CN104703128B - A kind of indoor locating system and method based on WLAN wireless signal strengths - Google Patents
A kind of indoor locating system and method based on WLAN wireless signal strengths Download PDFInfo
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- CN104703128B CN104703128B CN201410627920.6A CN201410627920A CN104703128B CN 104703128 B CN104703128 B CN 104703128B CN 201410627920 A CN201410627920 A CN 201410627920A CN 104703128 B CN104703128 B CN 104703128B
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Abstract
The present invention relates to a kind of indoor locating systems based on WLAN received signal strengths, it is characterised in that it includes a C/S system architecture being made of intelligent terminal, WLAN wireless access point and server end positioning support flat base；1）Intelligent terminal；2）WLAN wireless access point；3）Server end positioning support flat base.The invention has the advantages that：(1) it solves the problems, such as that current outdoor location technology especially GPS technology can not provide indoor positioning service, provides indoor navigation service to the user, and indoor accident can be effectively treated；(2) location-based related service is provided by opportunity of indoor positioning, excavates the potential commercial value of indoor mall.Indoor navigation service, and accident in assist process room can be provided to the user, moreover it is possible to be that more become precision and validation are launched in the recommendation of indoor mall and advertisement, generate considerable economic benefit.
Description
Technical field
The present invention relates to a kind of indoor orientation methods, and in particular to a kind of indoor positioning based on WLAN wireless signal strengths
System and method.
Background technology
In recent years, with the rapid deployment of cordless communication network and intelligent terminal (such as smart mobile phone, tablet computer and
Wearable device etc.) it is continuous universal, the situational contexts information especially location information of user becomes more and more important, example
Such as, the automobile navigation of parking garage may be implemented based on location information or provides personalized shopping guide's clothes to the commodity of megastore
Business；It is also based on location information and carries out a series of marketing service, be such as that user recommends discounting commodity in department stores
Or in the product etc. that museum is tourist's popularization exhibition.Future is the epoch of mobile Internet, according to CCID Consulting (CCID) and length
City strategy consulting (GEI) research prediction in 2010：Forthcoming years China navigates will keep at least 30% with location-based service industry
To 40% growth, the year two thousand twenty reaches 400,000,000,000 yuan.However, since GPS signal cannot penetrate building and be based on cellular base station
Positioning accuracy it is too low, relatively develop more ripe outdoor positioning technology at present and be not applied for indoor positioning；Some rooms at present
Interior location technology, such as based on RFID, ZigBee-network, bluetooth, infrared or ultrasonic wave indoor positioning technologies solution, by
In by the influences such as wireless messages non-line-of-sight propagation and multipath effect, or it is limited to cost, preferable interior cannot be provided
Location technology solution.Although the positioning system positioning accuracy based on ultra-wide band is higher, need to dispose expensive communication base
Infrastructure is difficult to large-scale promotion use；Positioning system based on ultrasound is easily influenced by temperature；And view-based access control model technology
Indoor positioning technologies are very high to the Capability Requirement of image procossing.In short, there is presently no a kind of effective indoor positioning technologies energy
It can be used with large-scale promotion under conditions of meeting positioning accuracy and cost.
Indoor positioning technologies cost advantage based on WLAN is apparent, and the wlan network currently popularized on a large scale not needing
Location facilities are redeployed for positioning service, using identical bottom wireless network structure, (referred to as using WLAN wireless access point
AP) intelligent terminal is positioned.For the technology in such a way that experience is tested and signal propagation model is combined, system is whole
Body positioning accuracy is up to meter level, use easy to promote large-scale.However, being mostly based on the indoor positioning algorithms of WLAN at present all
It is positioned as fingerprint characteristic vector using wireless aps access point received signal strength (abbreviation RSSI), indoor environment is answered
Polygamy makes the fingerprint collecting based on RSSI, and there are equipment isomery sex chromosome mosaicisms, i.e., to the acquisition of the same indoor location distinct device
RSSI finger print informations may have bigger difference, to significantly reduce the positioning accuracy based on WLAN indoor positioning algorithms.
Invention content
The technical problem to be solved by the present invention is to：Design and develop a kind of indoor positioning based on WLAN received signal strengths
System and method can solve equipment isomery sex chromosome mosaicism present in WLAN fingerprint location technologies, and then enhance indoor positioning and calculate
The robustness of method simultaneously improves positioning accuracy.
