CN105898693A - Indoor positioning and mobile track monitoring system and method thereof - Google Patents

Indoor positioning and mobile track monitoring system and method thereof Download PDF

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Publication number
CN105898693A
CN105898693A CN201610182669.6A CN201610182669A CN105898693A CN 105898693 A CN105898693 A CN 105898693A CN 201610182669 A CN201610182669 A CN 201610182669A CN 105898693 A CN105898693 A CN 105898693A
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China
Prior art keywords
location
fingerprint
wifi
data
signal
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Inventor
卢晓珍
徐小龙
孙雁飞
鲁蔚锋
张登银
卢亚楠
王勇
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Nanjing Post and Telecommunication University
Nanjing University of Posts and Telecommunications
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Nanjing Post and Telecommunication University
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Priority to CN201610182669.6A priority Critical patent/CN105898693A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses an indoor positioning and mobile track monitoring system and a method thereof. No extra infrastructure is needed; and with a WiFi signal in wide coverage in a building, an indoor positioning system is designed and realized in an Android smart phone. The system is mainly applied to specific occasions like a large shopping mall or a supermarket or in a large indoor environment like a library or an airport. Therefore, a user can find his/her location conveniently and find out an exit or a bathroom conveniently. A good foundation is laid for building a platform to realize a new positioning system, updating algorithm researches, and developing the position service. On the basis of WiFi-position-fingerprint-based indoor positioning, relevant factors that include an AP position, the number, a collection time delay, and processing ways after collection and influence the positioning precision are studied. A reasonable method for improving the positioning precision is provided; the correlated AP strength processing algorithm is improved; reasonability of the original processing signal is enhanced; and the positioning speed and the accuracy are improved.

Description

A kind of indoor positioning monitors system and method with motion track
Technical field
The present invention relates to a kind of indoor positioning and monitor system and method with motion track, belong to indoor positioning and radio communication Technical field.
Background technology
Global positioning system (GPS, Global Positioning System) is to obtain outdoor environment positional information at present Most common way.In recent years, combine along with the fast development of wireless mobile telecommunication technology, GPS and cellular network Assisted-GPS technology (A-GPS, Assisted Global Positioning System) positions mode in emergency relief with each Plant and gradually applied based in location-based service (LBS, Location-Based Services).But due to satellite-signal Being easily subject to various barrier block, the satellite positioning tech such as GPS/A-PGS is not particularly suited for indoor or built-up Occasion, current wireless indoor location technology develops rapidly, it has also become the strong of GPS supplements.
At present, indoor wireless locating system mainly use infrared, ultrasound wave, bluetooth, WLAN (WiFi, Wireless Fidelity), the short distance such as radio frequency identification (RFID, Radio Frequency Identification) without Line technology.Wherein extensively and low cost is relatively low due to deployment for wireless location technology based on WiFi, can pass through WiFi Application programming interfaces (API, Application Programming Interface) to carry out positioning to make up GPS fixed The blind area of position.Additionally WiFi Indoor Position Techniques Based on Location Fingerprint is compared with tradition indoor positioning technologies, and autgmentability is higher, application Wider.Owing to WiFi signal transmission is affected less by the factor such as non line of sight, multipath fading, so based on WiFi The technology of fingerprint location more accurate stable.
At present both at home and abroad WiFi location fingerprint location aspect has been achieved for a lot of achievement in research, nearest neighbor algorithm (NN, Nearest Neighbor), K arest neighbors sorting algorithm (KNN, K-Nearest Neighbor), Bayesian probability algorithm, Neural network algorithm etc..These algorithms are all to set up fingerprint database in off-line phase, can according to acquisition for mobile terminal without The information of line access points (AP, Access Point) intensity, according to the sampling number set in advance, during coupling, K mean algorithm, probabilistic algorithm etc. are provided.But current WiFi location fingerprint system is almost only fixed at some Under scene, the most unified standard.And the present invention can solve problem above well.
