CN104019814A - Indoor wireless positioning method and system based on accessible point correction - Google Patents
Indoor wireless positioning method and system based on accessible point correction Download PDFInfo
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- CN104019814A CN104019814A CN201410222460.9A CN201410222460A CN104019814A CN 104019814 A CN104019814 A CN 104019814A CN 201410222460 A CN201410222460 A CN 201410222460A CN 104019814 A CN104019814 A CN 104019814A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention provides an indoor wireless positioning method based on accessible point correction, the method comprises the following steps: 1)obtaining an initial position coordinate A at an initial time T0; 2)according to an accessible point correction method, updating position coordinate of a target of every time after the initial time T0, and outputting the position coordinate or position area of the target at the latest time according to a received instruction. The invention also provides a corresponding positioning system. The indoor wireless positioning method employs the correction method based on accessible point to predict the possible scope of the target at the next time, compared with scope obtained by a wireless signal, an overlap part can be obtained, and the precision and stability for indoor wireless positioning can be greatly increased.
Description
Technical field
The present invention relates to wireless navigation, wireless location, particularly, relate to indoor wireless positioning method and system based on accessible point correction.
Background technology
No matter indoor wireless locating system, be based on the time or based on field intensity at present, affected by the factors such as wireless signal blocks, diffraction, under non-lab environment, can not obtain all the time higher positioning precision in practical application indoor position accuracy.
The Chinese patent literature " a kind of indoor wireless locating system and algorithm " that for example application number is 200710032288.0, the position that it is used based on indoor power detects and historical data is mated the location algorithm combining and determine tracing object, is specially: the method comprises measuring phases and positioning stage; Measuring phases, the specific range of being separated by the region of needs location arranges measurement point, and measure wireless signal at measurement point, and the content of measurement comprises type and the quantity of wireless lan transceiver signal, system is saved in the wireless lan transceiver characteristic signal of collection in database; Positioning stage, the impact point of positioning system the inside receives signal in region, and the wireless lan transceiver coherent signal data upload of collecting is mated to effective wireless lan transceiver signal of central server, obtains the position at the place of impact point.But due to the spacing between power measurement point, make its positioning precision lower.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of indoor wireless positioning method and system based on accessible point correction.
According to a kind of indoor wireless positioning method based on accessible point correction provided by the invention, comprise the steps:
Step 1: obtain initial time T
0time target initial position coordinate A;
Step 2: according to accessible point modification method, to initial time T
0the more position coordinates of fresh target of each moment afterwards, until the position coordinates of target or the band of position output during by the nearest moment according to the instruction receiving;
Particularly, described accessible point modification method comprises the steps:
Steps A: the error criterion that the target localization information providing according to indoor wireless locating system and indoor wireless locating system provide, the physical location scope S1 of acquisition current time target;
And, if previous moment is described initial time T
0, the position coordinates using initial position coordinate A as previous moment target; Otherwise, obtain previous moment target the inertial sensor information of corresponding mobile terminal and the position coordinates of previous moment target;
Step B: according to the position coordinates of the mistiming between current time and previous moment, previous moment target and inertial sensor information, calculate the accessible point scope S2 of current time target;
Step C: the physical location scope S1 of the accessible point scope S2 of current time target and current time target is compared, find out the band of position of lap as current time target, and position coordinates using the scope central point of lap as current time target.
Preferably, in step C, using the geometric center of gravity of lap as described scope central point.
Preferably, the corresponding mobile terminal output inertial sensor information of target and corresponding acquisition time are to server, and server is stored inertial sensor information and corresponding acquisition time;
In the time of the position coordinates of fresh target more, from server obtain the position coordinates of previous moment target and previous moment target the inertial sensor information of corresponding mobile terminal.
Preferably, described step B comprises the steps:
Step B1: calculate object traveling direction and the acceleration of advancing according to inertial sensor information;
Step B2: obtain direct of travel error range and the acceleration error scope of advancing according to the error range of the inertial sensor of demarcating in advance;
Step B3: according to mistiming, direct of travel error range and the acceleration error scope of advancing, obtain accessible point scope S2.
