在所述第一区域单元601内所上报的传感器信息被智能终端采样的次数N
7,所述智能终端沿第八方向612行进所述目标步长时,所述智能终端在所述第一区域单元601内所上报的传感器信息被智能终端采样的次数N
8,则所述环境数据服务器即可获取所述目标传感器信息为N
1+N
2+N
3+N
4+N
5+N
6+N
7+N
8。
Continuing with the example shown in FIG. 6 , when the smart terminal travels the target step in the first direction 602, the number of times the sensor information reported by the smart terminal in the first area unit 601 is sampled by the smart terminal is continued. N 1, when the intelligent terminal 604 in a second direction of travel of the target step size, said intelligent terminal unit in the first region 601 is reported by the sensor information sampled frequency intelligent terminal N 2, the smart When the terminal travels the target step in the third direction 606, the number of times the sensor information reported by the smart terminal in the first area unit 601 is sampled by the smart terminal N 3 , and the smart terminal is in the fourth direction 608 When the target step size is advanced, the sensor information reported by the smart terminal in the first area unit 601 is sampled by the smart terminal N 4 , and the smart terminal travels in the fifth direction 609 to the target step size when said intelligent terminal unit in the first region 601 is reported by the sensor information sampled frequency intelligent terminal N 5, when the intelligent terminal 610 in the direction of travel of the sixth step of the target, Said intelligent terminal unit in the first region 601 is reported by the sensor information sampled N times intelligent terminals 6, the intelligent terminal 611 when the traveling direction of the target in the seventh step, the intelligent terminal in the The number N 7 of the sensor information reported by the first area unit 601 is sampled by the smart terminal. When the smart terminal travels the target step in the eighth direction 612, the smart terminal is in the first area unit 601. If the reported sensor information is sampled by the intelligent terminal N 8 , the environmental data server can obtain the target sensor information as N 1 +N 2 +N 3 +N 4 +N 5 +N 6 +N 7 + N 8 .
可见,所述环境数据服务器即可通过如下公式(9)计算出所述第一区域单元的所述转移概率transitionP(STEP
i):
It can be seen that the environmental data server can calculate the transition probability transitionP(STEP i ) of the first regional unit by using the following formula (9):
其中,分子为位于所述第一区域单元的智能终端移动一个目标步长时转移到第i个第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的次数,分母为位于所述第一区域单元内的智能终端移动到所有第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的总次数。通过该公式,所述环境数据服务器即可计算出智能终端从一个区域单元到另一个区域单元的转移概率。该过程即完成隐藏马尔可夫模型中的转移概率的准备。Wherein, the numerator is the sensor information reported by the smart terminal in the first area unit during the process of moving to the ith second area unit when the smart terminal of the first area unit moves by one target step The number of times of sampling, the denominator is a process in which the smart terminal located in the first area unit moves to all the second area units, and the total information of the sensor information reported by the smart terminal in the first area unit is sampled frequency. Through the formula, the environmental data server can calculate the transition probability of the intelligent terminal from one regional unit to another regional unit. This process completes the preparation of the transition probability in the hidden Markov model.
在环境数据服务器获取到第一区域单元的转移概率的情况下,依次类推,所述环境数据服务器即可获取到所述定位区域所包括的任一区域单元的转移概率,则所述环境数据服务器所创建的转移概率序列包括所述定位区域所包括的所有区域单元的转移概率。In the case that the environmental data server acquires the transition probability of the first regional unit, and so on, the environmental data server may acquire the transition probability of any regional unit included in the positioning region, and the environmental data server The created transition probability sequence includes transition probabilities for all of the regional units included in the location area.
在所述环境数据服务器获取转移概率序列的情况下,所述环境数据服务器即可获取输出概率序列。In the case that the environmental data server acquires a transition probability sequence, the environmental data server may acquire an output probability sequence.
具体的,本实施例所示的所述环境数据服务器以楼层为单元创建所述输出概率序列,例如,若环境数据服务器创建与室内的15楼对应的输出概率序列,则所述环境数据服务器可统计出位于15楼的所有智能终端上报的所述传感器信息,以使环境数据服务器能够根据位于15楼的所有智能终端上报的所述传感器信息创建出与15楼对应的输出概率序列。Specifically, the environment data server shown in this embodiment creates the output probability sequence in units of floors. For example, if the environment data server creates an output probability sequence corresponding to the 15th floor of the room, the environment data server may The sensor information reported by all the smart terminals located on the 15th floor is counted, so that the environmental data server can create an output probability sequence corresponding to the 15th floor according to the sensor information reported by all the smart terminals located on the 15th floor.
本实施例所示的所述输出概率序列包括所述定位区域的任一区域单元所对应的输出概率,以下对环境数据服务器计算第一区域单元的输出概率为例进行示例性说明,其中,所述第一区域单位为所述定位区域所包括的任一区域单元,对所述定位区域所包括的其他区域单元所对应的输出概率的计算过程,请详见以下所示的计算所述第一区域单元的输出概率的具体过程:The output probability sequence shown in this embodiment includes an output probability corresponding to any area unit of the positioning area, and the following is an example of calculating an output probability of the first area unit by the environment data server, where The first area unit is any area unit included in the positioning area, and the calculation process of the output probability corresponding to other area units included in the positioning area is as follows: The specific process of the output probability of the regional unit:
其中,所述第一区域单元的输出概率为环境数据服务器在所述第一区域单元内采集到的所述智能终端所上报的传感器信息与所述第一区域单元的匹配程度,对于所述第一区域单元而言,勘测人员在勘测阶段,每经过一次所述第一区域单元,所述环境数据服务器即可计算出所述第一区域单元的历史匹配度,例如,若在勘测阶段,勘测人员在行进轨迹中,经过所述第一区域单元M次,则所述环境数据服务器即可获取到所述第一区域单元的M个历史匹配度,即所述第一区域单元的历史匹配度的数目与勘测人员经过所述第一区域单元的次数相等。The output probability of the first area unit is the matching degree between the sensor information reported by the smart terminal collected by the environmental data server in the first area unit and the first area unit, In the case of a regional unit, the surveying personnel can calculate the historical matching degree of the first regional unit every time the first regional unit is passed during the surveying phase, for example, if in the surveying stage, the survey is performed. The person in the travel trajectory passes through the first area unit M times, and the environmental data server can acquire the M historical matching degrees of the first area unit, that is, the historical matching degree of the first area unit. The number of times is equal to the number of times the surveyor passes through the first area unit.
具体的,所述环境数据服务器确定出所述第一区域单元的所有所述历史匹配度的均值作为所述第一区域单元的输出概率。Specifically, the environment data server determines an average value of all the historical matching degrees of the first area unit as an output probability of the first area unit.
更具体的,所述环境数据服务器即可基于公式(10)计算出所述第一区域单元的输出概率matchValue(grld
j):
More specifically, the environmental data server may calculate the output probability matchValue(grld j ) of the first regional unit based on formula (10):
公式(10)中的grld
j表示所述第一区域单元,M表示所述环境数据服务器计算出的所述第一区域单元的历史匹配度的数量,而所述matchHistory
m表示M个所述历史匹配度中的任一历史匹配度,所述matchHistory
m取值范围是[0,1]。
Grld j in the formula (10) represents the first area unit, M represents the number of historical matching degrees of the first area unit calculated by the environmental data server, and the matchHistory m represents M pieces of the history. The matchHistory m value range is [0, 1] for any historical match in the match.
以下对所述环境数据服务器如何计算出所述第一区域单元的目标历史匹配度matchHistory
m的过程进行说明,其中,所述目标历史匹配度matchHistory
m为所述第一区域单元的M个历史匹配度中的任一个历史匹配度。
How the history matching degree calculating a target matchHistory m region of the first unit of the server process environmental data will be described, wherein the target history matching degree matchHistory m is the M history matching unit first region Any historical match in degrees.
首先,以图7所示为例,若本实施例所示的目标步长703为所述智能终端的移动轨迹中的第K个步长,则所述环境数据服务器从所述智能终端所上报的环境中获取第K-1个步长内采集到第二子传感器信息,所述环境数据服务器即可根据所述第二子传感器信息获取到所述智能终端在第K-1个步长的最后时刻的目标航向Azimuth;其中,所述智能终端在第K-1个步长的最后时刻所位于的位置为如图7所示的参考位置702,该所述K为大于等于1的整数;该目标航向即第K-1个步长的行走方向。First, as shown in FIG. 7 , if the target step size 703 shown in this embodiment is the Kth step size in the moving track of the smart terminal, the environment data server reports from the smart terminal. Obtaining the second sub-sensor information in the K-1th step of the environment, the environmental data server may obtain the smart terminal in the K-1th step according to the second sub-sensor information. The target heading Azimuth at the last moment; wherein the smart terminal is located at the last moment of the K-1th step is a reference position 702 as shown in FIG. 7, and the K is an integer greater than or equal to 1; The target heading is the direction of travel of the K-1th step.
其中,所述环境数据服务器可根据所述第二子传感器信息中,由所述智能终端所设置的陀螺仪所上报的角速度或者磁力计所上报的磁场强度进行计算以获取所述目标航向,具体的,所述目标航向是指,按照所述目标航向,经过所述第K-1个步长,所述智能终端移动至所述第一区域单元内的概率。The environmental data server may calculate, according to the angular velocity reported by the gyroscope set by the smart terminal or the magnetic field strength reported by the magnetometer, to obtain the target heading. The target heading refers to a probability that the smart terminal moves into the first area unit after the K-1 step according to the target heading.
接着,所述环境数据服务器统计勘测人员在定位区域内移动至所述第一区域单元内的方向序列midAzi,具体的,所述智能终端可沿不同的方向转移至所述第一区域单元,则所述环境数据服务器可统计所述智能终端在所述定位区域内进行移动的方向以及所述智能终端位于所述第一区域单元内各个时间段,则所述环境数据服务器所构建的所述方向序列包括智能终端在所述定位区域内进行移动的方向以及对应的时间段。Then, the environmental data server statistic surveyer moves to the direction sequence midAzi in the first area unit in the location area, and specifically, the smart terminal can be transferred to the first area unit in different directions, The environment data server may count the direction in which the smart terminal moves within the positioning area and the time period in which the smart terminal is located in the first area unit, and the direction constructed by the environment data server The sequence includes a direction in which the smart terminal moves within the positioning area and a corresponding time period.
然后,所述环境数据服务器统计所述方向序列midAzi所包括的任一方向与所述目标航向Azimuth之间所形成的偏差角度minDiff,所述偏差角度minDiff的单位为角度,且 位于区间[-180°,180°]之内。Then, the environmental data server counts a deviation angle minDiff formed between any direction included in the direction sequence midAzi and the target heading Azimuth, the unit of the deviation angle minDiff is an angle, and is located in the interval [-180 Within °, 180 °].
所述环境数据服务器即可对所述偏差角度minDiff做如下公式(11)所示的归一化处理以获取行进方向匹配度azimuthMatch
m:
The environmental data server may perform normalization processing as shown in the following formula (11) on the deviation angle minDiff to obtain a traveling direction matching degree azimuthMatch m :
由公式(11)所示可知,所述环境数据服务器可确定出,在所述环境数据服务器确定出所述方向序列midAzi所包括的第一方向与所述目标航向之间所形成的所述偏差角度minDiff小于10度的情况下,则所述环境数据服务器即可确定出所述第一方向的行进方向匹配度azimuthMatch
m=1,在所述环境数据服务器确定出所述方向序列midAzi所包括的第二方向与所述目标航向之间所形成的所述偏差角度minDiff大于30度的情况下,则所述环境数据服务器即可确定出所述第二方向的行进方向匹配度azimuthMatch
m=0,而在所述环境数据服务器确定出所述方向序列midAzi所包括的第三方向与所述目标航向之间所形成的所述偏差角度minDiff大于等于10且小于等于30的情况下,则所述环境数据服务器即可确定出所述第三方向的行进方向匹配度azimuthMatch
m=1.5-0.05·min Diff。
As shown in the formula (11), the environmental data server may determine that the deviation formed between the first direction included in the direction sequence midAzi and the target heading is determined by the environmental data server If the angle minDiff is less than 10 degrees, the environmental data server may determine the traveling direction matching degree azimuthMatch m =1 in the first direction, and determine, by the environmental data server, the direction sequence midAzi When the deviation angle minDiff formed between the second direction and the target heading is greater than 30 degrees, the environmental data server may determine the traveling direction matching degree azimuthMatch m =0 in the second direction, And the environment data server determines that the deviation angle minDiff formed between the third direction included in the direction sequence midAzi and the target heading is greater than or equal to 10 and less than or equal to 30, then the environment The data server can determine the direction of travel matching azimuthMatch m = 1.5-0.05·min Diff in the third direction.
以下对环境数据服务器如何基于已获取到的所述行进方向匹配度matchHistory
m计算所述输出概率的具体过程进行说明:
The following describes how the environmental data server calculates the output probability based on the obtained traveling direction matching degree matchHistory m :
所述环境数据服务器可通过逻辑回归计算目标地磁信息、行进方向匹配度matchHistory
m与所述第一定位区域的匹配度作为所述输出概率。
The environmental data server may calculate the target geomagnetism information, the matching degree of the traveling direction matching degree matchHistory m and the first positioning area as the output probability by logistic regression.
其中,所述目标地磁信息为所述环境数据服务器获取所述智能终端在移动所述目标步长的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息,并从该传感器信息中提取出的地磁信息。The target geomagnetic information is obtained by the environmental data server, in the process of moving the target step by the smart terminal, the sensor information reported by the smart terminal in the first area unit, and from the Geomagnetic information extracted from sensor information.
所述目标地磁信息包括第一分量值magE、第二分量值magN、第三分量值magU以及地磁精度值magVal,其中,所述第一分量值magE为在站心坐标系(local cartesian coordinates coordinate system,ENU)下,沿与水平面平行的X方向分量值;所述第二分量值magN为在ENU下,与水平面平行Y方向分量值;所述第三分量值magU为在ENU下,与水平面垂直的Z方向垂直分量值;所述地磁精度值magVal表示各方向分量值的测量精度。The target geomagnetism information includes a first component value magE, a second component value magN, a third component value magU, and a geomagnetism precision value magVal, wherein the first component value magE is in a local cartes coordinate system (local cartesian coordinates coordinate Under the system, ENU), the X-direction component value parallel to the horizontal plane; the second component value magN is the Y-direction component value parallel to the horizontal plane under the ENU; the third component value magU is under the ENU, The vertical component of the Z direction perpendicular to the horizontal plane; the geomagnetic accuracy value magVal represents the measurement accuracy of the component values of the respective directions.