Summary of the invention
Present invention aim at for the deficiencies in the prior art above, it is proposed that a kind of indoor positioning is monitored with motion track System and method, this system is without extra infrastructure, and the WiFi signal extensively covered in utilizing building, in peace A kind of indoor locating system is designed and Implemented on tall and erect smart mobile phone.This system is mainly used in specific occasion, the most greatly Type market or supermarket, library, under the large-scale indoor environment such as airport, help to the user discover that oneself present position, Find an exit or the key position such as toilet.For the realization of the newest alignment system, the algorithm research of renewal and position Service development sets up a platform, lays a good foundation.On the basis of indoor positioning based on WiFi location fingerprint, Research affect the correlative factor of positioning precision, such as AP position, its number, how gathers after time delay, and collection The relevant issues such as process.The present invention gives the rational method improving positioning precision, and improve at relevant AP intensity Adjustment method, improves the reasonability of original process signal, and improves locating speed and accuracy rate.
The present invention solves its technical problem and is adopted the technical scheme that: a kind of indoor positioning monitors system with motion track, This system includes WiFi scan module, fingerprint base module and coupling locating module.
WiFi scan module: mainly complete the collection of WiFi information, including realizing the function of wireless aps signals collecting, Reference point locations input function, location fingerprint cell data sending function.The real-time positioning stage completes wireless aps signal and adopts Collection, obtain the physical address (BSSID, Basic Service Set Identifier) of wireless signal, accurate location input, Signal intensity (RSSI, the Received Signal Strength Indication) data received send and status result shows Function.Obtain the scanning result of tabular form, the parameter of the needs by setting in advance, return final current collection The information of point.
Fingerprint base module: this module includes location fingerprint data base, this location fingerprint data base uses Android development platform Built-in data base, wherein data base includes: location fingerprint tables of data, position location result data table.Location fingerprint Tables of data is to collect the positional information of each collection point in off-line phase, including coordinate, the signal of each AP of collection point Intensity, the variance of each AP signal intensity.Location fingerprint tables of data is to set up, for positioning stage in off-line phase Join information to use.Position location result data table is to set up at positioning stage, often positions once, and storage is the most fixed The coordinate result that position obtains, draws user's motion track after location is terminated and calls.
Coupling locating module: this module includes the inquiry of data base and mates, the realization of position algorithm, intelligent terminal's Location.Before actual location, fingerprint base has been set up, and location algorithm is part most crucial in whole system, right Indoor positioning result has strong influence.Use mobile phone to collect radio-frequency fingerprint, then work as with location fingerprint data base In data carry out right, thus estimate the current physical location of the people holding mobile terminal, simultaneously by final Position result shows on mobile phone, after have collected a fixed point position coordinates, shows the motion track of user visitor In the end of family.
Present invention also offers the implementation method of a kind of indoor positioning and motion track monitoring system, the method includes as follows Step:
Step 1: first newly-built Android program in Android development platform, framework is divided into two parts (as shown in Figure 1), One is that fingerprint base is set up, and another is that location realizes.Based on two parts all use Java language, use peace WiFi class that Zhuo carries and data base's part, get up basic system building.Select place, it is ensured that have wireless signal Cover, in the present system, in order to reduce the complexity of Data Processing in Experiment, before operation system, set in a program 5 required WiFi signal are determined, it is to avoid the interference of other signals.
Step 2: the foundation of fingerprint base.The collection realizing mainly WiFi signal of fingerprint base and position, collection point letter The storage of breath.For the collection of WiFi signal, its collection phase flow chart such as Fig. 2, first on the main boundary of cell-phone customer terminal The input changing coordinates in face, the WiFi operation that now Android carries will judge whether mobile phone WiFi equipment has already turned on, Perform a judgement, after determining that current phone WiFi equipment is in open mode, scan current WiFi letter by starting Number (in mastery routine, i.e. setting the physical address of each AP being currently needed for scanning, remove other interference signals), often Data base of run-down typing, when scanning times reaches limited number of times, scanning process terminates.Will be current All information that collection point is collected carry out a filtration treatment, select one group of number that an AP signal intensity fluctuation is minimum According to the final fingerprint base of typing, so far, the Data Enter of current collection point completes.Then same method is re-used to surplus Under collection point carry out signal collection, in the period setting up fingerprint base, if occurring, unexpected that certain collection point is occurred is poor Mistake, can be deleted by data base's deletion action.