According to a kind of indoor wireless locating system based on accessible point correction provided by the invention, comprise as lower device:
Initial position acquisition device: for obtaining initial time T
0time target initial position coordinate A;
Locating device: for according to accessible point modification method, to initial time T
0the more position coordinates of fresh target of each moment afterwards, until the position coordinates of target or the band of position output during by the nearest moment according to the instruction receiving;
Particularly, described accessible point modification method comprises the steps:
Steps A: the error criterion that the target localization information providing according to indoor wireless locating system and indoor wireless locating system provide, the physical location scope S1 of acquisition current time target;
And, if previous moment is described initial time T
0, the position coordinates using initial position coordinate A as previous moment target; Otherwise, obtain previous moment target the inertial sensor information of corresponding mobile terminal and the position coordinates of previous moment target;
Step B: according to the position coordinates of the mistiming between current time and previous moment, previous moment target and inertial sensor information, calculate the accessible point scope S2 of current time target;
Step C: the physical location scope S1 of the accessible point scope S2 of current time target and current time target is compared, find out the band of position of lap as current time target, and position coordinates using the scope central point of lap as current time target.
Preferably, in step C, using the geometric center of gravity of lap as described scope central point.
Preferably, the corresponding mobile terminal output inertial sensor information of target and corresponding acquisition time are to server, and server is stored inertial sensor information and corresponding acquisition time;
In the time of the position coordinates of fresh target more, from server obtain the position coordinates of previous moment target and previous moment target the inertial sensor information of corresponding mobile terminal.
Preferably, described step B comprises the steps:
Step B1: calculate object traveling direction and the acceleration of advancing according to inertial sensor information;
Step B2: obtain direct of travel error range and the acceleration error scope of advancing according to the error range of the inertial sensor of demarcating in advance;
Step B3: according to mistiming, direct of travel error range and the acceleration error scope of advancing, obtain accessible point scope S2.
Compared with prior art, the present invention has following beneficial effect:
The present invention adopts the modification method based on accessible point, dopes the scope that target may arrive in next moment, compares with the scope obtaining by wireless signal, obtains lap, has greatly improved the precision and stability of indoor wireless location.
Brief description of the drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is principle schematic of the present invention.
In figure:
Solid initial point represents the position coordinates of previous moment target;
Arrow represents that inertial sensor information calculates object traveling direction;
Border circular areas represents the physical location scope S1 of current time target;
Sector region represents the accessible point scope S2 of current time target;
Shadow region represents the lap of S1 and S2.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
According to the indoor wireless positioning method based on accessible point correction provided by the invention, comprise the steps:
Step 1: obtain initial time T
0time target initial position coordinate A; Wherein, those skilled in the art can be according to existing techniques in realizing step 1, for example can radio frequency transmitter signal be set in the porch in building, when personnel are through out-of-date, its entrained mobile phone receives radiofrequency signal, and calculate the coordinate information carrying in radiofrequency signal, then using this coordinate information as initial position coordinate A.
Step 2: according to accessible point modification method, to initial time T
0the more position coordinates of fresh target of each moment afterwards, until the position coordinates of target or the band of position output during by the nearest moment according to the instruction receiving;
Particularly, described accessible point modification method comprises the steps:
Steps A: the error criterion that the target localization information providing according to indoor wireless locating system and indoor wireless locating system provide, the physical location scope S1 of acquisition current time target;
And, if previous moment is described initial time T
0, the position coordinates using initial position coordinate A as previous moment target; Otherwise, obtain previous moment target the inertial sensor information of corresponding mobile terminal and the position coordinates of previous moment target;
Step B: according to the position coordinates of the mistiming between current time and previous moment, previous moment target and inertial sensor information, calculate the accessible point scope S2 of current time target;
Described step B comprises the steps:
Step B1: calculate object traveling direction and the acceleration of advancing according to inertial sensor information;
Step B2: obtain direct of travel error range and the acceleration error scope of advancing according to the error range of the inertial sensor of demarcating in advance;
Step B3: according to mistiming, direct of travel error range and the acceleration error scope of advancing, obtain accessible point scope S2.