所述环境数据服务器可基于逻辑回归计算所述目标历史匹配度matchHistory
m。
The environmental data server may calculate the target historical match degree matchHistory m based on logistic regression.
首先,对逻辑回归进行说明:First, explain the logistic regression:
假设有一些离散的数据点,用一条直线对这些点进行拟合,这个拟合的过程就是回归。而逻辑回归是线性回归的一种,就是在线性回归的基础上套了一个S型生长曲线(sigmoid)函数,其表达式如公式(12)所示:Suppose there are some discrete data points, and these points are fitted with a straight line. The process of this fitting is regression. Logistic regression is a kind of linear regression, which is based on linear regression and a sigmoid function. The expression is as shown in formula (12):
具体的,逻辑回归是将一个事件出现的概率适应到一条逻辑曲线上,逻辑曲线是一条 S形的曲线,如本实施例所示的sigmoid函数,该sigmoid函数的特点是开始变化快,逐渐减慢,最后饱和,所述sigmoid函数可参见图8所示:Specifically, the logistic regression is to adapt the probability of occurrence of an event to a logical curve. The logical curve is an S-shaped curve. As shown in the sigmoid function in this embodiment, the sigmoid function is characterized by a quick change and a gradual decrease. Slow, finally saturated, the sigmoid function can be seen in Figure 8:
如图8所示,sigmoid函数的优点是它的变量是从负无穷大到正无穷大,而值域范围是[0,1],而由于[0,1]之间的sigmoid函数可以是一个概率函数,这样逻辑回归函数就可以和matchHistory
m分布联系起来。
As shown in Figure 8, the advantage of the sigmoid function is that its variable is from negative infinity to positive infinity, while the range of values is [0,1], and since the sigmoid function between [0,1] can be a probability function. So that the logistic regression function can be associated with the matchHistory m distribution.
本实施例所示的环境数据服务器可基于公式(13)计算所述第一区域单元所述目标历史匹配度matchHistory
m,计算公式具体如下:
The environment data server shown in this embodiment may calculate the target history matching degree matchHistory m of the first area unit based on the formula (13), and the calculation formula is as follows:
其中,
表示对6个目标参数集合X
iW
i求取sigmoid函数,目标参数集合X
iW
i包括第一参数X
i以及第二参数W
i,其中,所述第一参数X
i为预设输入集合所包括的任一参数,所述预设输入集合:
among them, Representing a sigmoid function for the six target parameter sets X i W i , the target parameter set X i W i comprising a first parameter X i and a second parameter W i , wherein the first parameter X i is a preset input set Any of the parameters included, the preset input set:
X={X
1=1,X
2=magE,X
3=magN,X
4=magU,X
5=magVal,X
6=azimthMatch
m},所述第二参数W
i为与所述第一参数X
i对应的权重值,本实施例对所述第二参数W
i的具体取值范围不做限定,可由勘测人员在勘测定位过程中,基于所采集到的数据训练以得到的经验值,例如,本实施例中与X
1对应的权重值W
1=-2.995624,与X
2对应的权重值W
2=-0.050082,与X
3对应的权重值W
3=-0.184297,与X
4对应的权重值W
4=-0.117742,与X
5对应的权重值W
5=-0.045686,与X
6对应的权重值W
6=1.053176。
X={X 1 =1, X 2 =magE, X 3 =magN, X 4 =magU, X 5 =magVal,X 6 =azimthMatch m }, the second parameter W i is the first parameter X For the weight value corresponding to i , the specific value range of the second parameter W i is not limited in this embodiment, and the experience value obtained by the surveying personnel in the process of surveying and determining the training based on the collected data may be obtained, for example, In this embodiment, the weight value corresponding to X 1 is W 1 =-2.995624, the weight value corresponding to X 2 is W 2 =−0.050082, and the weight value corresponding to X 3 is W 3 =−0.184297, and the weight value corresponding to X 4 W 4 = -0.117742, the weight value corresponding to X 5 is W 5 = -0.045686, and the weight value corresponding to X 6 is W 6 = 1.053176.
本实施例所示的环境数据服务器基于已获取的输出概率以及转移概率创建第二指纹库,具体的,因本实施例所示的环境数据服务器以楼层为单元,创建出转移概率序列以及所述输出概率序列,则所述环境数据服务器即可创建出与转移概率序列以及所述输出概率序列楼层对应的第二指纹库,上述示例中,转移概率序列以及所述输出概率序列为与15楼对应的序列,则所创建的所述第二指纹库也与15楼对应。The environment data server shown in this embodiment creates a second fingerprint database based on the acquired output probability and the transition probability. Specifically, the environment data server shown in this embodiment creates a transition probability sequence and the Outputting a probability sequence, the environmental data server may create a second fingerprint database corresponding to the transition probability sequence and the output probability sequence floor. In the above example, the transition probability sequence and the output probability sequence are corresponding to the 15th floor. The sequence of the second fingerprint created is also corresponding to the 15th floor.
具体的,本实施例以所述环境数据服务器通过所述传感器信息以获取所述第二指纹库为例进行示例性说明,在其他实施例中,也可由所述智能终端将已获取到的所述第二指纹库发送给所述环境数据服务器,具体在本实施例中不做限定。Specifically, in this embodiment, the environment data server uses the sensor information to obtain the second fingerprint database as an example for example. In other embodiments, the smart terminal may also obtain the acquired location. The second fingerprint database is sent to the environment data server, which is not limited in this embodiment.
更具体的,所述环境数据服务器基于上述步骤所获取到的转移概率序列以及所述输出概率创建呈隐马尔可夫模型(hidden markov model,HMM)的第二指纹库。More specifically, the environmental data server creates a second fingerprint library in a hidden markov model (HMM) based on the transition probability sequence acquired by the above steps and the output probability.
更具体的,本实施例所示的环境数据服务器可基于所述输出概率序列和所述转移概率序列构建呈搜索树形式的所述第二指纹库,其中,所述环境数据服务器根据勘测人员所行进的过程中,所经过任一区域单元的输出概率以及转移概率可构建出所述搜索树中的一层。More specifically, the environmental data server shown in this embodiment may construct the second fingerprint database in the form of a search tree based on the output probability sequence and the transition probability sequence, wherein the environmental data server is based on a surveyor During the process of travel, the output probability of any zone unit passing through and the transition probability can construct a layer in the search tree.
基于图5所示的第一指纹库以及第二指纹库,以下结合图9所示对定位引擎如何通过所述第一指纹库实现对待定位终端的定位的具体过程进行说明:Based on the first fingerprint database and the second fingerprint database shown in FIG. 5, the specific process of how the positioning engine implements the positioning of the terminal to be located through the first fingerprint database is described below with reference to FIG. 9 :
步骤901、待定位终端将目标WiFi信息发送给定位引擎。Step 901: The terminal to be located sends the target WiFi information to the positioning engine.
步骤902、定位引擎接收所述目标WiFi信息。Step 902: The positioning engine receives the target WiFi information.
步骤903、定位引擎计算定位区域单元的目标匹配数值。Step 903: The positioning engine calculates a target matching value of the positioning area unit.
步骤904、定位引擎获取匹配列表。Step 904: The positioning engine obtains a matching list.
步骤905、定位引擎根据WiFi指纹匹配算法获取第一定位位置。Step 905: The positioning engine acquires the first positioning location according to the WiFi fingerprint matching algorithm.
本实施例所示的步骤901至步骤905的具体执行过程,请详见图4所述的步骤401至步骤405所示,具体执行过程在本实施例中不做赘述。The specific implementation process of the step 901 to the step 905 shown in this embodiment is shown in the step 401 to the step 405 as shown in FIG. 4, and the specific execution process is not described in this embodiment.
本实施例所示的室内定位方法包括第一定位阶段以及第二定位阶段,第一定位阶段称为“粗略定位”,第二定位阶段称为“精细定位”。即在所述第一定位阶段(步骤901至步骤905所示),通过WiFi匹配的定位技术确定出待定位对象的初始室内位置(第一定位位置),在所述第二定位阶段以第一定位位置作为中心框定一个呈圆形、正方向等形状的待定位区域,然后在该待定位区域采用地磁匹配技术进一步计算待定位对象的精确位置,通过以下步骤所述对所述第二定位阶段的具体执行过程进行说明:The indoor positioning method shown in this embodiment includes a first positioning phase and a second positioning phase. The first positioning phase is referred to as “rough positioning” and the second positioning phase is referred to as “fine positioning”. That is, in the first positioning phase (shown in steps 901 to 905), the initial indoor location (first positioning location) of the object to be located is determined by the WiFi matching positioning technique, and the first positioning phase is first. The positioning position is used as a center to define a to-be-positioned area in a circular shape, a positive direction, and the like, and then the geomagnetic matching technology is used to further calculate the precise position of the object to be positioned in the to-be-positioned area, and the second positioning stage is described by the following steps. The specific implementation process is described:
步骤906、定位引擎确定待定位区域。Step 906: The positioning engine determines an area to be located.
因本实施例所示的待定位区域为以第一定位位置作为中心框定一个呈圆形、正方向等形状的待定位区域,可见,所述待定位区域的面积相对于上述所示的定位区域的面积有所缩小,而基于面积已缩小的所述待定位区域进行第二定位阶段的定位,从而提高了定位的准确性。The area to be located is a frame to be positioned in a circular shape, a positive direction, or the like, as shown in the embodiment, and the area of the to-be-positioned area is relative to the above-mentioned positioning area. The area is reduced, and the positioning of the to-be-positioned area based on the reduced area is performed in the second positioning stage, thereby improving the accuracy of positioning.
在所述定位引擎确定出所述第一定位位置的情况下,所述定位引擎即可基于所述第一定位位置确定出所述待定位区域,具体方式可为,所述定位引擎所确定的所述待定位区域的中心为所述初始位置,本实施例对所述待定位区域的形状不做限定,例如,所述待定位区域可为圆形、方向等形状。In the case that the positioning engine determines the first positioning position, the positioning engine may determine the to-be-positioned area based on the first positioning position, which may be determined by the positioning engine. The shape of the to-be-positioned area is not limited in this embodiment. For example, the to-be-positioned area may be in the shape of a circle, a direction, or the like.
继续以图7所示为例,位置点700为所述定位引擎经由步骤905所确定出的所述第一定位位置Dx,则所述定位引擎即可确定出所述待定位区域704,且所述待定位区域704的中心为所述待定位区域。Continuing with the example shown in FIG. 7 , the location point 700 is the first positioning location Dx determined by the positioning engine via step 905, and the positioning engine may determine the to-be-positioned area 704. The center of the locating area 704 is the area to be located.
步骤907、定位引擎获取传感器信息序列。Step 907: The positioning engine acquires a sequence of sensor information.
本实施例所示的定位引擎在接收到所述待定位终端上传的传感器信息后,即可确定出所述传感器信息序列,所述传感器信息序列为所述待定位终端在所述待定位区域内,以用户的步长为单位,所述待定位终端在采集传感器信息的时间点,所上报的传感器信息。After receiving the sensor information uploaded by the terminal to be located, the positioning engine shown in this embodiment may determine the sensor information sequence, where the sensor information sequence is that the to-be-positioned terminal is in the to-be-positioned area. The sensor information reported by the terminal to be located at the time of collecting the sensor information in units of the step size of the user.
步骤908、定位引擎通过传感器信息序列获取到目标区域单元集合。Step 908: The positioning engine acquires the target area unit set by using the sensor information sequence.
具体的,所述定位引擎获取到所述传感器信息序列后,在步骤906所获取到的,且相对于定位区域面积有所所缩小的待定位区域进行地磁匹配,从而计算出传感器信息序列与所述待定位区域内部所包括的所有定位区域单元的匹配度。Specifically, after the positioning engine acquires the sensor information sequence, the location information obtained in step 906 is geomagnetically matched with respect to the area to be located with the reduced area of the positioning area, thereby calculating the sensor information sequence and the location. The matching degree of all the positioning area units included in the positioning area is described.
更具体的,所述定位引擎在获取到所述传感器信息序列后,所述定位引擎基于维特比算法(Viterbi Algorithm),确定出在呈HMM的所述第二指纹库里,与所述传感器信息序列对应的隐藏状态序列,而本实施例所示的所述隐藏状态序列即为所述定位区域单元集合,所述定位区域单元集合包括在定位阶段,携带所述智能终端的用户行走过程中依次所经过的所有区域单元,可见,本实施例所示的定位区域单元集合包括按智能终端移动轨迹中,按经过的时间顺序由前到后依次经过的区域单元。More specifically, after the positioning engine acquires the sensor information sequence, the positioning engine determines, based on the Viterbi Algorithm, the second fingerprint database in the HMM, and the sensor information. a sequence of hidden states corresponding to the sequence, and the sequence of hidden states shown in this embodiment is the set of location area units, where the set of location area units is included in the positioning phase, and the user carrying the smart terminal sequentially For all the area units that have passed, it can be seen that the set of positioning area units shown in this embodiment includes the area units that pass through the front-to-back order in the chronological order of the smart terminal movement trajectories.
所述定位引擎通过所述传感器信息序列可确定出具有不同概率值的多个所述定位区域单元集合,而具有不同概率值的所述定位区域单元集合代表携带所述智能终端的用户在定位阶段所行进的多种可能的行进轨迹,而本实施例所示的定位引擎可确定出具有最大概率值的所述定位区域单元集合用于进行定位。The positioning engine may determine, by using the sensor information sequence, a plurality of the positioning area unit sets having different probability values, and the positioning area unit set having different probability values represents a user carrying the smart terminal in a positioning stage. A plurality of possible travel trajectories are traveled, and the positioning engine shown in this embodiment can determine the set of locating area units having the largest probability value for positioning.
步骤909、定位引擎确定第二定位位置。Step 909: The positioning engine determines a second positioning position.
在所述定位引擎获取到所述定位区域单元集合后,所述定位引擎可确定出按用户经过的时间顺序,排序在最后的区域单元的实际位置为所述定位位置。具体的,本实施例所示的定位引擎可通过查询所述第一指纹库的方式,确定出排序在最后的区域单元的实际位置。After the positioning engine acquires the set of positioning area units, the positioning engine may determine that the actual position of the last area unit is the positioning position according to the time sequence elapsed by the user. Specifically, the positioning engine shown in this embodiment may determine the actual location of the last regional unit by querying the first fingerprint database.