Step 3: location realizes, and its flow chart is as shown in Figure 3.The realization of location depends on and previously had built up Fingerprint base and matching algorithm.Location before, it is to be ensured that fingerprint base has had built up, and by location algorithm with Locating module is suitable.When location, residing environment should be identical with LAN residing when setting up fingerprint base, sets Good reference point locations coordinate gathers WiFi information, the ambient signal intensity that will scan, by coupling location algorithm with Fingerprint base mates, and obtains the position coordinates being positioned out, and result is returned, and is allowed to show on interface, Position coordinates is stored in data base with for later use.Continue location if necessary, then client will continue executing with location Operation.After obtaining the position of multiple anchor point, the bag achartengine drawn a diagram using Android derivative realizes The monitoring of user's motion track.
Step 4: the realization of user interface.Utilize the advantage that Android interface is abundant, use when design interface one to compare Friendly interface.Use button controls to select which kind of function, this avoid multiple interface alternation and use.
Beneficial effect:
1, present system is the realization of the newest alignment system, and the algorithm research of renewal and location-based service exploitation are set up One platform, lays a good foundation, on the basis of indoor positioning based on WiFi location fingerprint, and research impact location The correlative factor of precision, such as AP position, its number, gather time delay, and how process etc. is relevant after gathering asks Topic.
2, the invention provides reasonably setting up and conclusion of raising positioning precision, and improve at relevant AP intensity Adjustment method, improves reasonability, locating speed and the accuracy rate of original process signal.
Accompanying drawing explanation
Fig. 1 is the system architecture diagram of the present invention.
Fig. 2 is the WiFi signal collection phase flow chart of the present invention.
Fig. 3 is the positioning stage flow chart of the present invention.
Fig. 4 is the fingerprint base data attribute arrangement mode figure of the present invention.
Fig. 5 is the main surface chart of system of the present invention.
Fig. 6 is the collection point distribution schematic diagram of the present invention.
Fig. 7 is that the router of the present invention places schematic diagram.
Fig. 8 is the locating and displaying result figure of the present invention.
Fig. 9 is three groups of data Euclidean distance schematic diagram with theoretical coordinate of the present invention.
Detailed description of the invention
Below in conjunction with Figure of description, the invention is described in further detail.
Embodiment one
The foundation of Android mobile phone client, specifically includes:
The present invention utilizes Android development platform, creates an Android project, can be divided into four parts: main interface, WiFi Sweep test, data base's part, matching algorithm part.
Main interface portion: have employed the pattern that button combines with dialog box, embodies the man-machine interaction of close friend, its boundary Face such as Fig. 5.Native system employs 3 text boxes (can not edit for i.e. 1,2 editable text frames) altogether, 6 Individual button, 1 list.2 editable texts are the transverse and longitudinal coordinates for inputting current location, for fingerprint collecting Using during with location, the type of data is double.6 buttons are " receive and show result of calculation " respectively, " deposit Storage finger print information ", " deletion finger print information ", " video data storehouse information ", " start location ", " exiting ", these 6 Button is all to use to tell on when clicking.WiFi scan module, Android is used in " receiving and show result of calculation " Itself provides the operation of WiFi, in Android.Net.WiFi bag, it is provided that several classes and interface: ScanResult (i.e. it is used for describing and having been detected as access point, including the address of access point, the title of access point, authentication, Frequency, the information such as signal intensity), WifiConfiguration (i.e. the configuration of WiFi network, including security set etc.), (description of WiFi wireless connections, including access point, network connection state, hiding access point, network for WiFiInfo Protocol address (IP, Internet Protocol), connection speed, physical address, Network Recognition number, signal intensity Etc. information), WiFiManager (i.e. be used for manage we WiFi connect, defined some classes, Can use for us).In scanning process, need to be continuously updated and calculate all kinds of parameters of WiFi signal, And export the parameter that we are required, it is deposited in fingerprint base by database manipulation." storage finger print information " and " delete Except finger print information " it is all by interface operation data base, first have to data base is initialized, except using OnCreate () method creates outside data base, owing to native system data when scanning are real-time, it is necessary to upgrade in time, So also needing the information using onUpgrade () method to the lane database that upgrades in time.Then at DBManger.java The existing operation to data base of interior-excess, add () and delete () method are the increases when setting up fingerprint base to data And deletion, and getDatas () method is to obtain fingerprint base information and Current Scan information match at positioning stage. " video data storehouse information " is to show the most all information being stored in fingerprint base in a list, is shown that It is stored in coordinate and corresponding AP intensity level and the variance yields of the point of data base, makes people very clear, can delete at any time Subtract and need not fingerprint.When clicking " starting location " button, system can automatically begin to scanning around by scan () method WiFi signal intensity level, and match by calling location algorithm and the fingerprint base set up, in location algorithm, First obtain 3 the fingerprint points the shortest with current location Euclidean distance, it is thus achieved that 3 predetermined sites, then pass through Variance is corrected, it is thus achieved that present coordinate values, after having mated by currently available position display on screen.