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：
A kind of indoor locating system based on WLAN received signal strengths, it is characterised in that it includes one by intelligent terminal
The C/S system architectures of equipment, WLAN wireless access point and server end positioning support flat base composition；
1) intelligent terminal：Usually by needing the user of positioning service to carry, with WLAN wireless access point and clothes
Business device end support platform is communicated, and when user needs positioning service, WLAN wireless access is acquired using intelligent terminal
The wireless signal strength information of point, and collected signal strength information is sent to server end positioning support flat base, then
Receive the location estimation information that server end returns；
2) WLAN wireless access point：It is communicated by wlan network with intelligent terminal, cable network is changed into
Wireless network；
3) server end positioning support flat base：Led to by mobile network or wlan network with intelligent terminal
Letter is responsible for storage location finger print information and calculates positioning result, and positioning result is fed back to user.
The intelligent terminal is made of display apparatus module, processor module, communication module and signal acquisition module,
Display apparatus module be used for user show positioning result, processor module for control wireless signal acquiring and with server end
Interactive communication, communication module with server end and WLAN wireless access point for being communicated, and signal acquisition module is for acquiring
The signal strength of WLAN wireless access point；
All WLAN wireless access point are all disposed on the top of the interior space or interlayer, for building the interior space
WLAN wireless networks.
The mobile job-oriented terminalr is by location fingerprint database, web server, location algorithm server and network
Communication module forms, and location fingerprint database is used to store the location fingerprint information of off-line phase acquisition, with location algorithm service
Device is communicated by database connection component；Web server receives intelligent terminal for being communicated with intelligent terminal
Positioning result is simultaneously fed back to intelligent terminal by the location fingerprint information of equipment transmission；Location algorithm server is according to intelligent end
The position of the WLAN location finger print information assessment user of end equipment acquisition, is communicated with web server by http protocol；Net
It is communicated between network communication module charge server end and intelligent terminal.
A kind of indoor orientation method based on WLAN received signal strengths, it is characterised in that it includes the following steps：
(A) signal strength for being collected WLAN wireless access point using intelligent terminal in the interior space for needing to position is believed
Breath, and server end is sent that information to build location fingerprint database；
(B) server end completes initialization operation to open positioning service, and monitors the Location Request of client；
(C) after user sends out Location Request, intelligent terminal acquisition wants the finger print information of position location and by the information
It is sent to server end；
(D) after server end listens to the Location Request of user, the location fingerprint information of client is received and using online
Location algorithm estimates the current location of user；
(E) positioning result is returned to client by server end, and by visual mode user intelligent terminal
It is shown in equipment.
The indoor orientation method is divided into offline location fingerprint acquisition and tuning on-line estimates two stages, location fingerprint
It is used for one physical location of unique label.
Tuning on-line algorithm is as follows：
A) it uses intelligent terminal to acquire the signal strength of the WLAN wireless access point of the position, is represented byWherein,Indicate the signal strength of collected i-th of WLAN wireless access point of position j, N
Indicate the number of WLAN wireless access point；
B) to pre-processing, by RjIn be not belonging to the value of normal WLAN signal intensity and replace with RjIn minimum value, as possible
Eliminate influence of the exceptional value to last positioning result；
C) since in position fixing process, the signal apart from the closer WLAN access points of user location distance is more stable, therefore
The weight of bigger should be assigned in position fixing process, weighing computation method is obtained by two steps：
1) all fingerprints and R in setting Dist as location fingerprint databasejEuclidean distance set, as shown in formula (1)：
Wherein, M is the number that all fingerprints are stored in location fingerprint database,It is i-th of the finger stored in fingerprint base
Line；
2) select k fingerprint minimum in Dist as weighting candidate, ifIt is i-th of position candidate fingerprint, calculatesWeight such as formula (2) shown in：
Wherein, N is the number of WLAN wireless access point, wiCalculating such as formula
(3) shown in：
In formula (3),It indicates in location fingerprint RjMiddle ratioBig number,Indicate that position refers to
LineMiddle ratioBig number；
D) location estimation is carried out according to the weight that is calculated in candidate fingerprint and step C, passes through adding for k candidate fingerprint
Mean value is weighed as final location estimation, as shown in formula (4)：
Wherein, LiFor in candidate fingerprintCorresponding spatial position coordinate.