步骤910、定位引擎根据所述第二定位位置获取所述待定位终端在未来时刻的移动轨迹。Step 910: The positioning engine acquires a movement trajectory of the to-be-positioned terminal at a future time according to the second positioning position.
具体的,本实施例所示的定位引擎以所述第二定位位置作为起始位置、根据步行者航位推算(Pedestrian Dead Reckoning,PDR)推导所述待定位终端在未来时刻的移动轨迹。Specifically, the positioning engine shown in this embodiment uses the second positioning position as a starting position, and derives a moving trajectory of the to-be-positioned terminal at a future time according to a Pedestrian Dead Reckoning (PDR).
更具体的,所述定位引擎可基于PDR算法获取到携带所述待定位终端的用户行进过程中的加速度、角速度、磁力和压力等数据,所述定位引擎即可通过所获取到的数据对用户移动的步长与方向的推算,从而预测出携带所述待定位终端的用户在未来时刻的移动轨迹,所述定位引擎基于所述待定位终端在未来时刻的移动轨迹即可对所述待定位终端提供定位服务。More specifically, the positioning engine may acquire data such as acceleration, angular velocity, magnetic force, and pressure during the traveling of the user carrying the terminal to be located based on the PDR algorithm, and the positioning engine may use the acquired data to the user. The calculation of the step size and the direction of the movement, so as to predict the movement trajectory of the user carrying the terminal to be located at a future time, the positioning engine can locate the to-be-positioned based on the movement trajectory of the terminal to be positioned at a future time The terminal provides location services.
采用本实施例所示的定位方法,采用HMM的改进维特比算法的定位服务,能够有效的降低了地磁匹配的复杂度和计算量,提升了对待定位终端进行定位的效率和精确度。By adopting the positioning method shown in this embodiment, the improved Viterbi algorithm positioning service of the HMM can effectively reduce the complexity and calculation amount of the geomagnetic matching, and improve the efficiency and accuracy of positioning the terminal to be positioned.
上面对本申请实施例的室内定位方法进行了介绍,下面以一个实际的例子对本申请实施例的室内定位方法进行说明,请参阅图1和图10所示,图10是应用本申请所示的室内定位方法的一种室内结构布局示意图。The indoor positioning method of the embodiment of the present application is described above. The indoor positioning method of the embodiment of the present application is described below with reference to a practical example. Please refer to FIG. 1 and FIG. 10, and FIG. 10 is an indoor application shown in the application. A schematic diagram of an indoor structure layout of a positioning method.
以图1所示为例,所述定位系统包括设置在定位区域四个角落的定位基站103,各所述定位基站103可使用三架支架固定,并外接独立的锂电池供电。所述定位系统还布置有能够与四个角落的定位基站103进行通信的环境数据服务器104,该环境数据服务器104可以是计算机,例如笔记本电脑等便携机,在本应用场景中,以所述环境数据服务器104为笔记本电脑为例进行示例性说明,所述环境数据服务器104为实现室内定位功能,则本应用场景所示的所述环境数据服务器104运行有UWB客户端程序,从而使得所述环境数据服务器104能够接收到UWB定位终端102和定位基站103向所述环境数据服务器104上报的位置信息,所述环境数据服务器104运行数据采集的服务端程序,所运行的数据采集的服务端程序能够接收到位置信息以及智能终端101上报的环境信息,以生成环境指纹库。As shown in FIG. 1 , the positioning system includes positioning base stations 103 disposed at four corners of the positioning area, and each of the positioning base stations 103 can be fixed by using three brackets and externally connected with a lithium battery. The positioning system is further provided with an environmental data server 104 capable of communicating with the four corners of the positioning base station 103, which may be a computer, such as a portable computer such as a notebook computer, in the application scenario, in the environment The data server 104 is exemplified for the notebook computer. The environment data server 104 is configured to implement the indoor positioning function, and the environment data server 104 shown in the application scenario runs a UWB client program, thereby making the environment The data server 104 can receive the location information reported by the UWB positioning terminal 102 and the positioning base station 103 to the environment data server 104. The environment data server 104 runs a server program for data collection, and the server program for running data collection can The location information and the environmental information reported by the smart terminal 101 are received to generate an environmental fingerprint library.
此外,对于进行勘测的人员来说,其身上佩戴有智能终端101和UWB定位终端102,勘测人员携带所述智能终端101的方式不做限定,例如,勘测人员可将智能终端101放置在口袋里携带,还可手拿携带等多种方式,勘测人员携带所述UWB定位终端102的方式可为,将UWB定位终端102过捆扎带固定在安全帽的顶部,由锂电池供电,人工勘测时由勘测人员头戴该安全帽即可。采用安全帽的方式携带所述UWB定位终端102的优势在于,一 方面UWB定位终端102不会受到人体的遮挡,勘测人员行走过程中受到障碍物遮挡的可能性比其他安装形式(如:工牌式、手环式)更小;另一方面UWB定位终端102置于头顶与勘测人员实际的运动轨迹最为接近,因运动带来的扰动幅度最小。In addition, for the person conducting the survey, the smart terminal 101 and the UWB positioning terminal 102 are worn on the body, and the manner in which the surveyor carries the smart terminal 101 is not limited. For example, the surveyor can place the smart terminal 101 in the pocket. The UWB positioning terminal 102 can be used to carry the UWB positioning terminal 102 in a plurality of manners, and the UWB positioning terminal 102 can be fixed on the top of the helmet by a lithium battery, and is manually powered by the lithium battery. The surveyor can wear the helmet. The advantage of carrying the UWB positioning terminal 102 in a helmet manner is that, on the one hand, the UWB positioning terminal 102 is not blocked by the human body, and the surveying personnel are more likely to be obstructed by obstacles during walking than other installation forms (eg, badges) On the other hand, the UWB positioning terminal 102 is placed on the top of the head and is closest to the actual motion track of the surveyor, and the disturbance caused by the motion is the smallest.
图1中的实体箭头是智能终端101向所述环境数据服务器104上报环境信息的传输路径示意,虚线箭头是UWB定位终端102和定位基站103向所述环境数据服务器104上报位置信息的传输路径示意。The physical arrow in FIG. 1 is a transmission path indicating that the smart terminal 101 reports the environmental information to the environmental data server 104, and the dotted arrow indicates the transmission path of the UWB positioning terminal 102 and the positioning base station 103 reporting the location information to the environmental data server 104. .
图10所示以华为公司南京研究所研发大楼N4的5楼A区的为例进行示例性说明,在华为公司南京研究所研发大楼N4的5楼A区选取其中的方框区域(20米乘13米)的范围为定位区域1001,将该区域记为zone1,在zone1的4个角落布置4个定位基站,具体布置定位基站的结构的说明请详见图1所示,具体不做赘述。Figure 10 shows an example of the 5th floor of Area N4 of the Nanjing Research and Development Building of Huawei Research Institute. The box area of the 5th floor of Area 5 of the R&D building of Nanjing Research Institute of Huawei is selected (20 meters by car). The range of 13 meters is the location area 1001, the area is recorded as zone1, and four positioning base stations are arranged in the four corners of the zone 1. The description of the structure of the specific positioning base station is shown in FIG. 1 , and details are not described herein.
该定位区域1001内包含了7排工位,可到达区域包含1条长过道和6条垂直的短过道。由于定位基站的定位范围的限制,扩大定位范围时,需要移动定位基站圈定另外一个定位区域,为了覆盖全部的可到达区域,相邻的两个定位区域之间需要部分重叠,这样能保证处于相邻定位区域之间的离散化格子的转移概率是连续的,从而有效的保证室内定位的实现。The positioning area 1001 includes 7 rows of stations, and the reachable area includes 1 long aisle and 6 vertical short aisles. Due to the limitation of the positioning range of the positioning base station, when the positioning range is expanded, the mobile positioning base station needs to be delineated to another positioning area. In order to cover all the reachable areas, the adjacent two positioning areas need to be partially overlapped, so that the phase is guaranteed to be in phase. The transition probability of the discretized lattice between adjacent positioning regions is continuous, thereby effectively ensuring the realization of indoor positioning.
整个图10所示平面区域的面积为(43.5米+40米)×13米,因此,可划分为7个定位区域,分别即为zone1,zone2,…,zone7,每个zone采集10分钟左右的环境信息以及位置信息以生成所述环境指纹库,对所述环境信息、所述位置信息以及生成所述环境指纹库的具体过程,请详见上述实施例所示,具体不做赘述。The area of the plane area shown in Figure 10 is (43.5 m + 40 m) × 13 m. Therefore, it can be divided into 7 positioning areas, namely zone1, zone2, ..., zone7, each zone is collected for about 10 minutes. The environment information and the location information are used to generate the environment fingerprint database. For the specific process of the environment information, the location information, and the environment fingerprint database, please refer to the foregoing embodiment, and details are not described herein.
在本应用场景中,UWB定位系统还可以作为在线定位的误差测量工具,具体的,由勘测人员携带智能终端,同时头戴配置了UWB定位终端的安全帽,在定位基站部署范围内自由行走,所述环境数据服务器还可在定位区域1001内再采集5分钟左右的环境信息以及所述位置信息进行模拟测试,以测试在所述定位区域1001内对待定位终端进行定位的准确性以及验证人工勘测数据的有效性。勘测人员在所述定位区域1001内的移动轨迹尽可能地覆盖所有过道和可到达区域。In this application scenario, the UWB positioning system can also be used as an error measurement tool for online positioning. Specifically, the surveying personnel carry the intelligent terminal, and at the same time wear the helmet equipped with the UWB positioning terminal, and walk freely within the deployment range of the positioning base station. The environment data server may further collect environment information of about 5 minutes in the location area 1001 and perform the simulation test on the location information to test the accuracy of positioning the terminal to be located in the location area 1001 and verify the manual survey. The validity of the data. The trajectory of the surveyor within the location area 1001 covers as much as possible of all aisles and reachable areas.
完成对所述定位区域1001,即zone1环境指纹库的创建后,即可依次对zone2,…,zone7进行环境指纹库的创建,完成整个图10所示区域的勘测耗时约4小时。After the creation of the location area 1001, that is, the creation of the zone1 environment fingerprint database, the environment fingerprint database can be created for the zones 2, . . . , zone 7 in turn, and the entire survey of the area shown in FIG. 10 takes about 4 hours.
人工勘测的结果由上述实施例所示的环境信息以及位置信息组成,以CSV文件保存,数据处理阶段主要对人工勘测阶段的结果进行处理以生成环境指纹,具体的,在数据处理阶段,环境数据服务器104首先读取CSV文件,按预先将定位区域1001划分成多个格子,而每一个格子即为上述实施例所示的区域单元,并创建与每一个区域单元对应的指纹。The results of the manual survey are composed of the environmental information and the location information shown in the above embodiment, and are saved in a CSV file. The data processing stage mainly processes the results of the manual survey stage to generate an environmental fingerprint. Specifically, in the data processing stage, the environmental data The server 104 first reads the CSV file, and divides the positioning area 1001 into a plurality of squares in advance, and each of the squares is the area unit shown in the above embodiment, and creates a fingerprint corresponding to each of the area units.
环境数据服务器针对WiFi信息,将所述定位区域1001划分成多个区域单元,且每个区域单元为3米×3米的格子,所述环境数据服务器所创建的第一指纹库中,包括有与每个区域单元对应的第一定位指纹,具体过程,请详见上述实施例所示。The environment data server divides the positioning area 1001 into a plurality of area units for the WiFi information, and each area unit is a 3 m×3 m grid, and the first fingerprint database created by the environment data server includes For the first positioning fingerprint corresponding to each area unit, the specific process is shown in the above embodiment.
环境数据服务器针对传感器信息,将定位区域1001划分成0.3米×0.3米的格子,每个格子作为一个区域单元,基于所划分的区域单元创建第二指纹库,创建第二指纹库的具体说明,请详见上述实施例所示,具体不做赘述。The environment data server divides the positioning area 1001 into a grid of 0.3 m×0.3 m for each sensor information, and each grid serves as a regional unit, and creates a second fingerprint database based on the divided area units, and creates a specific description of the second fingerprint database. Please refer to the above embodiment for details, and details are not described herein.
所述环境数据服务器创建所述第一指纹库和所述第二指纹库后,在待定位终端位于所述定位区域1001内时,基于上述实施例所示的室内定位过程,所述环境数据服务器即可对位于所述定位区域1001内的待定位终端提供定位服务器。After the environment data server creates the first fingerprint database and the second fingerprint database, when the terminal to be located is located in the positioning area 1001, the environment data server is based on the indoor positioning process shown in the above embodiment. The positioning server can be provided to the terminal to be located located in the positioning area 1001.
本发明实施例还提供了一种服务器,本实施例所示的服务器用于执行图2至图4所示的创建第一指纹库,并通过第一指纹库实现对待定位终端进行定位的具体过程,具体执行过程请详见图2至图4所示的实施例,具体执行过程在本实施例中不做赘述。The embodiment of the present invention further provides a server. The server shown in this embodiment is used to execute the process of creating a first fingerprint database shown in FIG. 2 to FIG. 4, and realizing positioning of the terminal to be located through the first fingerprint database. For details, refer to the embodiment shown in FIG. 2 to FIG. 4. The specific implementation process is not described in this embodiment.