WiFi sweep test: the WiFi operation that this part carries mainly by Android.By getBSSID () Method obtain wireless signal BSSID, getDetailedStateOf () method obtain client connectedness, GetHiddenSSID () method obtain service set (SSID, Service Set Identifier) whether be hidden, GetIpAddress () method obtain IP address, getLinkSpeed () method obtain connect speed, GetMacAddress () method obtains physical address, getRssi () method obtains the signal of 802.11n network, getSSID () method obtains SSID, getSupplicanState () method and returns the information of specific client end state.Use WiFiManager manages whether WiFi connects, then use ScanResult () method obtain scanning result (with The form of list), scan 50 times, by calculating variance, select the minimum AP intensity level of fluctuation and formed final current The information of collection point.
Data base's part: data base's part mainly includes the initialization of data base and by interface operation data base, point Do not realized by java applet DBHelper.Java and DBManger.Java.
Matching algorithm part: read the data in fingerprint base and data result that Current Scan arrives, the then mark of basis The mode that the data of Real-time Collection are traveled through by knowledge carries out mating with the data in feature database thus obtains predetermined site, By location algorithm, calculating current location, in native system experimentation, the value of K is 3.
The foundation of fingerprint base includes:
Set up using the flooring being paved with 60 × 60cm square tile, comprising 14 × 18 pieces of square tiles as fingerprint base Object, the distribution of collection point uses grid distribution, sets up coordinate system, and unit length is the width of 1 piece of square tile, The collection point distribution schematic diagram set up is as shown in Figure 6.
After having divided region, select the placement location of router, owing to wireless network is cellular, therefore, native system Have employed 5 routers (in order to reduce error, have employed the router of same model) when test, arrange in advance 4 routers are placed on four corners of indoor by good network name AP0～AP4, and another one is placed on centre, Schematic diagram such as Fig. 7.
According to the collection point delimited, it is scanned being stored in data base successively, scanning process is tried not mobile, WiFi Signal intensity fluctuation range is bigger, therefore to reduce error, when gathering certain point, places with article such as stools Android mobile phone is acquired, and in scanning process, takes shelter away as far as possible, in order to avoid the fingerprint that collection point is collected by shelter Information produces considerable influence.When having gathered a point, need in time information to be stored in data base, due in Android mobile phone Having limit, the information not being stored in data base will be lost.All collection points are collected and has been stored in data base, now Preliminary fingerprint base is just set up.
The realization of location includes the following:
Clicking " starting location " button, scanning current location is received each AP intensity level, is obtained by matching algorithm by system Go out the coordinate of current location, and coordinate figure is shown on screen, such as Fig. 8.In terms of analyzing the position error of native system, Carry out the test of 13 points, tentatively using Euclidean distance as the measurement of its positioning precision.During measurement, three times are done altogether Experiment, first group is that scanning times is set as 15 times, and second group is that scanning times is set as 50 times, each difference Measuring and average for three times, the 3rd group is to set scanning times to be set as 50 times, and each point is measured five times respectively and is averaged Value.The Euclidean distance of three groups of data and theoretical coordinate as it is shown in figure 9, wherein the mean error of first group be 2.138362 (rice), variance is 2.014576；The mean error of second group is 2.050985 (rice), and variance is 1.473614；The The mean error of three groups is 1.923869 (rice), and variance is 1.12924.In view of the problem of positioning time, follow-up need Scanning times and positioning precision are integrated consideration, selects a suitable scanning times.In order to make location more Intuitively, the follow-up motion track by realization drafting user also shows in Android mobile phone, uses Fig. 6 real as native system The map tested.
Embodiment two
The present invention, at positioning stage, carries out data analysis to wireless signal scan difference number of times；When scanning times is identical, Carry out many experiments and take average, take a kind of method taking optimum to carry out data process.At location client end, with close friend Mode be presented in the screen of mobile terminal.
First by Android development platform, develop running fix client and AP signal collection instrument.Native system is main Be divided into WiFi signal collection phase and positioning stage, system general frame as it is shown in figure 1, WiFi signal collection phase and The flow chart of positioning stage is the most as shown in Figure 2,3.