The positioning system towards indoor environment and method that the present invention develops have the advantages that：
(1) solve the problems, such as current outdoor location technology especially GPS technology can not provide indoor positioning service, for
Family provides indoor navigation service, and indoor accident can be effectively treated.For example, user can be assisted, environment is (such as big indoors
Type market or parking lot etc.) in navigate, reduce cost time for arriving at the destination of user.In addition, indoor positioning can also
Assist process time burst, such as fire or earthquake help rescue personnel to find the target for needing to rescue faster；
(2) location-based related service is provided by opportunity of indoor positioning, excavates the potential commercial value of indoor mall.
For example, when user passes by a shop, smart machine that he carries can show in time the discount in the shop, preferential service and
The information such as gift attract the eyeball of user；Or provide personalized recommendation service to the user in shopping mall place.
In conclusion the benefit for the indoor locating system and control method developed using the present invention is mainly manifested in：It can
Provide indoor navigation service, and accident in assist process room to the user, moreover it is possible to be that the recommendation of indoor mall and advertisement are launched
More become precision and validation, generates considerable economic benefit.Meanwhile the present invention is also technology of Internet of things, mobile communication technology
With a precedent of embedded technology environmental applications indoors, there is prodigious novelty and practicability.
Description of the drawings
Fig. 1 is the system architecture diagram of the present invention
Fig. 2 is the location algorithm structure chart of the present invention
Fig. 3 is the positioning service overall flow figure of the present invention
Specific implementation mode
Fig. 1 is present system composed structure block diagram.The present invention includes following three parts：One is set by intelligent terminal
Standby, WLAN wireless access point and server end positioning support flat base.
Intelligent terminal is used to acquire the wireless signal strength of WLAN wireless access point and passes through movement with server end
Network or wlan network communication.Intelligent terminal is by display apparatus module, processor module, communication module and signal acquisition mould
Block form, display apparatus module be used for user show positioning result, processor module for control wireless signal acquiring and with clothes
The interactive communication at business device end, communication module with server end and WLAN wireless access point for being communicated, signal acquisition module
Signal strength for acquiring WLAN wireless access point；Intelligent terminal is usually by needing the user of positioning service to take
Band acquires the wireless signal strength information of WLAN wireless access point using intelligent terminal when user needs positioning service,
And collected signal strength is sent to server end positioning support flat base by mobile network or wlan network, and then
It receives the location estimation information that server end returns and is shown to user in a manner of visual.In addition, intelligent terminal is also
For initial phase acquire indoor environment fingerprint and build location fingerprint database.It is universal at present smart mobile phone, flat
Plate computer or personal digital assistant etc. all can serve as intelligent terminal.
WLAN wireless access point：It is communicated by wlan network with intelligent terminal, cable network is changed into nothing
Gauze network, all WLAN wireless access point are all disposed on the top of the interior space or interlayer, for building the interior space
Cable network is changed into wirelessly by WLAN wireless networks it acts as being communicated by wlan network with intelligent terminal
Network.The signal strength for all WLAN wireless access point that the present invention is mainly received using a physical space point is as the position
The uniquely tagged set.
Server end positioning support flat base (abbreviation server end)：Pass through mobile network or WLAN with intelligent terminal
Network is communicated, and is responsible for storage location finger print information and is calculated positioning result, and positioning result is fed back to user.Server
End support platform is made of location fingerprint database, web server, location algorithm server and network communication module, and position refers to
Line database is used to store the location fingerprint information of off-line phase acquisition, with location algorithm server through database connection component
Such as JDBC is communicated；Web server receives the position that intelligent terminal is sent for being communicated with intelligent terminal
It sets finger print information and positioning result is fed back into intelligent terminal；Location algorithm server is acquired according to intelligent terminal
WLAN location finger print information is led to web server by http protocol using the position of tuning on-line algorithm estimation user
Letter, and result is fed back into web server；It is communicated between network communication module charge server end and intelligent terminal.It can
Use the measure of communication such as mobile network or wlan network.
Fig. 2 is the location algorithm structure chart of the present invention.The position fixing process of the present invention includes that offline location fingerprint acquisition is (offline
Training) and tuning on-line two stages of estimation.The target in offline location fingerprint acquisition (off-line training) stage is for indoor environment
A location fingerprint database is built, environment traverses all positions and records every system deployment personnel at certain intervals indoors
The wireless signal strength for the different WLAN access points that a reference position receives refers to reference value point location coordinate information with position
Line is stored in associated two tuple data in the location fingerprint database of server end；The target of positioning stage is to estimate
It counts the current location of user and is shown in a manner of visual in the equipment that user carries.The location fingerprint letter that user is sent
Breath uses tuning on-line algorithm estimated location as input.