如图11所示,本实施例所示的服务器包括:As shown in FIG. 11, the server shown in this embodiment includes:
接收单元1101,用于接收待定位终端在定位区域内发送的环境信息,所述环境信息为待定位终端所检测到的信息,且在所述待定位终端所处位置不同时,所述待定位终端所检测到的所述环境信息不同;The receiving unit 1101 is configured to receive the environment information that is sent by the terminal to be located in the location area, where the environment information is the information that is detected by the terminal to be located, and the location to be located is different when the location of the terminal to be located is different. The environmental information detected by the terminal is different;
获取单元1102,用于获取与所述定位区域对应的环境指纹库,所述环境指纹库包括至少一个定位指纹,所述定位区域包括至少一个区域单元,其中,目标定位指纹与第一区域单元对应,所述目标定位指纹为所述至少一个定位指纹中的一个定位指纹,所述第一区域单元为所述至少一个区域单元中的一个区域单元,所述目标定位指纹包括目标环境信息和目标位置信息,所述目标环境信息为移动至所述第一区域单元内的智能终端发送的环境信息,所述目标位置信息为超宽带UWB定位系统发送的用于指示所述智能终端发送所述目标环境信息时的位置坐标;The acquiring unit 1102 is configured to acquire an environmental fingerprint database corresponding to the positioning area, where the environmental fingerprint database includes at least one positioning fingerprint, the positioning area includes at least one area unit, wherein the target positioning fingerprint corresponds to the first area unit The target location fingerprint is one of the at least one location fingerprint, the first area unit is one of the at least one area unit, and the target location fingerprint includes target environment information and a target location. Information, the target environment information is environment information that is sent to the smart terminal in the first area unit, and the target location information is sent by the ultra-wideband UWB positioning system to instruct the smart terminal to send the target environment. Position coordinates of the information;
具体的,所述获取单元1102包括:Specifically, the obtaining unit 1102 includes:
第一获取模块11021,用于获取所述智能终端在所述定位区域内移动的过程中,所述智能终端每隔预设周期上报的在所述预设周期内所述智能终端扫描到的所有环境信息和所述UWB定位系统上报的所有位置信息,所述所有位置信息中的一个位置信息用于指示所述智能终端发送所述所有环境信息中的一个环境信息时的位置坐标,所述环境信息包括无线保真WiFi信息和/或传感器信息,所述WiFi信息包括所述智能终端扫描到的每个无线网络接入点AP的媒体介质控制MAC地址和接收信号强度指示RSSI数据,所述传感器信息为所述智能终端的传感器所采集到的信息;The first obtaining module 11021 is configured to: when the smart terminal moves in the positioning area, the smart terminal scans all the smart terminals scanned in the preset period during the preset period. Environment information and all location information reported by the UWB positioning system, wherein one of the location information is used to indicate location coordinates when the smart terminal sends one of the environmental information, the environment The information includes wireless fidelity WiFi information and/or sensor information, the WiFi information including a media medium control MAC address and received signal strength indicator RSSI data of each wireless network access point AP scanned by the smart terminal, the sensor The information is information collected by the sensor of the smart terminal;
第一处理模块11022,用于根据所述UWB定位系统上报的所述所有位置信息确定出目标位置信息,所述目标位置信息所指示的位置坐标位于所述第一区域单元内;The first processing module 11022 is configured to determine target location information according to all the location information reported by the UWB positioning system, where the location coordinate indicated by the target location information is located in the first regional unit;
第二处理模块11023,用于根据所述智能终端上报的所述所有环境信息确定出目标环境信息,所述目标环境信息为所述智能终端在所述第一区域单元内所上报的环境信息;The second processing module 11023 is configured to determine target environment information according to the all the environment information reported by the smart terminal, where the target environment information is environment information reported by the smart terminal in the first area unit;
第三处理模块11024,用于确定所述目标定位指纹为包括有所述目标位置信息和所述目标环境信息的定位指纹。The third processing module 11024 is configured to determine that the target positioning fingerprint is a positioning fingerprint that includes the target location information and the target environment information.
更具体的,所述目标环境信息包括所述WiFi信息,则所述第三处理模块11024包括:More specifically, the target environment information includes the WiFi information, and the third processing module 11024 includes:
第一计算子模块110241,用于统计所述第一区域单元内,被所述智能终端扫描到的所有AP的总采样次数
以及第一目标AP的采样次数N
i,所述第一目标AP为所述第一区域单元内,被所述智能终端扫描到的第i个AP,且所述第一区域单元内,被所述智能终 端扫描到的AP的数量为n,所述i以及所述n为大于或等于1的正整数,且所述i小于或等于所述n;
The first calculation sub-module 110241 is configured to count the total number of samples of all APs scanned by the smart terminal in the first area unit. And a sampling number N i of the first target AP, where the first target AP is the i-th AP scanned by the smart terminal in the first area unit, and the first area unit is The number of APs scanned by the smart terminal is n, the i and the n are positive integers greater than or equal to 1, and the i is less than or equal to the n;
第二计算子模块110242,用于通过如下公式计算所述第一目标AP的出现概率occurenceP(MACi);a second calculation sub-module 110242, configured to calculate an occurrence probability of the first target AP, chanceP(MACi), by using the following formula;
第一确定子模块110243,用于确定所述目标定位指纹包括第一定位指纹,所述第一定位指纹包括所述第一目标AP的出现概率occurenceP(MAC
i)。
The first determining sub-module 110243 is configured to determine that the target positioning fingerprint includes a first positioning fingerprint, where the first positioning fingerprint includes an appearance probability earthquake(MAC i ) of the first target AP.
第一获取子模块110244,用于获取所述第一目标AP的目标RSSI序列,所述目标RSSI序列包括所述第一目标AP每次被所述智能终端扫描到的RSSI;a first acquisition sub-module 110244, configured to acquire a target RSSI sequence of the first target AP, where the target RSSI sequence includes an RSSI scanned by the first target AP each time by the smart terminal;
第三计算子模块110245,用于根据如下公式计算单个目标高斯分布模型GSM的概率密度函数Norm(RSSI);a third calculation sub-module 110245, configured to calculate a probability density function Norm (RSSI) of a single target Gaussian distribution model GSM according to the following formula;
其中,所述μ是目标RSSI序列的均值,σ是目标RSSI序列的标准差;
Wherein, the μ is the mean of the target RSSI sequence, and σ is the standard deviation of the target RSSI sequence;
第四计算子模块110246,用于根据如下公式计算第一目标AP的高斯混合分布函数gmNorm(RSSI);a fourth calculation sub-module 110246, configured to calculate a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP according to the following formula;
其中,π
k为预设的加权系数,所述K为大于或等于1的正整数;
Where π k is a preset weighting coefficient, and the K is a positive integer greater than or equal to 1;
第二确定子模块110247,用于确定所述第一定位指纹包括所述第一目标AP的高斯混合分布函数gmNorm(RSSI)。The second determining submodule 110247 is configured to determine that the first positioning fingerprint includes a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP.
第三确定子模块110248,用于确定目标位置的位置坐标,所述目标位置为位于所述第一区域单元内的任一位置;a third determining sub-module 110248, configured to determine a location coordinate of the target location, where the target location is located at any location within the first regional unit;
第四确定子模块110249,用于确定所述第一定位指纹包括所述目标位置的位置坐标。The fourth determining submodule 110249 is configured to determine that the first positioning fingerprint includes location coordinates of the target location.
所述环境信息为所述待定位终端在目标时间段内扫描到的WiFi信息,则所述服务器还包括:The environment information is the WiFi information that is scanned by the terminal to be located in the target time period, and the server further includes:
第一计算单元1103,用于若所述环境信息所包括的任一AP的MAC地址与所述第一定位指纹所包括的一个AP的MAC地址相同,则通过如下公式计算第一目标子匹配数值Px;The first calculating unit 1103 is configured to: if the MAC address of any AP included in the environment information is the same as the MAC address of an AP included in the first positioning fingerprint, calculate the first target sub-match value by using the following formula Px;
Px=log
10(occurenceP(MAC
i).gmNorm(RSSI));
Px=log 10 (occurenceP(MAC i ).gmNorm(RSSI));
第二计算单元1104,用于根据如下公式计算所述第一区域单元对应的匹配数值;a second calculating unit 1104, configured to calculate a matching value corresponding to the first area unit according to the following formula;
第三计算单元1105,用于若所述环境信息所包括的任一AP的MAC地址与所述第一定位指纹所包括的任一AP的MAC地址均不相同,则通过如下公式计算第二目标子匹配数值Py;The third calculating unit 1105 is configured to: if the MAC address of any AP included in the environment information is different from the MAC address of any AP included in the first positioning fingerprint, calculate the second target by using the following formula Sub-match value Py;
Py=log
10(1-occurenceP(MAC
i));
Py=log 10 (1-occurenceP(MAC i ));
第四计算单元1106,用于根据如下公式计算所述第一区域单元对应的匹配数值;a fourth calculating unit 1106, configured to calculate a matching value corresponding to the first area unit according to the following formula;
匹配单元1107,用于获取所述环境指纹库中,与所述环境信息对应的定位位置坐标,所述定位位置坐标为所述待定位终端在所述定位区域内的位置坐标;The matching unit 1107 is configured to acquire a positioning location coordinate corresponding to the environment information in the environment fingerprint database, where the positioning location coordinate is a location coordinate of the terminal to be located in the positioning area;
具体的,所述匹配单元1107包括:Specifically, the matching unit 1107 includes:
第二获取模块11071,用于获取匹配列表,所述匹配列表包括所述定位区域包括的所有区域单元,且所述匹配列表所包括的所有所述区域单元按所述匹配数值由大到小的顺序进行排序;The second obtaining module 11071 is configured to obtain a matching list, where the matching list includes all the regional units included in the positioning area, and all the regional units included in the matching list are large to small according to the matching value. Sort in order;
第三获取模块11072,用于获取所述匹配列表中,排序在前N位的区域单元中任一区域单元所对应的所述目标位置的位置坐标wi;a third obtaining module 11072, configured to acquire, in the matching list, a position coordinate wi of the target position corresponding to any one of the regional units in the first N bits;
第四获取模块11073,用于通过如下公式计算第一定位位置坐标Dx;The fourth obtaining module 11073 is configured to calculate the first positioning position coordinate Dx by the following formula;
确定模块11074,用于确定所述定位位置坐标为所述第一定位位置坐标Dx。The determining module 11074 is configured to determine that the positioning position coordinate is the first positioning position coordinate Dx.
采用本实施例所示的服务器的结构,执行室内定位的有益效果的说明,请详见图2至图4所示的实施例,具体在本实施例中不做赘述。For the description of the beneficial effects of the indoor positioning, the embodiment shown in FIG. 2 to FIG. 4 is used for the description of the configuration of the server shown in this embodiment, and details are not described in detail in this embodiment.
以下结合图12所示对本发明实施例所提供的服务器的另一种结构进行示例性说明,其中,图12所示的服务器用于执行Another structure of the server provided by the embodiment of the present invention is exemplarily described below with reference to FIG. 12, wherein the server shown in FIG. 12 is used for execution.
本实施例所示的服务器用于执行图5以及图9所示的,基于已创建的第一指纹库以及第二指纹库,并通过第一指纹库以及第二指纹库实现对待定位终端进行定位的具体过程,具体执行过程请详见图5以及图9所示的实施例,具体执行过程在本实施例中不做赘述。The server shown in this embodiment is configured to perform the positioning of the terminal to be located by using the first fingerprint database and the second fingerprint database, as shown in FIG. 5 and FIG. 9 . For the specific process, the specific implementation process is shown in FIG. 5 and the embodiment shown in FIG. 9. The specific implementation process is not described in this embodiment.
如图12所示,本实施例所示的服务器包括:As shown in FIG. 12, the server shown in this embodiment includes:
接收单元1201,用于接收待定位终端在定位区域内发送的环境信息,所述环境信息为待定位终端所检测到的信息,且在所述待定位终端所处位置不同时,所述待定位终端所检测到的所述环境信息不同;The receiving unit 1201 is configured to receive the environment information that is sent by the terminal to be located in the location area, where the environment information is the information that is detected by the terminal to be located, and the location to be located is different when the location of the terminal to be located is different. The environmental information detected by the terminal is different;
获取单元1202,用于获取与所述定位区域对应的环境指纹库,所述环境指纹库包括至少一个定位指纹,所述定位区域包括至少一个区域单元,其中,目标定位指纹与第一区域单元对应,所述目标定位指纹为所述至少一个定位指纹中的一个定位指纹,所述第一区域单元为所述至少一个区域单元中的一个区域单元,所述目标定位指纹包括目标环境信息和目标位置信息,所述目标环境信息为移动至所述第一区域单元内的智能终端发送的环境信 息,所述目标位置信息为超宽带UWB定位系统发送的用于指示所述智能终端发送所述目标环境信息时的位置坐标;The obtaining unit 1202 is configured to acquire an environment fingerprint database corresponding to the positioning area, where the environment fingerprint database includes at least one positioning fingerprint, the positioning area includes at least one area unit, wherein the target positioning fingerprint corresponds to the first area unit The target location fingerprint is one of the at least one location fingerprint, the first area unit is one of the at least one area unit, and the target location fingerprint includes target environment information and a target location. Information, the target environment information is environment information that is sent to the smart terminal in the first area unit, and the target location information is sent by the ultra-wideband UWB positioning system to instruct the smart terminal to send the target environment. Position coordinates of the information;
具体的,所述获取单元1202包括:Specifically, the obtaining unit 1202 includes:
第一获取模块12021,用于获取所述智能终端在所述定位区域内移动的过程中,所述智能终端每隔预设周期上报的在所述预设周期内所述智能终端扫描到的所有环境信息和所述UWB定位系统上报的所有位置信息,所述所有位置信息中的一个位置信息用于指示所述智能终端发送所述所有环境信息中的一个环境信息时的位置坐标,所述环境信息包括无线保真WiFi信息和/或传感器信息,所述WiFi信息包括所述智能终端扫描到的每个无线网络接入点AP的媒体介质控制MAC地址和接收信号强度指示RSSI数据,所述传感器信息为所述智能终端的传感器所采集到的信息;The first obtaining module 12021 is configured to: when the smart terminal moves in the positioning area, the smart terminal scans all the smart terminals scanned in the preset period in the preset period Environment information and all location information reported by the UWB positioning system, wherein one of the location information is used to indicate location coordinates when the smart terminal sends one of the environmental information, the environment The information includes wireless fidelity WiFi information and/or sensor information, the WiFi information including a media medium control MAC address and received signal strength indicator RSSI data of each wireless network access point AP scanned by the smart terminal, the sensor The information is information collected by the sensor of the smart terminal;
第一处理模块12022,用于根据所述UWB定位系统上报的所述所有位置信息确定出目标位置信息,所述目标位置信息所指示的位置坐标位于所述第一区域单元内;The first processing module 12022 is configured to determine target location information according to the location information reported by the UWB positioning system, where location coordinates indicated by the target location information are located in the first regional unit;
第二处理模块12023,用于根据所述智能终端上报的所述所有环境信息确定出目标环境信息,所述目标环境信息为所述智能终端在所述第一区域单元内所上报的环境信息;The second processing module 12023 is configured to determine target environment information according to the all the environment information reported by the smart terminal, where the target environment information is environment information reported by the smart terminal in the first area unit;
第三处理模块12024,用于确定所述目标定位指纹为包括有所述目标位置信息和所述目标环境信息的定位指纹。The third processing module 12024 is configured to determine that the target positioning fingerprint is a positioning fingerprint that includes the target location information and the target environment information.