Step C: the physical location scope S1 of the accessible point scope S2 of current time target and current time target is compared, find out the band of position of lap as current time target, and position coordinates using the scope central point of lap as current time target.
Preferably, in step C, using the geometric center of gravity of lap as described scope central point.The corresponding mobile terminal output inertial sensor information of target and corresponding acquisition time are to server, and server is stored inertial sensor information and corresponding acquisition time; In the time of the position coordinates of fresh target more, from server obtain the position coordinates of previous moment target and previous moment target the inertial sensor information of corresponding mobile terminal.
In a preferred embodiment, passed through successively initial time T0, moment t1, moment t2, moment t3, wherein, moment t3 is a distance nearest moment now, in order to obtain the position of target till now, carries out following steps according to accessible point modification method:
Taking moment t1 as current time, taking initial time T0 as the previous moment, the coordinate position of target while obtaining moment t1;
Taking moment t2 as current time, taking moment t1 as the previous moment, the coordinate position of target while obtaining moment t2;
Taking moment t3 as current time, taking moment t2 as the previous moment, the coordinate position of target while obtaining moment t3;
The coordinate position of target when output time t3.
Below the positioning system corresponding with above-mentioned localization method is described.
According to a kind of indoor wireless locating system based on accessible point correction provided by the invention, comprise as lower device:
Initial position acquisition device: for obtaining initial time T
0time target initial position coordinate A;
Locating device: for according to accessible point modification method, to initial time T
0the more position coordinates of fresh target of each moment afterwards, until the position coordinates of target or the band of position output during by the nearest moment according to the instruction receiving;
Particularly, described accessible point modification method comprises the steps:
Steps A: the error criterion that the target localization information providing according to indoor wireless locating system and indoor wireless locating system provide, the physical location scope S1 of acquisition current time target;
And, if previous moment is described initial time T
0, the position coordinates using initial position coordinate A as previous moment target; Otherwise, obtain previous moment target the inertial sensor information of corresponding mobile terminal and the position coordinates of previous moment target;
Step B: according to the position coordinates of the mistiming between current time and previous moment, previous moment target and inertial sensor information, calculate the accessible point scope S2 of current time target;
Step C: the physical location scope S1 of the accessible point scope S2 of current time target and current time target is compared, find out the band of position of lap as current time target, and position coordinates using the scope central point of lap as current time target.
Preferably, in step C, using the geometric center of gravity of lap as described scope central point.
Preferably, the corresponding mobile terminal output inertial sensor information of target and corresponding acquisition time are to server, and server is stored inertial sensor information and corresponding acquisition time;
In the time of the position coordinates of fresh target more, from server obtain the position coordinates of previous moment target and previous moment target the inertial sensor information of corresponding mobile terminal.
Preferably, described step B comprises the steps:
Step B1: calculate object traveling direction and the acceleration of advancing according to inertial sensor information;
Step B2: obtain direct of travel error range and the acceleration error scope of advancing according to the error range of the inertial sensor of demarcating in advance;
Step B3: according to mistiming, direct of travel error range and the acceleration error scope of advancing, obtain accessible point scope S2.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (8)
1. the indoor wireless positioning method based on accessible point correction, is characterized in that, comprises the steps:
Step 1: obtain initial time T
0time target initial position coordinate A;
Step 2: according to accessible point modification method, to initial time T
0the more position coordinates of fresh target of each moment afterwards, until the position coordinates of target or the band of position output during by the nearest moment according to the instruction receiving;
Particularly, described accessible point modification method comprises the steps:
Steps A: the error criterion that the target localization information providing according to indoor wireless locating system and indoor wireless locating system provide, the physical location scope S1 of acquisition current time target;
And, if previous moment is described initial time T
0, the position coordinates using initial position coordinate A as previous moment target; Otherwise, obtain previous moment target the inertial sensor information of corresponding mobile terminal and the position coordinates of previous moment target;
Step B: according to the position coordinates of the mistiming between current time and previous moment, previous moment target and inertial sensor information, calculate the accessible point scope S2 of current time target;
Step C: the physical location scope S1 of the accessible point scope S2 of current time target and current time target is compared, find out the band of position of lap as current time target, and position coordinates using the scope central point of lap as current time target.