Referring to Fig. 3, indoor orientation method specific implementation step of the present invention is as follows：
(A) signal strength for being collected WLAN wireless access point using intelligent terminal in the interior space for needing to position is believed
Breath, and server end is sent that information to build location fingerprint database；
(B) server end completes initialization operation to open positioning service, and monitors the Location Request of client；
(C) after user sends out Location Request, intelligent terminal acquisition user currently wants the finger print information of position location simultaneously
Send that information to server end；
(D) after server end listens to the Location Request of user, the location fingerprint information of client is received and using online
Location algorithm estimates the current location of user；
(E) positioning result is returned to client by server end, and by visual mode user intelligent terminal
It is shown in equipment；
The indoor orientation method is divided into offline location fingerprint acquisition and tuning on-line estimates two stages, location fingerprint
It is used for one physical location of unique label.
Tuning on-line algorithm is as follows：
A) it uses intelligent terminal to acquire the signal strength of the WLAN wireless access point of the position, is represented byWherein,Indicate the signal strength for i-th of WLAN wireless access point that the station acquisition arrives；
B) to pre-processing, by RjIn be not belonging to the value of normal WLAN signal intensity and replace with RjIn minimum value, as possible
Eliminate influence of the exceptional value to last positioning result；
C) since in position fixing process, the signal apart from the closer WLAN access points of user location distance is more stable, therefore
The weight of bigger should be assigned in position fixing process, weighing computation method is obtained by three steps：
1) all fingerprints and R in setting Dist as location fingerprint databasejEuclidean distance set, as shown in formula (1)：
Wherein, M is the number that all fingerprints are stored in fingerprint fingerprint,It is fingerprint
I-th of the fingerprint stored in library；
2) select k fingerprint minimum in Dist as weighting candidate, ifIt is i-th of position candidate fingerprint, calculatesWeight such as formula (2) shown in：
Wherein, N is the number of WLAN wireless access point, wiCalculating such as formula (3) shown in：
In formula (3),It indicates in location fingerprint RjMiddle ratioBig number,Indicate that position refers to
LineMiddle ratioBig number；
D) location estimation is carried out according to the weight that is calculated in candidate fingerprint and step C, passes through adding for k candidate fingerprint
Mean value is weighed as final location estimation, as shown in formula (4)：
Wherein, LiFor in candidate fingerprintCorresponding spatial position coordinate.
D) location estimation is carried out according to the weight that is calculated in candidate fingerprint and step C, passes through adding for k candidate fingerprint
Mean value is weighed as final location estimation, as shown in formula (4)：
Wherein, LiFor in candidate fingerprintCorresponding spatial position coordinate.
Illustrate the specific implementation mode of position fixing process of the present invention with an example below：
(1) offline location fingerprint library acquisition
It is deployed at one in the indoor environment of 8 WLAN wireless access point (AP1~AP8), offline location fingerprint acquisition
The fingerprint base of information architecture is as shown in table 1, wherein sharing the location fingerprint information of 5 positions (Loc1~Loc5), (unit is：
dBm):
| AP 1 | AP2 | AP3 | AP4 | AP5 | AP6 | AP7 | AP8 | |
| Loc 1 | -64 | -55 | -53 | -59 | -53 | -62 | -67 | -66 |
| Loc 2 | -69 | -48 | -56 | -64 | -71 | -68 | -48 | -70 |
| Loc 3 | -62 | -55 | -66 | -70 | -71 | -56 | -55 | -67 |
| Loc 4 | -60 | -51 | -48 | -57 | -62 | -61 | -48 | -59 |
| Loc 5 | -60 | -38 | -39 | -48 | -62 | -59 | -38 | -61 |
(2) tuning on-line is estimated
Assuming that a unknown position collected location fingerprint of user's intelligent terminal in the indoor environment is：R
={ -50, -51, -53, -65, -63, -50, -63, -60 }
A. it calculates, can obtain according to nearest neighbor algorithm is (as shown in formula 1)：
DistLoc1=56, DistLoc2=77, DistLoc3=69
DistLoc4=49, DistLoc5=90
B. select 3 minimum location fingerprints as candidate, that is, the location fingerprint for selecting Loc1, Loc3 and Loc4 to acquire
As candidate.