其中,所述第三处理模块12024创建所述第一定位指纹的具体结构的说明,请详见图11所示,具体在本实施例中不做赘述,而本实施例所示在所述目标环境信息包括所述WiFi信息以及所述传感器信息的情况下,则所述第三处理模块12024还用于,确定所述目标定位指纹包括所述第一定位指纹以及第二定位指纹,所述第二定位指纹为根据所述传感器信息所获取到的呈隐马尔可夫模型HMM的定位指纹。The third processing module 12024 creates a description of the specific structure of the first positioning fingerprint, which is shown in FIG. 11 , which is not described in detail in this embodiment, and the target is shown in the embodiment. The third processing module 12024 is further configured to: determine that the target positioning fingerprint includes the first positioning fingerprint and the second positioning fingerprint, where the environment information includes the WiFi information and the sensor information. The second positioning fingerprint is a positioning fingerprint of the hidden Markov model HMM acquired according to the sensor information.
为实现基于第二指纹库的室内定位过程,则所述服务器还包括:To implement an indoor positioning process based on the second fingerprint database, the server further includes:
第五计算单元1203,用于通过如下公式计算所述第一区域单元的转移概率,所述转移概率transitionP(STEP
i)用于进行训练以得到所述第二定位指纹;
a fifth calculating unit 1203, configured to calculate a transition probability of the first regional unit by using a transition probability transitionP(STEP i ) for performing training to obtain the second localized fingerprint;
其中,分子为位于所述第一区域单元内的携带所述智能终端的勘测人员移动的第k个步长转移至第i个第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的次数,所述第二定位区域为在所述定位区域内与所述第一区域单元相邻的区域单元,且所述第二区域单元的数量为n个,所述n以及所述k为大于或等于1的正整数,分母为位于所述第一区域单元内的所述智能终端移动到所有所述第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的总次数。
Wherein, the numerator is transferred to the i-th second area unit in a process of moving the kth step of the movement of the surveyor carrying the smart terminal in the first area unit, wherein the smart terminal is in the first The number of times the sensor information reported in the area unit is sampled, the second location area is a area unit adjacent to the first area unit in the location area, and the number of the second area unit is n And the n and the k are positive integers greater than or equal to 1, and the denominator is a process in which the smart terminal located in the first area unit moves to all the second area units, the smart terminal The total number of times the sensor information reported in the first area unit is sampled.
第六计算单元1204,用于根据如下公式计算所述第一区域单元中目标行进方向匹配度azimuthMatch
m,所述azimuthMatch
m为携带所述智能终端的勘测人员在所述第一区域单元 内,沿目标行进方向m进行移动时的行进方向匹配度,所述目标行进方向m为所述智能终端在所述第一区域单元内进行移动的任一方向;
a sixth calculating unit 1204, configured to calculate a target traveling direction matching degree azimuthMatch m in the first area unit according to the following formula, the azimuthMatch m is a surveying personnel carrying the smart terminal in the first area unit, along the a direction of travel matching when the target traveling direction m is moved, the target traveling direction m being any direction in which the smart terminal moves within the first area unit;
其中,所述minDiff为目标方向序列midAzi所包括的任一方向与目标航向Azimuth之间所形成的偏差角度,所述目标航向Azimuth为携带所述智能终端的勘测人员经过第k-1个步长移动至所述第一区域单元内的概率,所述目标方向序列midAzi包括所述目标行进方向以及目标时间段,所述目标时间段为所述智能终端在所述第一区域单元内沿所述目标行进方向进行移动的时间段;
Wherein the minDiff is a deviation angle formed between any direction included in the target direction sequence midAzi and the target heading Azimuth, and the target heading Azimuth is a k-1 step step for the surveyor carrying the intelligent terminal a probability of moving into the first area unit, the target direction sequence midAzi including the target traveling direction and a target time period, wherein the target time period is that the smart terminal is within the first area unit a period of time during which the target travel direction moves;
第一处理单元1205,用于获取目标地磁信息,所述目标地磁信息为携带所述智能终端的勘测人员移动的第k个步长的过程中,所述智能终端在所述第一区域单元内所上报传感器信息所包括的地磁信息,所述目标地磁信息包括第一分量值magE、第二分量值magN、第三分量值magU以及地磁精度值magVal,其中,所述第一分量值magE为在站心坐标系ENU下,沿与水平面平行的X方向分量值,所述第二分量值magN为在ENU下,与水平面平行Y方向分量值,所述第三分量值magU为在ENU下,与水平面垂直的Z方向垂直分量值;所述地磁精度值magVal表示测量精度;a first processing unit 1205, configured to acquire target geomagnetic information, where the target geomagnetic information is a kth step of moving by a surveying personnel carrying the smart terminal, where the smart terminal is in the first regional unit Geomagnetic information included in the reported sensor information, the target geomagnetism information includes a first component value magE, a second component value magN, a third component value magU, and a geomagnetism precision value magVal, wherein the first component value magE is In the center coordinate system ENU, along the X-direction component value parallel to the horizontal plane, the second component value magN is the Y-direction component value parallel to the horizontal plane under the ENU, and the third component value magU is under the ENU a vertical component value in the Z direction perpendicular to the horizontal plane; the geomagnetic accuracy value magVal represents the measurement accuracy;
第二处理单元1206,用于根据所述目标地磁信息确定预设输入集合X,其中X={X
1=1,X
2=magE,X
3=magN,X
4=magU,X
5=magVal,X
6=azimthMatch
m};
The second processing unit 1206 is configured to determine a preset input set X according to the target geomagnetic information, where X={X 1 =1, X 2 =magE, X 3 =magN, X 4 =magU, X 5 =magVal, X 6 =azimthMatch m };
第三处理单元1207,用于通过如下公式计算所述第一区域单元中,与所述目标行进方向对应的目标历史匹配度matchHistory
m;
a third processing unit 1207, configured to calculate, by using the following formula, a target history matching degree matchHistory m corresponding to the target traveling direction in the first area unit;
其中,
表示对6个目标参数集合X
iW
i求取S型生长曲线sigmoid函数,所述目标参数集合X
iW
i包括第一参数X
i以及第二参数W
i,所述第一参数X
i为所述预设输入集合所包括的任一参数,所述第二参数W
i为与所述第一参数X
i对应的权重值;
among them, Representing an S-type growth curve sigmoid function for the six target parameter sets X i W i , the target parameter set X i W i comprising a first parameter X i and a second parameter W i , wherein the first parameter X i is Any parameter included in the preset input set, the second parameter W i being a weight value corresponding to the first parameter X i ;
第四处理单元1208,用于根据如下公式计算所述第一区域单元的输出概率matchValue(grld
j)
a fourth processing unit 1208, configured to calculate an output probability matchValue(grld j ) of the first regional unit according to the following formula
其中,grld
j表示所述第一区域单元,M表示所述第一区域单元的历史匹配度的数量,所述目标历史匹配度matchHistory
m表示M个所述历史匹配度中的任一历史匹配度;
Wherein, grld j represents the first regional unit, M represents the number of historical matching degrees of the first regional unit, and the target historical matching degree matchHistory m represents any historical matching degree of the M historical matching degrees. ;
第五处理单元1209,用于基于所述第一区域单元的转移概率以及所述输出概率创建呈 隐马尔可夫模型HMM的第二定位指纹。The fifth processing unit 1209 is configured to create a second positioning fingerprint of the hidden Markov model HMM based on the transition probability of the first regional unit and the output probability.
匹配单元1210,用于获取所述环境指纹库中,与所述环境信息对应的定位位置坐标,所述定位位置坐标为所述待定位终端在所述定位区域内的位置坐标;The matching unit 1210 is configured to acquire a positioning location coordinate corresponding to the environment information in the environment fingerprint database, where the positioning location coordinate is a location coordinate of the to-be-positioned terminal in the positioning area;
具体的,所述匹配单元1210包括:Specifically, the matching unit 1210 includes:
第一确定模块12101,用于确定待定位区域,所述待定位区域所包括的一个位置的坐标为所述第一定位位置坐标Dx,且所述待定位区域的面积小于所述定位区域的面积;The first determining module 12101 is configured to determine an area to be located, where a coordinate of a position included in the to-be-positioned area is the first positioning position coordinate Dx, and an area of the to-be-positioned area is smaller than an area of the positioning area. ;
第二确定模块12102,用于获取待定位终端发送的传感器信息序列,所述传感器信息序列包括目标传感器信息以及目标上报时间点,所述目标传感器信息为所述待定位终端在所述待定位区域内,所上报的至少一个传感器信息中的任一个,所述目标上报时间点为所述待定位终端上报所述目标传感器信息的时间点;The second determining module 12102 is configured to acquire a sequence of sensor information sent by the terminal to be located, where the sensor information sequence includes target sensor information and a target reporting time point, where the target sensor information is the to-be-located terminal in the to-be-positioned area And at least one of the reported at least one sensor information, where the target reporting time point is a time point at which the to-be-targeted terminal reports the target sensor information;
第三确定模块12103,用于基于维特比算法确定出所述第二定位指纹中,与所述传感器信息序列对应,且具有不同概率值的定位区域单元集合,所述定位区域单元集合包括所述智能终端移动过程中按经过的时间顺序由前到后依次经过至少一个区域单元;a third determining module 12103, configured to determine, according to a Viterbi algorithm, a set of positioning area units corresponding to the sensor information sequence and having different probability values, where the positioning area unit set includes the During the moving process of the intelligent terminal, at least one area unit passes through the chronological order in order from the front to the back;
第四确定模块12104,用于确定第二定位位置,所述第二定位位置为具有最高概率值的所述定位区域单元中,排序在最后的区域单元所包括的任一位置;a fourth determining module 12104, configured to determine a second positioning position, where the second positioning position is the positioning area unit having the highest probability value, and is sorted at any position included in the last area unit;
第五确定模块12105,用于确定所述定位位置坐标为所述第二定位位置坐标。The fifth determining module 12105 is configured to determine that the positioning position coordinate is the second positioning position coordinate.
预测单元1211,用于以所述第二定位位置坐标为起始位置,根据步行者航位推算PDR确定出所述待定位终端在未来时刻的移动轨迹。The prediction unit 1211 is configured to use the second positioning position coordinate as a starting position, and determine, according to the pedestrian dead reckoning PDR, a movement trajectory of the to-be-positioned terminal at a future time.
采用本实施例所示的服务器的结构,执行室内定位的有益效果的说明,请详见图5以及图9所示的实施例,具体在本实施例中不做赘述。For the description of the beneficial effects of performing the indoor positioning by using the structure of the server shown in this embodiment, please refer to the embodiment shown in FIG. 5 and FIG. 9 , which is not specifically described in this embodiment.
以下结合图13所示从实体硬件的角度对所述服务器的具体结构进行示例性说明,如图13所示,所述服务器1300包括:The specific structure of the server is exemplified from the perspective of the physical hardware in FIG. 13 . As shown in FIG. 13 , the server 1300 includes:
接收器1302、发送器1303、一个或多个处理器1301和存储器1304。在本发明的一些实施例中,接收器1302、发送器1303、一个或多个处理器1301和存储器1304可通过总线或其它方式连接,其中,图13中以通过总线连接为例。 Receiver 1302, transmitter 1303, one or more processors 1301, and memory 1304. In some embodiments of the present invention, the receiver 1302, the transmitter 1303, the one or more processors 1301, and the memory 1304 may be connected by a bus or other means, wherein the bus connection is taken as an example in FIG.
其中所述一个或多个程序被存储在所述存储器1304中,所述一个或多个程序包括指令,所述指令当被所述服务器执行时使所述服务器执行如上述实施例所示的室内定位方法,具体执行过程,请详见上述所示,具体在本实施例中不做赘述。Wherein the one or more programs are stored in the memory 1304, the one or more programs including instructions that, when executed by the server, cause the server to perform an indoor as shown in the above embodiments For the specific implementation process, please refer to the above description, which is not described in detail in this embodiment.
本发明实施例还提供了一种存储一个或多个程序的计算机可读存储介质,所述一个或多个程序包括指令,所述指令当被服务器执行时使所述服务器执行如上述实施例所示的室内定位方法,具体执行过程,请详见上述所示,具体在本实施例中不做赘述。Embodiments of the present invention also provide a computer readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by a server, cause the server to execute as in the above embodiment For the specific positioning process, please refer to the above description, which is not described in detail in this embodiment.
在上述实施例中,可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时,可以全部或部分地以计算机程序产品的形式实现。In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product.
所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时,全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中,或者从一个计算机可读存储介质向另一计算机可读存储介质传 输,例如,所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存储的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质,(例如,软盘、硬盘、磁带)、光介质(例如,DVD)、或者半导体介质(例如固态硬盘Solid State Disk(SSD))等。The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in accordance with embodiments of the present invention are generated in whole or in part. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be from a website site, computer, server or data center Transfer to another website site, computer, server, or data center by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL), or wireless (eg, infrared, wireless, microwave, etc.). The computer readable storage medium can be any available media that can be stored by a computer or a data storage device such as a server, data center, or the like that includes one or more available media. The usable medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (such as a solid state disk (SSD)).
所属领域的技术人员可以清楚地了解到,为描述的方便和简洁,上述描述的系统,装置和单元的具体工作过程,可以参考前述方法实施例中的对应过程,在此不再赘述。A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.
在本申请所提供的几个实施例中,应该理解到,所揭露的系统,装置和方法,可以通过其它的方式实现。例如,以上所描述的装置实施例仅仅是示意性的,例如,所述单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个系统,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。In the several embodiments provided by the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
另外,在本申请实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。In addition, each functional unit in the embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、磁碟或者光盘等各种可以存储程序代码的介质。The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application, in essence or the contribution to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .
以上所述,以上实施例仅用以说明本申请的技术方案,而非对其限制;尽管参照前述实施例对本申请进行了详细的说明,本领域的技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本申请各实施例技术方案的和范围。The above embodiments are only used to explain the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that they can still The technical solutions described in the embodiments are modified, or equivalent to some of the technical features are included; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present application.