One, at WiFi signal collection module, herein below is mainly included:
1) distribution problem of data collection point.Current most indoor mall is all to use square tile, therefore gathers Point can use grid to be distributed, and it is convenient to measure, for coordinate system, and also very good foundation.
2) frequency issues of data acquisition.Due in actual indoor environment, in addition to the instability of AP intensity, Also having the impact of shelter, it is very important for using suitable frequency acquisition, considers from efficiency and accuracy, and this is System is in off-line phase, and the frequency of collection is 50 times.
3) process after data acquisition.By calculating its average and variance, delete the WiFi signal that fluctuation is bigger, With eliminating invalid data on the impact of data accuracy in fingerprint base, indirectly reach to improve the effect of positioning precision.
4) structure problem of fingerprint base.The storage mode of the property element in storehouse, the arrangement mode of data and data all can Affect efficiency and the accuracy of location of positioning stage coupling, it is contemplated that these factors, have selected a kind of impact less Arrangement mode.(as shown in Figure 4)
Two, locating module is the core of native system, and its major function is to realize the most quickly location, by reality Time scanning the location algorithm calculating mate according to signal strength characteristics of signal data and the data in feature database, thus must Coordinate to current location.The locating module of native system includes three below part:
1) current WiFi signal scan module.Before using native system, need to open the WiFi function of mobile phone, then System can start the WiFi signal intensity continually scanning for obtaining each AP of current location.This module is an independence Module, provide only calling interface and call for other modules, call this module each time and all can obtain one and return list, List contains each and signal intensity thereof of current location.
2) coupling locating module.In the location algorithm of native system, mobile terminal receives when measuring signal intensity, obtains Specify the RSSI signal strength values of emission source AP, remember that these signal source intensity are S=(s1,s2,s3,...,sn),,siRepresent The signal strength values RSSI that i emission source AP sends.Before location, in fingerprint database, store signal The finger print data value in region, many group S correspondence location, is designated as: Fi=(fi1,fi2,fi3,...fin).Utilize FiCarry out with S Join, by calculating following formula:
D ( i ) = | Σ i = 1 n ( s j - f i j ) q | 1 / q , i = 1 , 2 , ... , l
Wherein D (i) is the same AP signal strength values being currently received of i-th fingerprint value inside mobile terminal fingerprint database Fingerprint distance between S；fijSignal strength values for i-th fingerprint value correspondence jth signal emitting-source AP；L is to send out Penetrate total number of source AP；The value of q represents the different measures of distance, and as q=2, D (i) is Euclidean distance, Now locating effect is best, chooses the Euclidean distance value of minimum as optimal value.Carrying out signal strength values and data The when that the fingerprint value in storehouse mating, not only choose the location fingerprint corresponding to value minimum for D (i) as location knot Really, but select K minimum D (i) value, wherein K >=2, calculate K physical coordinates corresponding to fingerprint the most again Meansigma methods, as coordinate position, be shown below:
D ( i ) = Σ i = 1 n ( s j - f i j ) 2 , i = 1 , 2 , ... , l
( x ‾ , y ‾ ) = 1 K Σ i = 1 K ( x i , y i )
(xi,yi) be i-th location fingerprint value corresponding location region physical coordinates,It is that K fingerprint is corresponding The meansigma methods of physical coordinates.Just can take its average after determining K neighbours, the result obtained is exactly final Positioning result.
3) location realizes.Behind coupling location, current location is shown in mobile client, and in location After can draw the motion track of user.
The ultimate principle of the present invention and principal character and advantages of the present invention have more than been shown and described.The technology of this area The personnel's simply explanation it will be appreciated that the present invention is not restricted to the described embodiments, described in above-described embodiment and description The principle of the present invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, These changes and improvements both fall within scope of the claimed invention, and claimed scope is by appended right Its equivalent of claim defines.