C. the weight vectors for calculating candidate location, can obtain：
D. set Loc1, Loc3 and Loc4 for physical coordinates be respectively (x1,y1), (x3,y3), (x4,y4).It can then obtain
The estimated location of userCoordinate can calculate as follows：
Claims (2)
1. a kind of indoor orientation method based on WLAN received signal strengths, it is characterised in that it includes the following steps：
(A) signal strength information of WLAN wireless access point is collected using intelligent terminal in the interior space for needing to position,
And server end is sent that information to build location fingerprint database；
(B) server end completes initialization operation to open positioning service, and monitors the Location Request of client；
(C) after user sends out Location Request, intelligent terminal acquisition wants the finger print information of position location and sends the information
To server end；
(D) it after server end listens to the Location Request of user, receives the location fingerprint information of client and uses tuning on-line
Algorithm estimates the current location of user；
(E) positioning result is returned to client by server end, and by visual mode user intelligent terminal
On shown；
Tuning on-line algorithm is as follows：
A) it uses intelligent terminal to acquire the signal strength of the WLAN wireless access point of the position, is represented byWherein,Indicate the signal strength for i-th of WLAN wireless access point that the station acquisition arrives；
B) to pre-processing, by RjIn be not belonging to the value of normal WLAN signal intensity and replace with RjIn minimum value, eliminate as possible
Influence of the exceptional value to last positioning result；
C) since in position fixing process, the signal apart from the closer WLAN access points of user location distance is more stable, therefore is positioning
The weight of bigger should be assigned in the process, and weighing computation method is obtained by two steps：
1) all fingerprints and R in setting Dist as location fingerprint databasejEuclidean distance set, as shown in formula (1)：
Wherein, M is the number that all fingerprints are stored in location fingerprint database,It is i-th of the fingerprint stored in fingerprint base；
2) select k fingerprint minimum in Dist as weighting candidate, ifIt is i-th of position candidate fingerprint, calculates's
Shown in weight such as formula (2)：
Wherein, N is the number of WLAN wireless access point, wiCalculating such as formula (3) shown in：
In formula (3),It indicates in location fingerprint RjMiddle ratioBig number,Indicate location fingerprintIn
ThanBig number；
D) location estimation is carried out according to the weight being calculated in candidate fingerprint and step C, the weighting by k candidate fingerprint is equal
Value is as final location estimation, as shown in formula (4)：
Wherein, LiFor in candidate fingerprintCorresponding spatial position coordinate.
2. a kind of indoor orientation method based on WLAN received signal strengths as described in claim 1, it is characterised in that：It is described
Indoor orientation method be divided into the acquisition of offline location fingerprint and tuning on-line estimates that two stages, location fingerprint are used for uniquely
One physical location of label.
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| CN105044665B (en) * | 2015-06-19 | 2017-11-14 | 苏州富欣智能交通控制有限公司 | Underground Station indoor positioning and navigation system and method |
| CN105072169A (en) * | 2015-07-30 | 2015-11-18 | 中国传媒大学 | Intelligent information display system of culture exhibition hall |
| CN105611502B (en) * | 2015-12-22 | 2018-12-18 | 广西瀚特信息产业股份有限公司 | A kind of indoor locating system and method based on WiFi Mesh network |
| CN106131767A (en) * | 2016-06-28 | 2016-11-16 | 河南航飞光电科技有限公司 | A kind of combination WiFi and the mobile phone positioning method of bluetooth |
| CN108616854B (en) * | 2017-03-28 | 2021-11-12 | 集速智能标签（上海）有限公司 | Indoor positioning method and system |
| CN107613469A (en) * | 2017-08-30 | 2018-01-19 | 杭州拓深科技有限公司 | Wizard-like visiting method and system based on location fingerprint |
| CN108038724A (en) * | 2017-12-08 | 2018-05-15 | 钟永松 | A kind of efficient market shopping guide system |
| CN109348501B (en) * | 2018-12-05 | 2020-09-22 | 哈尔滨工业大学 | Indoor and outdoor distinguishing method based on LTE (Long term evolution) signals |
| CN109587627B (en) * | 2018-12-12 | 2021-04-06 | 嘉兴学院 | Indoor positioning method for improving terminal heterogeneity problem based on RSSI |
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