Claims (29)
- 一种室内定位方法,其特征在于,包括:An indoor positioning method, comprising:接收待定位终端在定位区域内发送的环境信息,所述环境信息为待定位终端所检测到的信息,且在所述待定位终端所处位置不同时,所述待定位终端所检测到的所述环境信息不同;Receiving the environment information that is sent by the terminal to be located in the location area, where the environment information is information detected by the terminal to be located, and when the location of the terminal to be located is different, the terminal to be located is detected by the terminal to be located. Different environmental information;获取与所述定位区域对应的环境指纹库,所述环境指纹库包括至少一个定位指纹,所述定位区域包括至少一个区域单元,其中,目标定位指纹与第一区域单元对应,所述目标定位指纹为所述至少一个定位指纹中的一个定位指纹,所述第一区域单元为所述至少一个区域单元中的一个区域单元,所述目标定位指纹包括目标环境信息和目标位置信息,所述目标环境信息为移动至所述第一区域单元内的智能终端发送的环境信息,所述目标位置信息为超宽带UWB定位系统发送的用于指示所述智能终端发送所述目标环境信息时的位置坐标;Acquiring an environment fingerprint database corresponding to the location area, where the environment fingerprint database includes at least one location fingerprint, the location area includes at least one area unit, wherein the target location fingerprint corresponds to the first area unit, and the target location fingerprint Locating a fingerprint for one of the at least one positioning fingerprint, the first area unit being one of the at least one area unit, the target positioning fingerprint comprising target environment information and target position information, the target environment The information is environment information that is sent to the smart terminal in the first area unit, and the target location information is a location coordinate that is sent by the ultra-wideband UWB positioning system to indicate that the smart terminal sends the target environment information;获取所述环境指纹库中,与所述环境信息对应的定位位置坐标,所述定位位置坐标为所述待定位终端在所述定位区域内的位置坐标。Obtaining a positioning location coordinate corresponding to the environment information in the environment fingerprint database, where the positioning location coordinate is a location coordinate of the to-be-positioned terminal in the positioning area.
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:The method of claim 1 further comprising:获取所述智能终端在所述定位区域内移动的过程中,所述智能终端每隔预设周期上报的在所述预设周期内所述智能终端扫描到的所有环境信息和所述UWB定位系统上报的所有位置信息,所述所有位置信息中的一个位置信息用于指示所述智能终端发送所述所有环境信息中的一个环境信息时的位置坐标,所述环境信息包括无线保真WiFi信息和/或传感器信息,所述WiFi信息包括所述智能终端扫描到的每个无线网络接入点AP的媒体介质控制MAC地址和接收信号强度指示RSSI数据,所述传感器信息为所述智能终端的传感器所采集到的信息;Obtaining all environmental information and the UWB positioning system scanned by the smart terminal in the preset period reported by the smart terminal during a preset period in the process of acquiring the smart terminal moving in the positioning area All the location information reported, one of the location information is used to indicate location coordinates when the smart terminal sends one of the environmental information, the environment information includes wireless fidelity WiFi information and And/or sensor information, where the WiFi information includes a media medium control MAC address and a received signal strength indicator RSSI data of each wireless network access point AP scanned by the smart terminal, where the sensor information is a sensor of the smart terminal Information collected;根据所述UWB定位系统上报的所述所有位置信息确定出目标位置信息,所述目标位置信息所指示的位置坐标位于所述第一区域单元内;Determining target location information according to all the location information reported by the UWB positioning system, where location coordinates indicated by the target location information are located in the first regional unit;根据所述智能终端上报的所述所有环境信息确定出目标环境信息,所述目标环境信息为所述智能终端在所述第一区域单元内所上报的环境信息;Determining the target environment information according to the all the environment information reported by the smart terminal, where the target environment information is environment information reported by the smart terminal in the first area unit;确定所述目标定位指纹为包括有所述目标位置信息和所述目标环境信息的定位指纹。Determining the target location fingerprint is a location fingerprint including the target location information and the target environment information.
- 根据权利要求2所述的方法,其特征在于,所述目标环境信息包括所述WiFi信息,则所述确定所述目标定位指纹为包括有所述目标位置信息和所述目标环境信息的定位指纹包括:The method according to claim 2, wherein the target environment information comprises the WiFi information, and the determining the target positioning fingerprint is a positioning fingerprint including the target location information and the target environment information. include:统计所述第一区域单元内,被所述智能终端扫描到的所有AP的总采样次数 以及第一目标AP的采样次数N i,所述第一目标AP为所述第一区域单元内,被所述智能终端扫描到的第i个AP,且所述第一区域单元内,被所述智能终端扫描到的AP的数量为n,所述i以及所述n为大于或等于1的正整数,且所述i小于或等于所述n; Counting the total number of samples of all APs scanned by the smart terminal in the first area unit And a sampling number N i of the first target AP, where the first target AP is the i-th AP scanned by the smart terminal in the first area unit, and the first area unit is The number of APs scanned by the smart terminal is n, the i and the n are positive integers greater than or equal to 1, and the i is less than or equal to the n;通过如下公式计算所述第一目标AP的出现概率occurenceP(MAC i); Calculating an occurrence probability of the first target AP, chanceP(MAC i ), by using the following formula;确定所述目标定位指纹包括第一定位指纹,所述第一定位指纹包括所述第一目标AP的出现概率occurenceP(MAC i)。 Determining that the target positioning fingerprint comprises a first positioning fingerprint, the first positioning fingerprint comprising an occurrence probability of the first target AP (PerformanceP(MAC i )).
- 根据权利要求3所述的方法,其特征在于,所述确定所述目标定位指纹为包括有所述目标位置信息和所述目标环境信息的定位指纹包括:The method according to claim 3, wherein the determining the target positioning fingerprint as the positioning fingerprint including the target location information and the target environment information comprises:获取所述第一目标AP的目标RSSI序列,所述目标RSSI序列包括所述第一目标AP每次被所述智能终端扫描到的RSSI;Obtaining a target RSSI sequence of the first target AP, where the target RSSI sequence includes an RSSI scanned by the first target AP each time by the smart terminal;根据如下公式计算单个目标高斯分布模型GSM的概率密度函数Norm(RSSI);Calculating a probability density function Norm (RSSI) of a single target Gaussian distribution model GSM according to the following formula;其中,所述μ是目标RSSI序列的均值,σ是目标RSSI序列的标准差; Wherein, the μ is the mean of the target RSSI sequence, and σ is the standard deviation of the target RSSI sequence;根据如下公式计算第一目标AP的高斯混合分布函数gmNorm(RSSI);Calculating a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP according to the following formula;其中,π k为预设的加权系数,所述K为大于或等于1的正整数; Where π k is a preset weighting coefficient, and the K is a positive integer greater than or equal to 1;确定所述第一定位指纹包括所述第一目标AP的高斯混合分布函数gmNorm(RSSI)。Determining that the first positioning fingerprint comprises a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP.
- 根据权利要求4所述的方法,其特征在于,所述确定所述目标定位指纹为包括有所述目标位置信息和所述目标环境信息的定位指纹包括:The method according to claim 4, wherein the determining the target positioning fingerprint as the positioning fingerprint including the target location information and the target environment information comprises:确定目标位置的位置坐标,所述目标位置为位于所述第一区域单元内的任一位置;Determining a position coordinate of the target position, the target position being at any position within the first area unit;确定所述第一定位指纹包括所述目标位置的位置坐标。Determining that the first location fingerprint includes location coordinates of the target location.
- 根据权利要求5所述的方法,其特征在于,所述环境信息为所述待定位终端在目标时间段内扫描到的WiFi信息,则所述获取所述环境指纹库中,与所述环境信息对应的定位位置坐标之前,所述方法还包括:The method according to claim 5, wherein the environment information is WiFi information scanned by the terminal to be located within a target time period, and the obtaining the environment fingerprint database and the environment information Before the corresponding positioning position coordinates, the method further includes:若所述环境信息所包括的任一AP的MAC地址与所述第一定位指纹所包括的一个AP的MAC地址相同,则通过如下公式计算第一目标子匹配数值Px;If the MAC address of any AP included in the environment information is the same as the MAC address of an AP included in the first positioning fingerprint, the first target sub-match value Px is calculated by the following formula;Px=log 10(occurenceP(MAC i).gmNorm(RSSI)); Px=log 10 (occurenceP(MAC i ).gmNorm(RSSI));根据如下公式计算所述第一区域单元对应的匹配数值;Calculating a matching value corresponding to the first area unit according to the following formula;
- 根据权利要求6所述的方法,其特征在于,所述获取所述环境指纹库中,与所述环境信息对应的定位位置坐标之前,所述方法还包括:The method according to claim 6, wherein the method further comprises: before acquiring the location location coordinates of the environment fingerprint database corresponding to the environment information, the method further comprising:若所述环境信息所包括的任一AP的MAC地址与所述第一定位指纹所包括的任一AP的MAC地址均不相同,则通过如下公式计算第二目标子匹配数值Py;If the MAC address of any AP included in the environment information is different from the MAC address of any AP included in the first location fingerprint, the second target sub-match value Py is calculated by the following formula;Py=log 10(1-occurenceP(MAC i)); Py=log 10 (1-occurenceP(MAC i ));根据如下公式计算所述第一区域单元对应的匹配数值;Calculating a matching value corresponding to the first area unit according to the following formula;
- 根据权利7所述的方法,其特征在于,所述获取所述环境指纹库中,与所述环境信息对应的定位位置坐标包括:The method according to claim 7, wherein the acquiring the location location coordinates corresponding to the environment information in the environment fingerprint database comprises:获取匹配列表,所述匹配列表包括所述定位区域包括的所有区域单元,且所述匹配列表所包括的所有所述区域单元按所述匹配数值由大到小的顺序进行排序;Obtaining a matching list, where the matching list includes all the area units included in the positioning area, and all the area units included in the matching list are sorted in descending order of the matching value;获取所述匹配列表中,排序在前N位的区域单元中任一区域单元所对应的所述目标位置的位置坐标wi;Obtaining, in the matching list, a position coordinate wi of the target position corresponding to any one of the area units of the first N bits;通过如下公式计算第一定位位置坐标Dx;Calculating the first positioning position coordinate Dx by the following formula;确定所述定位位置坐标为所述第一定位位置坐标Dx。Determining the positioning position coordinate is the first positioning position coordinate Dx.
- 根据权利要求8所述的方法,其特征在于,所述目标环境信息包括所述WiFi信息以及所述传感器信息,则所述确定所述目标定位指纹为包括有所述目标位置信息和所述目标环境信息的定位指纹包括:The method according to claim 8, wherein the target environment information includes the WiFi information and the sensor information, and the determining the target positioning fingerprint includes the target location information and the target The location fingerprint of the environmental information includes:确定所述目标定位指纹包括所述第一定位指纹以及第二定位指纹,所述第二定位指纹为根据所述传感器信息所获取到的呈隐马尔可夫模型HMM的定位指纹。Determining that the target positioning fingerprint comprises the first positioning fingerprint and the second positioning fingerprint, and the second positioning fingerprint is a positioning fingerprint of the hidden Markov model HMM acquired according to the sensor information.
- 根据权利要求9所述的方法,其特征在于,所述方法还包括:The method of claim 9 wherein the method further comprises:通过如下公式计算所述第一区域单元的转移概率transitionP(STEP i),所述转移概率transitionP(STEP i)用于进行训练以得到所述第二定位指纹; Calculating a transition probability transitionP(STEP i ) of the first area unit by using a formula, the transition probability transitionP(STEP i ) is used for training to obtain the second positioning fingerprint;其中,分子为位于所述第一区域单元内的携带所述智能终端的勘测人员移动的第k个步长转移至第i个第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的次数,所述第二定位区域为在所述定位区域内与所述第一区域单元相邻的区域单元,且所述第二区域单元的数量为n个,所述n以及所述k为大于或等于1的正整数,分母为位于所述第一区域单元内的所述智能终端移动到所有所述第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的总次数。 Wherein, the numerator is transferred to the i-th second area unit in a process of moving the kth step of the movement of the surveyor carrying the smart terminal in the first area unit, wherein the smart terminal is in the first The number of times the sensor information reported in the area unit is sampled, the second location area is a area unit adjacent to the first area unit in the location area, and the number of the second area unit is n And the n and the k are positive integers greater than or equal to 1, and the denominator is a process in which the smart terminal located in the first area unit moves to all the second area units, the smart terminal The total number of times the sensor information reported in the first area unit is sampled.