Claims (6)

1. an indoor positioning monitors system with motion track, it is characterised in that: described system includes WiFi scan module, refers to Stricture of vagina library module and coupling locating module；
The function of WiFi scan module has been the collection of WiFi information, including realizing the function of wireless aps signals collecting, and reference Point position input function, location fingerprint cell data sends；
Fingerprint base module includes location fingerprint data base, the data that the employing Android development platform of described location fingerprint data base is built-in Storehouse, wherein data base includes: location fingerprint tables of data, position location result data table, and location fingerprint tables of data is on off-line rank Section collects the positional information of each collection point, including the coordinate of collection point, the signal intensity of each AP, each AP signal intensity Variance, location fingerprint tables of data be off-line phase set up, for positioning stage match information use, position location number of results Being to set up at positioning stage according to table, often position once, storage once currently positions the coordinate result obtained, after location is terminated Draw user's motion track to call；
Coupling locating module includes the inquiry of data base and mates, the realization of position algorithm, the location of intelligent terminal；
Described coupling locating module is before actual location, and fingerprint base has been set up, and location algorithm is most crucial in whole system Function, has strong influence to indoor positioning result, realizes location by fingerprint location method, uses mobile phone to collect radio frequency and refers to Stricture of vagina, then with location fingerprint data base in the middle of data carry out right, thus estimate and hold the reality that the people of mobile terminal is current Position, shows on mobile phone by final position result simultaneously, after have collected a fixed point position coordinates, by the movement of user Track shows in the client.
A kind of indoor positioning the most according to claim 1 monitors system with motion track, it is characterised in that: described WiFi Scan module includes that the real-time positioning stage completes wireless aps signals collecting, obtain the BSSID of wireless signal, accurate location input, RSSI data send and status result shows, obtain the scanning result of tabular form, the parameter of the needs by setting in advance, Return the information of final current collection point.
A kind of indoor positioning the most according to claim 1 monitors system with motion track, it is characterised in that: described system without Need extra infrastructure, the WiFi signal extensively covered in utilizing building, Android smartphone is designed and Implemented one Plant indoor positioning.
A kind of indoor positioning the most according to claim 1 monitors system with motion track, it is characterised in that: described system should It is used in specific occasion, i.e. megastore or supermarket, library, under the large-scale indoor environment in airport, helps to the user discover that certainly Own present position, finds an exit or toilet key position.
A kind of indoor positioning the most according to claim 1 monitors system with motion track, it is characterised in that: described system exists Before location, in fingerprint database, store the finger print data value in region, signal many groups S correspondence location, be designated as: Fi=(fi1,fi2,fi3,...fin), utilize FiMate with S, by calculating following formula:
D ( i ) = | Σ j = 1 n ( s j - f i j ) q | 1 / q , i = 1 , 2 , ... , l
Wherein D (i) is between the AP signal strength values S that inside mobile terminal fingerprint database, i-th fingerprint value is currently received together Fingerprint distance；fijFor the signal strength values of i-th fingerprint value correspondence jth signal emitting-source AP, as q=2, D (i) is Euclidean distance, now locating effect is best, chooses the Euclidean distance value of minimum as optimal value, carry out signal strength values and The when that the fingerprint value of data base mating, not only choose the location fingerprint corresponding to value minimum for D (i) as location knot Really, but select K minimum D (i) value, wherein K >=2, calculate the average of K physical coordinates corresponding to fingerprint the most again Value, just as coordinate position, is shown below:
D ( i ) = Σ j = 1 n ( s j - f i j ) 2 , i = 1 , 2 , ... , l
( x ‾ , y ‾ ) = 1 K Σ i = 1 K ( x i , y i )
(xi,yi) be i-th location fingerprint value corresponding location region physical coordinates, the most permissible after determining K neighbours Taking its average, the result obtained is exactly final positioning result.