2. the indoor wireless positioning method based on accessible point correction according to claim 1, is characterized in that, in step C, using the geometric center of gravity of lap as described scope central point.
3. the indoor wireless positioning method based on accessible point correction according to claim 1, is characterized in that,
The corresponding mobile terminal output inertial sensor information of target and corresponding acquisition time are to server, and server is stored inertial sensor information and corresponding acquisition time;
In the time of the position coordinates of fresh target more, from server obtain the position coordinates of previous moment target and previous moment target the inertial sensor information of corresponding mobile terminal.
4. the indoor wireless positioning method based on accessible point correction according to claim 1, is characterized in that, described step B comprises the steps:
Step B1: calculate object traveling direction and the acceleration of advancing according to inertial sensor information;
Step B2: obtain direct of travel error range and the acceleration error scope of advancing according to the error range of the inertial sensor of demarcating in advance;
Step B3: according to mistiming, direct of travel error range and the acceleration error scope of advancing, obtain accessible point scope S2.
5. the indoor wireless locating system based on accessible point correction, is characterized in that, comprises as lower device:
Initial position acquisition device: for obtaining initial time T
0time target initial position coordinate A;
Locating device: for according to accessible point modification method, to initial time T
0the more position coordinates of fresh target of each moment afterwards, until the position coordinates of target or the band of position output during by the nearest moment according to the instruction receiving;
Particularly, described accessible point modification method comprises the steps:
Steps A: the error criterion that the target localization information providing according to indoor wireless locating system and indoor wireless locating system provide, the physical location scope S1 of acquisition current time target;
And, if previous moment is described initial time T
0, the position coordinates using initial position coordinate A as previous moment target; Otherwise, obtain previous moment target the inertial sensor information of corresponding mobile terminal and the position coordinates of previous moment target;
Step B: according to the position coordinates of the mistiming between current time and previous moment, previous moment target and inertial sensor information, calculate the accessible point scope S2 of current time target;
Step C: the physical location scope S1 of the accessible point scope S2 of current time target and current time target is compared, find out the band of position of lap as current time target, and position coordinates using the scope central point of lap as current time target.
6. the indoor wireless locating system based on accessible point correction according to claim 5, is characterized in that, in step C, using the geometric center of gravity of lap as described scope central point.
7. the indoor wireless locating system based on accessible point correction according to claim 5, is characterized in that,
The corresponding mobile terminal output inertial sensor information of target and corresponding acquisition time are to server, and server is stored inertial sensor information and corresponding acquisition time;
In the time of the position coordinates of fresh target more, from server obtain the position coordinates of previous moment target and previous moment target the inertial sensor information of corresponding mobile terminal.
8. the indoor wireless locating system based on accessible point correction according to claim 5, is characterized in that, described step B comprises the steps:
Step B1: calculate object traveling direction and the acceleration of advancing according to inertial sensor information;
Step B2: obtain direct of travel error range and the acceleration error scope of advancing according to the error range of the inertial sensor of demarcating in advance;
Step B3: according to mistiming, direct of travel error range and the acceleration error scope of advancing, obtain accessible point scope S2.
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| CN105516251A (en) * | 2015-11-26 | 2016-04-20 | 阿坝师范学院 | Positioning calibration method and position service pushing system thereof |
| CN105635978A (en) * | 2014-10-29 | 2016-06-01 | 宝星电器（上海）有限公司 | Method for realizing wireless positioning in building |
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| CN109959894B (en) * | 2017-12-26 | 2021-06-04 | 深圳市优必选科技有限公司 | Positioning method and terminal equipment |
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