- 根据权利要求10所述的方法,其特征在于,所述方法还包括:The method of claim 10, wherein the method further comprises:根据如下公式计算所述第一区域单元中目标行进方向匹配度azimuthMatch m,所述azimuthMatc mh为携带所述智能终端的勘测人员在所述第一区域单元内,沿目标行进方向m进行移动时的行进方向匹配度,所述目标行进方向m为所述智能终端在所述第一区域单元内进行移动的任一方向; Calculating a target traveling direction matching degree azimuthMatch m in the first area unit according to the following formula, the azimuthMatc m h is a surveying personnel carrying the smart terminal moving in the target traveling direction m in the first area unit a traveling direction matching degree, wherein the target traveling direction m is any direction in which the smart terminal moves within the first area unit;其中,所述minDiff为目标方向序列midAzi所包括的任一方向与目标航向Azimuth之间所形成的偏差角度,所述目标航向Azimuth为携带所述智能终端的勘测人员经过第k-1个步长移动至所述第一区域单元内的概率,所述目标方向序列midAzi包括所述目标行进方向以及目标时间段,所述目标时间段为所述智能终端在所述第一区域单元内沿所述目标行进方向进行移动的时间段; Wherein the minDiff is a deviation angle formed between any direction included in the target direction sequence midAzi and the target heading Azimuth, and the target heading Azimuth is a k-1 step step for the surveyor carrying the intelligent terminal a probability of moving into the first area unit, the target direction sequence midAzi including the target traveling direction and a target time period, wherein the target time period is that the smart terminal is within the first area unit a period of time during which the target travel direction moves;获取目标地磁信息,所述目标地磁信息为携带所述智能终端的勘测人员移动的第k个步长的过程中,所述智能终端在所述第一区域单元内所上报传感器信息所包括的地磁信息,所述目标地磁信息包括第一分量值magE、第二分量值magN、第三分量值magU以及地磁精度值magVal,其中,所述第一分量值magE为在站心坐标系ENU下,沿与水平面平行的X方向分量值,所述第二分量值magN为在ENU下,与水平面平行Y方向分量值,所述第三分量值magU为在ENU下,与水平面垂直的Z方向垂直分量值;所述地磁精度值magVal表示测量精度;Acquiring the geomagnetism information, wherein the target geomagnetic information is the kth step of the movement of the surveyor carrying the smart terminal, and the smart terminal reports the geomagnetism included in the sensor information in the first regional unit Information, the target geomagnetism information includes a first component value magE, a second component value magN, a third component value magU, and a geomagnetism precision value magVal, wherein the first component value magE is under the center coordinate system ENU, In the X-direction component value parallel to the horizontal plane, the second component value magN is a Y-direction component value parallel to the horizontal plane under the ENU, and the third component value magU is perpendicular to the Z-direction perpendicular to the horizontal plane under the ENU. Component value; the geomagnetic accuracy value magVal represents measurement accuracy;根据所述目标地磁信息确定预设输入集合X,其中X={X 1=1,X 2=magE,X 3=magN,X 4=magU,X 5=magVal,X 6=azimthMatch m}; Determining a preset input set X according to the target geomagnetic information, where X={X 1 =1, X 2 =magE, X 3 =magN, X 4 =magU, X 5 =magVal,X 6 =azimthMatch m };通过如下公式计算所述第一区域单元中,与所述目标行进方向对应的目标历史匹配度matchHistory m; Calculating a target history matching degree matchHistory m corresponding to the target traveling direction in the first area unit by using a formula;其中, 表示对6个目标参数集合X iW i求取S型生长曲线sigmoid函数,所述目标参数集合X iW i包括第一参数X i以及第二参数W i,所述第一参数X i为所述预设输入集合所包括的任一参数,所述第二参数W i为与所述第一参数X i对应的权重值; among them, Representing an S-type growth curve sigmoid function for the six target parameter sets X i W i , the target parameter set X i W i comprising a first parameter X i and a second parameter W i , wherein the first parameter X i is Any parameter included in the preset input set, the second parameter W i being a weight value corresponding to the first parameter X i ;根据如下公式计算所述第一区域单元的输出概率matchValue(grld j) Calculating the output probability matchValue(grld j ) of the first area unit according to the following formula其中,grld j表示所述第一区域单元,M表示所述第一区域单元的历史匹配度的数量,所述目标历史匹配度matchHistory m表示M个所述历史匹配度中的任一历史匹配度; Wherein, grld j represents the first regional unit, M represents the number of historical matching degrees of the first regional unit, and the target historical matching degree matchHistory m represents any historical matching degree of the M historical matching degrees. ;基于所述第一区域单元的转移概率以及所述输出概率创建呈隐马尔可夫模型HMM的第二定位指纹。A second localized fingerprint that is a hidden Markov model HMM is created based on the transition probability of the first regional unit and the output probability.
- 根据权利要求9至11任一项所述的方法,其特征在于,所述通过如下公式计算第一定位位置坐标Dx之后,所述方法还包括:The method according to any one of claims 9 to 11, wherein after the first positioning position coordinate Dx is calculated by the following formula, the method further comprises:确定待定位区域,所述待定位区域所包括的一个位置的坐标为所述第一定位位置坐标 Dx,且所述待定位区域的面积小于所述定位区域的面积;Determining an area to be located, wherein a coordinate of a position included in the to-be-positioned area is the first positioning position coordinate Dx, and an area of the to-be-positioned area is smaller than an area of the positioning area;获取待定位终端发送的传感器信息序列,所述传感器信息序列包括目标传感器信息以及目标上报时间点,所述目标传感器信息为所述待定位终端在所述待定位区域内,所上报的至少一个传感器信息中的任一个,所述目标上报时间点为所述待定位终端上报所述目标传感器信息的时间点;Acquiring a sequence of sensor information sent by the terminal to be located, the sensor information sequence includes target sensor information and a target reporting time point, where the target sensor information is at least one sensor reported by the terminal to be located in the to-be-positioned area Any one of the information, the target reporting time point is a time point at which the to-be-targeted terminal reports the target sensor information;基于维特比算法确定出所述第二定位指纹中,与所述传感器信息序列对应,且具有不同概率值的定位区域单元集合,所述定位区域单元集合包括所述智能终端移动过程中按经过的时间顺序由前到后依次经过至少一个区域单元;Determining, according to the Viterbi algorithm, a set of positioning area units corresponding to the sensor information sequence and having different probability values, the set of positioning area units including the passing of the smart terminal during the moving process The chronological order passes through at least one area unit in order from front to back;确定第二定位位置,所述第二定位位置为具有最高概率值的所述定位区域单元中,排序在最后的区域单元所包括的任一位置;Determining a second positioning position, wherein the second positioning position is the positioning area unit having the highest probability value, and sorting is performed at any position included in the last area unit;确定所述定位位置坐标为所述第二定位位置坐标。Determining the positioning position coordinate is the second positioning position coordinate.
- 根据权利要求12所述的方法,其特征在于,所述确定第二定位位置之后,所述方法还包括:The method according to claim 12, wherein after the determining the second positioning position, the method further comprises:以所述第二定位位置坐标为起始位置,根据步行者航位推算PDR确定出所述待定位终端在未来时刻的移动轨迹。Taking the second positioning position coordinate as a starting position, determining a movement trajectory of the to-be-positioned terminal at a future time according to the pedestrian dead reckoning PDR.
- 一种服务器,其特征在于,包括:A server, comprising:接收单元,用于接收待定位终端在定位区域内发送的环境信息,所述环境信息为待定位终端所检测到的信息,且在所述待定位终端所处位置不同时,所述待定位终端所检测到的所述环境信息不同;a receiving unit, configured to receive environment information that is sent by the terminal to be located in the location area, where the environment information is information detected by the terminal to be located, and when the location of the terminal to be located is different, the terminal to be located is The detected environmental information is different;获取单元,用于获取与所述定位区域对应的环境指纹库,所述环境指纹库包括至少一个定位指纹,所述定位区域包括至少一个区域单元,其中,目标定位指纹与第一区域单元对应,所述目标定位指纹为所述至少一个定位指纹中的一个定位指纹,所述第一区域单元为所述至少一个区域单元中的一个区域单元,所述目标定位指纹包括目标环境信息和目标位置信息,所述目标环境信息为移动至所述第一区域单元内的智能终端发送的环境信息,所述目标位置信息为超宽带UWB定位系统发送的用于指示所述智能终端发送所述目标环境信息时的位置坐标;An acquiring unit, configured to acquire an environment fingerprint database corresponding to the positioning area, where the environment fingerprint database includes at least one positioning fingerprint, the positioning area includes at least one area unit, wherein the target positioning fingerprint corresponds to the first area unit, The target location fingerprint is one of the at least one location fingerprint, the first area unit is one of the at least one area unit, and the target location fingerprint includes target environment information and target location information. The target environment information is environment information that is sent to the smart terminal in the first area unit, where the target location information is sent by the ultra-wideband UWB positioning system to instruct the smart terminal to send the target environment information. Position coordinates匹配单元,用于获取所述环境指纹库中,与所述环境信息对应的定位位置坐标,所述定位位置坐标为所述待定位终端在所述定位区域内的位置坐标。And a matching unit, configured to acquire a positioning location coordinate corresponding to the environment information in the environment fingerprint database, where the positioning location coordinate is a location coordinate of the terminal to be located in the positioning area.
- 根据权利要求14所述的服务器,其特征在于,所述获取单元包括:The server according to claim 14, wherein the obtaining unit comprises:第一获取模块,用于获取所述智能终端在所述定位区域内移动的过程中,所述智能终端每隔预设周期上报的在所述预设周期内所述智能终端扫描到的所有环境信息和所述UWB定位系统上报的所有位置信息,所述所有位置信息中的一个位置信息用于指示所述智能终端发送所述所有环境信息中的一个环境信息时的位置坐标,所述环境信息包括无线保真WiFi信息和/或传感器信息,所述WiFi信息包括所述智能终端扫描到的每个无线网络接入点AP的媒体介质控制MAC地址和接收信号强度指示RSSI数据,所述传感器信息为所述智能终端的传感器所采集到的信息;a first acquiring module, configured to acquire, in a process of moving the smart terminal in the positioning area, all environments scanned by the smart terminal in the preset period reported by the smart terminal every preset period Information and all location information reported by the UWB positioning system, wherein one of the location information is used to indicate location coordinates when the smart terminal sends one of the environmental information, the environmental information Included with wireless fidelity WiFi information and/or sensor information, the WiFi information including a media medium control MAC address and received signal strength indicator RSSI data of each wireless network access point AP scanned by the smart terminal, the sensor information Information collected by the sensor of the smart terminal;第一处理模块,用于根据所述UWB定位系统上报的所述所有位置信息确定出目标位置 信息,所述目标位置信息所指示的位置坐标位于所述第一区域单元内;a first processing module, configured to determine target location information according to all the location information reported by the UWB positioning system, where location coordinates indicated by the target location information are located in the first regional unit;第二处理模块,用于根据所述智能终端上报的所述所有环境信息确定出目标环境信息,所述目标环境信息为所述智能终端在所述第一区域单元内所上报的环境信息;a second processing module, configured to determine target environment information according to the all the environment information reported by the smart terminal, where the target environment information is environment information reported by the smart terminal in the first area unit;第三处理模块,用于确定所述目标定位指纹为包括有所述目标位置信息和所述目标环境信息的定位指纹。And a third processing module, configured to determine that the target positioning fingerprint is a positioning fingerprint that includes the target location information and the target environment information.
- 根据权利要求15所述的服务器,其特征在于,所述目标环境信息包括所述WiFi信息,则所述第三处理模块包括:The server according to claim 15, wherein the target environment information comprises the WiFi information, and the third processing module comprises:第一计算子模块,用于统计所述第一区域单元内,被所述智能终端扫描到的所有AP的总采样次数 以及第一目标AP的采样次数N i,所述第一目标AP为所述第一区域单元内,被所述智能终端扫描到的第i个AP,且所述第一区域单元内,被所述智能终端扫描到的AP的数量为n,所述i以及所述n为大于或等于1的正整数,且所述i小于或等于所述n; a first calculation submodule, configured to count the total number of samples of all APs scanned by the smart terminal in the first area unit And a sampling number N i of the first target AP, where the first target AP is the i-th AP scanned by the smart terminal in the first area unit, and the first area unit is The number of APs scanned by the smart terminal is n, the i and the n are positive integers greater than or equal to 1, and the i is less than or equal to the n;第二计算子模块,用于通过如下公式计算所述第一目标AP的出现概率occurenceP(MAC i); a second calculation submodule, configured to calculate an occurrence probability of the first target AP, chanceP(MAC i ), by using the following formula;第一确定子模块,用于确定所述目标定位指纹包括第一定位指纹,所述第一定位指纹包括所述第一目标AP的出现概率occurenceP(MAC i)。 And a first determining submodule, configured to determine that the target positioning fingerprint includes a first positioning fingerprint, where the first positioning fingerprint includes an appearance probability earthquake(MAC i ) of the first target AP.
- 根据权利要求16所述的服务器,其特征在于,所述第三处理模块包括:The server according to claim 16, wherein the third processing module comprises:第一获取子模块,用于获取所述第一目标AP的目标RSSI序列,所述目标RSSI序列包括所述第一目标AP每次被所述智能终端扫描到的RSSI;a first acquisition sub-module, configured to acquire a target RSSI sequence of the first target AP, where the target RSSI sequence includes an RSSI scanned by the first target AP by the smart terminal;第三计算子模块,用于根据如下公式计算单个目标高斯分布模型GSM的概率密度函数Norm(RSSI);a third calculation submodule, configured to calculate a probability density function Norm (RSSI) of a single target Gaussian distribution model GSM according to the following formula;其中,所述μ是目标RSSI序列的均值,σ是目标RSSI序列的标准差; Wherein, the μ is the mean of the target RSSI sequence, and σ is the standard deviation of the target RSSI sequence;第四计算子模块,用于根据如下公式计算第一目标AP的高斯混合分布函数gmNorm(RSSI);a fourth calculation submodule, configured to calculate a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP according to the following formula;其中,π k为预设的加权系数,所述K为大于或等于1的正整数; Where π k is a preset weighting coefficient, and the K is a positive integer greater than or equal to 1;第二确定子模块,用于确定所述第一定位指纹包括所述第一目标AP的高斯混合分布函数gmNorm(RSSI)。And a second determining submodule, configured to determine that the first positioning fingerprint includes a Gaussian mixture distribution function gmNorm (RSSI) of the first target AP.
- 根据权利要求17所述的服务器,其特征在于,所述第三处理模块包括:The server according to claim 17, wherein the third processing module comprises:第三确定子模块,用于确定目标位置的位置坐标,所述目标位置为位于所述第一区域 单元内的任一位置;a third determining submodule, configured to determine a location coordinate of the target location, where the target location is located at any location within the first regional unit;第四确定子模块,用于确定所述第一定位指纹包括所述目标位置的位置坐标。And a fourth determining submodule, configured to determine that the first positioning fingerprint includes location coordinates of the target location.
- 根据权利要求18所述的服务器,其特征在于,所述环境信息为所述待定位终端在目标时间段内扫描到的WiFi信息,则所述服务器还包括:The server according to claim 18, wherein the environment information is WiFi information scanned by the terminal to be located in a target time period, and the server further includes:第一计算单元,用于若所述环境信息所包括的任一AP的MAC地址与所述第一定位指纹所包括的一个AP的MAC地址相同,则通过如下公式计算第一目标子匹配数值Px;a first calculating unit, configured to: if the MAC address of any AP included in the environment information is the same as the MAC address of an AP included in the first positioning fingerprint, calculate the first target sub-match value Px by using the following formula ;Px=log 10(occurenceP(MAC i).gmNorm(RSSI)); Px=log 10 (occurenceP(MAC i ).gmNorm(RSSI));第二计算单元,用于根据如下公式计算所述第一区域单元对应的匹配数值;a second calculating unit, configured to calculate a matching value corresponding to the first area unit according to the following formula;
- 根据权利要求19所述的服务器,其特征在于,所述服务器还包括:The server according to claim 19, wherein the server further comprises:第三计算单元,用于若所述环境信息所包括的任一AP的MAC地址与所述第一定位指纹所包括的任一AP的MAC地址均不相同,则通过如下公式计算第二目标子匹配数值Py;a third calculating unit, configured to: if the MAC address of any AP included in the environment information is different from the MAC address of any AP included in the first positioning fingerprint, calculate the second target by using the following formula Matching value Py;Py=log 10(1-occurenceP(MAC i)); Py=log 10 (1-occurenceP(MAC i ));第四计算单元,用于根据如下公式计算所述第一区域单元对应的匹配数值;a fourth calculating unit, configured to calculate a matching value corresponding to the first area unit according to the following formula;
- 根据权利要求20所述的服务器,其特征在于,所述匹配单元包括:The server according to claim 20, wherein the matching unit comprises:第二获取模块,用于获取匹配列表,所述匹配列表包括所述定位区域包括的所有区域单元,且所述匹配列表所包括的所有所述区域单元按所述匹配数值由大到小的顺序进行排序;a second obtaining module, configured to obtain a matching list, where the matching list includes all the regional units included in the positioning area, and all the regional units included in the matching list are in descending order of the matching value put in order;第三获取模块,用于获取所述匹配列表中,排序在前N位的区域单元中任一区域单元所对应的所述目标位置的位置坐标wi;a third obtaining module, configured to acquire, in the matching list, a position coordinate wi of the target position corresponding to any one of the regional units in the first N-bit area unit;第四获取模块,用于通过如下公式计算第一定位位置坐标Dx;a fourth obtaining module, configured to calculate a first positioning position coordinate Dx by the following formula;确定模块,用于确定所述定位位置坐标为所述第一定位位置坐标Dx。And a determining module, configured to determine that the positioning position coordinate is the first positioning position coordinate Dx.
- 根据权利要求21所述的服务器,其特征在于,所述目标环境信息包括所述WiFi信息以及所述传感器信息,则所述第三处理模块还用于,确定所述目标定位指纹包括所述第一定位指纹以及第二定位指纹,所述第二定位指纹为根据所述传感器信息所获取到的呈隐马尔可夫模型HMM的定位指纹。The server according to claim 21, wherein the target environment information includes the WiFi information and the sensor information, and the third processing module is further configured to: determine that the target positioning fingerprint comprises the first a positioning fingerprint and a second positioning fingerprint, wherein the second positioning fingerprint is a positioning fingerprint of the hidden Markov model HMM acquired according to the sensor information.
- 根据权利要求22所述的服务器,其特征在于,所述服务器还包括:The server according to claim 22, wherein the server further comprises:第五计算单元,用于通过如下公式计算所述第一区域单元的转移概率transitionP(STEP i),所述转移概率transitionP(STEP i)用于进行训练以得到所述第二定位指纹; a fifth calculating unit, configured to calculate a transition probability transitionP(STEP i ) of the first area unit by using a formula, the transition probability transitionP(STEP i ) is used for training to obtain the second positioning fingerprint;其中,分子为位于所述第一区域单元内的携带所述智 能终端的勘测人员移动的第k个步长转移至第i个第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的次数,所述第二定位区域为在所述定位区域内与所述第一区域单元相邻的区域单元,且所述第二区域单元的数量为n个,所述n以及所述k为大于或等于1的正整数,分母为位于所述第一区域单元内的所述智能终端移动到所有所述第二区域单元的过程中,所述智能终端在所述第一区域单元内所上报的传感器信息被采样的总次数。 Wherein, the numerator is transferred to the i-th second area unit in a process of moving the kth step of the movement of the surveyor carrying the smart terminal in the first area unit, wherein the smart terminal is in the first The number of times the sensor information reported in the area unit is sampled, the second location area is a area unit adjacent to the first area unit in the location area, and the number of the second area unit is n And the n and the k are positive integers greater than or equal to 1, and the denominator is a process in which the smart terminal located in the first area unit moves to all the second area units, the smart terminal The total number of times the sensor information reported in the first area unit is sampled.
- 根据权利要求23所述的服务器,其特征在于,所述服务器还包括:The server according to claim 23, wherein the server further comprises:第六计算单元,用于根据如下公式计算所述第一区域单元中目标行进方向匹配度azimuthMatch m,所述azimuthMatch m为携带所述智能终端的勘测人员在所述第一区域单元内,沿目标行进方向m进行移动时的行进方向匹配度,所述目标行进方向m为所述智能终端在所述第一区域单元内进行移动的任一方向; a sixth calculating unit, configured to calculate a target traveling direction matching degree azimuthMatch m in the first area unit according to the following formula, wherein the azimuthMatch m is a surveying personnel carrying the smart terminal in the first area unit, along the target a traveling direction matching degree when the traveling direction m is moved, wherein the target traveling direction m is any direction in which the smart terminal moves in the first area unit;其中,所述minDiff为目标方向序列midAzi所包括的任一方向与目标航向Azimuth之间所形成的偏差角度,所述目标航向Azimuth为携带所述智能终端的勘测人员经过第k-1个步长移动至所述第一区域单元内的概率,所述目标方向序列midAzi包括所述目标行进方向以及目标时间段,所述目标时间段为所述智能终端在所述第一区域单元内沿所述目标行进方向进行移动的时间段; Wherein the minDiff is a deviation angle formed between any direction included in the target direction sequence midAzi and the target heading Azimuth, and the target heading Azimuth is a k-1 step step for the surveyor carrying the intelligent terminal a probability of moving into the first area unit, the target direction sequence midAzi including the target traveling direction and a target time period, wherein the target time period is that the smart terminal is within the first area unit a period of time during which the target travel direction moves;第一处理单元,用于获取目标地磁信息,所述目标地磁信息为携带所述智能终端的勘测人员移动的第k个步长的过程中,所述智能终端在所述第一区域单元内所上报传感器信息所包括的地磁信息,所述目标地磁信息包括第一分量值magE、第二分量值magN、第三分量值magU以及地磁精度值magVal,其中,所述第一分量值magE为在站心坐标系ENU下,沿与水平面平行的X方向分量值,所述第二分量值magN为在ENU下,与水平面平行Y方向分量值,所述第三分量值magU为在ENU下,与水平面垂直的Z方向垂直分量值;所述地磁精度值magVal表示测量精度;a first processing unit, configured to acquire target geomagnetic information, wherein the target geomagnetic information is in a process of moving the kth step of the surveying personnel of the smart terminal, where the smart terminal is located in the first regional unit And reporting the geomagnetism information included in the sensor information, the target geomagnetism information including a first component value magE, a second component value magN, a third component value magU, and a geomagnetism precision value magVal, wherein the first component value magE is In the center coordinate system ENU, along the X-direction component value parallel to the horizontal plane, the second component value magN is a value of the Y-direction component parallel to the horizontal plane under the ENU, and the third component value magU is under the ENU. a vertical component value in the Z direction perpendicular to the horizontal plane; the geomagnetic accuracy value magVal represents the measurement accuracy;第二处理单元,用于根据所述目标地磁信息确定预设输入集合X,其中X={X 1=1,X 2=magE,X 3=magN,X 4=magU,X 5=magVal,X 6=azimthMatch m}; a second processing unit, configured to determine a preset input set X according to the target geomagnetic information, where X={X 1 =1, X 2 =magE, X 3 =magN, X 4 =magU, X 5 =magVal,X 6 =azimthMatch m };第三处理单元,用于通过如下公式计算所述第一区域单元中,与所述目标行进方向对应的目标历史匹配度matchHistory m; a third processing unit, configured to calculate, by using the following formula, a target history matching degree matchHistory m corresponding to the target traveling direction in the first area unit;其中, 表示对6个目标参数集合X iW i求取S型生长曲线sigmoid函数,所述目标参数集合X iW i包括第一参数X i以及第二参数W i,所述第一参数X i为所述预设输入集合所包括的任一参数,所述第二参数W i为与所述第一参 数X i对应的权重值; among them, Representing an S-type growth curve sigmoid function for the six target parameter sets X i W i , the target parameter set X i W i comprising a first parameter X i and a second parameter W i , wherein the first parameter X i is Any parameter included in the preset input set, the second parameter W i being a weight value corresponding to the first parameter X i ;第四处理单元,用于根据如下公式计算所述第一区域单元的输出概率matchValue(grld j) a fourth processing unit, configured to calculate an output probability matchValue(grld j ) of the first area unit according to the following formula其中,grld j表示所述第一区域单元,M表示所述第一区域单元的历史匹配度的数量,所述目标历史匹配度matchHistory m表示M个所述历史匹配度中的任一历史匹配度; Wherein, grld j represents the first regional unit, M represents the number of historical matching degrees of the first regional unit, and the target historical matching degree matchHistory m represents any historical matching degree of the M historical matching degrees. ;第五处理单元,用于基于所述第一区域单元的转移概率以及所述输出概率创建呈隐马尔可夫模型HMM的第二定位指纹。And a fifth processing unit, configured to create a second positioning fingerprint that is a hidden Markov model HMM based on the transition probability of the first regional unit and the output probability.
- 根据权利要求21至24任一项所述的服务器,其特征在于,所述匹配单元还包括:The server according to any one of claims 21 to 24, wherein the matching unit further comprises:第一确定模块,用于确定待定位区域,所述待定位区域所包括的一个位置的坐标为所述第一定位位置坐标Dx,且所述待定位区域的面积小于所述定位区域的面积;a first determining module, configured to determine an area to be located, where a coordinate of a position included in the to-be-positioned area is the first positioning position coordinate Dx, and an area of the to-be-positioned area is smaller than an area of the positioning area;第二确定模块,用于获取待定位终端发送的传感器信息序列,所述传感器信息序列包括目标传感器信息以及目标上报时间点,所述目标传感器信息为所述待定位终端在所述待定位区域内,所上报的至少一个传感器信息中的任一个,所述目标上报时间点为所述待定位终端上报所述目标传感器信息的时间点;a second determining module, configured to acquire a sequence of sensor information sent by the terminal to be located, where the sensor information sequence includes target sensor information and a target reporting time point, where the target sensor information is that the terminal to be located is in the to-be-positioned area And any one of the reported at least one sensor information, where the target reporting time point is a time point at which the to-be-targeted terminal reports the target sensor information;第三确定模块,用于基于维特比算法确定出所述第二定位指纹中,与所述传感器信息序列对应,且具有不同概率值的定位区域单元集合,所述定位区域单元集合包括所述智能终端移动过程中按经过的时间顺序由前到后依次经过至少一个区域单元;a third determining module, configured to determine, according to a Viterbi algorithm, a set of positioning area units corresponding to the sensor information sequence and having different probability values, where the positioning area unit set includes the smart During the moving of the terminal, at least one area unit passes through the chronological order in order from the front to the back;第四确定模块,用于确定第二定位位置,所述第二定位位置为具有最高概率值的所述定位区域单元中,排序在最后的区域单元所包括的任一位置;a fourth determining module, configured to determine a second positioning position, where the second positioning position is the positioning area unit having the highest probability value, and is sorted at any position included in the last area unit;第五确定模块,用于确定所述定位位置坐标为所述第二定位位置坐标。And a fifth determining module, configured to determine that the positioning position coordinate is the second positioning position coordinate.
- 根据权利要求25所述的服务器,其特征在于,所述服务器还包括:The server according to claim 25, wherein the server further comprises:预测单元,用于以所述第二定位位置坐标为起始位置,根据步行者航位推算PDR确定出所述待定位终端在未来时刻的移动轨迹。And a prediction unit, configured to use the second positioning position coordinate as a starting position, and determine, according to the pedestrian dead reckoning PDR, a movement trajectory of the to-be-positioned terminal at a future time.
- 一种定位系统,其特征在于,包括服务器、待定位终端、智能终端以及超宽带UWB定位系统,所述服务器如权利要求14至权利要求26任一项所示;A positioning system, comprising: a server, a terminal to be located, an intelligent terminal, and an ultra-wideband UWB positioning system, the server being as shown in any one of claims 14 to 26;所述待定位终端用于在定位区域内向所述服务器发送的环境信息,所述环境信息为待定位终端所检测到的信息,且在所述待定位终端所处位置不同时,所述待定位终端所检测到的所述环境信息不同;The to-be-located terminal is used to send the environment information to the server in the location area, where the environment information is the information detected by the terminal to be located, and the location to be located is different when the location of the to-be-located terminal is different. The environmental information detected by the terminal is different;所述服务器用于获取与所述定位区域对应的环境指纹库,所述环境指纹库包括至少一个定位指纹,所述定位区域包括至少一个区域单元,其中,目标定位指纹与第一区域单元对应,所述目标定位指纹为所述至少一个定位指纹中的一个定位指纹,所述第一区域单元为所述至少一个区域单元中的一个区域单元,所述目标定位指纹包括目标环境信息和目标位置信息,所述目标环境信息为移动至所述第一区域单元内的所述智能终端发送的环境信息,所述目标位置信息为所述UWB定位系统发送的用于指示所述智能终端发送所述目标环 境信息时的位置坐标;The server is configured to acquire an environment fingerprint database corresponding to the location area, where the environment fingerprint database includes at least one location fingerprint, the location area includes at least one area unit, where the target location fingerprint corresponds to the first area unit, The target location fingerprint is one of the at least one location fingerprint, the first area unit is one of the at least one area unit, and the target location fingerprint includes target environment information and target location information. The target environment information is environment information that is sent to the smart terminal in the first area unit, where the target location information is sent by the UWB positioning system to instruct the smart terminal to send the target. Position coordinates when environmental information;所述服务器还用于,获取所述环境指纹库中,与所述环境信息对应的定位位置坐标,所述定位位置坐标为所述待定位终端在所述定位区域内的位置坐标。The server is further configured to acquire, in the environment fingerprint database, location location coordinates corresponding to the environment information, where the location location coordinates are location coordinates of the to-be-positioned terminal in the location area.
- 一种服务器,其特征在于,包括:A server, comprising:一个或多个处理器、存储器、总线系统、以及一个或多个程序,所述处理器和所述存储器通过所述总线系统相连;One or more processors, memories, bus systems, and one or more programs, the processors and the memory being coupled by the bus system;其中所述一个或多个程序被存储在所述存储器中,所述一个或多个程序包括指令,所述指令当被所述服务器执行时使所述服务器执行如权利要求1至13任一项所述的方法。Wherein the one or more programs are stored in the memory, the one or more programs comprising instructions that, when executed by the server, cause the server to perform any of claims 1 to 13 Said method.
- 一种存储一个或多个程序的计算机可读存储介质,其特征在于,所述一个或多个程序包括指令,所述指令当被服务器执行时使所述服务器执行如权利要求1至13任一项所述的方法。A computer readable storage medium storing one or more programs, wherein the one or more programs include instructions that, when executed by a server, cause the server to perform any of claims 1 to 13 The method described in the item.
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