6. an indoor positioning and the implementation method of motion track monitoring system, it is characterised in that described method comprises the steps:
Step 1: first newly-built Android program in Android development platform, framework is divided into fingerprint base to set up and location realizes two portions Point；Based on two described parts all use Java language, use the WiFi class and data base's part carried to Android, will Basic system building gets up, and selects place, it is ensured that have wireless signal to cover, in the present system, in order to reduce at experimental data The complexity of reason, before operation system, sets 5 WiFi signal needed for experiment in a program, it is to avoid other signals Interference；
Step 2: the foundation of fingerprint base, including collection and the storage of collection point positional information of WiFi signal；WiFi is believed Number collection, in the input frame at the main interface of cell-phone customer terminal, first input changing coordinates, WiFi that now Android carries operation will Can judge that mobile phone WiFi opens the most, perform a judgement, after determining that current phone WiFi is in open mode, will start Scan current WiFi signal, the physical address of each AP of Current Scan i.e. set in mastery routine, remove other interference letters Number, data base of every run-down typing, when scanning times reaches limited number of times, scanning process terminates；Will be current All information that collection point is collected carry out a filtration treatment, select one group of data record that the fluctuation of each AP signal intensity is minimum Entering final fingerprint base, so far, the Data Enter of current collection point completes, and then re-uses same method to remaining collection point Carrying out signal collection, in the period setting up fingerprint base, if occurring surprisingly making certain collection point go wrong, being deleted by data base Division operation is deleted；
Step 3: location realizes；The realization of described location is according to the fingerprint base previously having had built up and matching algorithm, in location Before, it is to be ensured that fingerprint base has had built up, and use Java language that location algorithm is suitable with locating module；Fixed During position, residing environment should be identical with LAN residing when setting up fingerprint base, and the reference point locations coordinate set gathers WiFi Information, the ambient signal intensity that will scan, mated with fingerprint base by coupling location algorithm, obtain being positioned out Position coordinates, and result is returned, it is allowed to show on interface, position coordinates is stored in data base with for later use；If Need to continue location, then client will continue executing with positioning action；After obtaining the position of multiple anchor point, Android is used to spread out The raw bag achartengine that draws a diagram realizes the monitoring of user's motion track；
Step 4: the realization of user interface；Utilize the advantage that Android interface is abundant, use when design interface one more friendly Interface, use button control to select which kind of function.
CN201610182669.6A 2016-03-28 2016-03-28 Indoor positioning and mobile track monitoring system and method thereof Pending CN105898693A (en)

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CN106535134A (en) * 2016-11-22 2017-03-22 上海斐讯数据通信技术有限公司 Multi-room locating method based on wifi and server
CN107064866A (en) * 2017-04-05 2017-08-18 河南师范大学 A kind of generation method in the dynamic fingerprint storehouse based on iBeacon indoor positionings
CN107063252A (en) * 2016-12-21 2017-08-18 上海掌腾智能科技有限公司 A kind of indoor positioning navigation system based on palm print and palm vein authentication
CN108260076A (en) * 2016-12-28 2018-07-06 中国电信股份有限公司 Method, platform and the system of unmanned plane running orbit monitoring
CN108344990A (en) * 2017-12-28 2018-07-31 中国电子科技集团公司第二十研究所 A kind of test method based on fmcw radar multiple target indoor positioning
CN108924756A (en) * 2018-06-30 2018-11-30 天津大学 Indoor orientation method based on WiFi double frequency-band
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CN109769298A (en) * 2019-04-15 2019-05-17 江西师范大学 A kind of the positioning Linear Camaera Calibrating Method and system of the RSSI value receiving WiFi based on mobile phone
CN113204715A (en) * 2021-04-13 2021-08-03 Oppo广东移动通信有限公司 User recommendation method and device, electronic equipment and storage medium
CN113205682A (en) * 2021-04-26 2021-08-03 Oppo广东移动通信有限公司 Method for determining travel track, electronic device and storage medium
CN117830958A (en) * 2024-03-04 2024-04-05 罗普特科技集团股份有限公司 Passenger clearance and weather detection management method and device and electronic equipment

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CN106535134B (en) * 2016-11-22 2020-02-11 上海斐讯数据通信技术有限公司 Multi-room positioning method based on wifi and server
CN106535134A (en) * 2016-11-22 2017-03-22 上海斐讯数据通信技术有限公司 Multi-room locating method based on wifi and server
CN106491322A (en) * 2016-12-14 2017-03-15 西安邮电大学 Blind-man crutch control system and method based on OpenCV image recognitions
CN107063252A (en) * 2016-12-21 2017-08-18 上海掌腾智能科技有限公司 A kind of indoor positioning navigation system based on palm print and palm vein authentication
CN108260076A (en) * 2016-12-28 2018-07-06 中国电信股份有限公司 Method, platform and the system of unmanned plane running orbit monitoring
CN107064866A (en) * 2017-04-05 2017-08-18 河南师范大学 A kind of generation method in the dynamic fingerprint storehouse based on iBeacon indoor positionings
CN108344990A (en) * 2017-12-28 2018-07-31 中国电子科技集团公司第二十研究所 A kind of test method based on fmcw radar multiple target indoor positioning
CN108924756A (en) * 2018-06-30 2018-11-30 天津大学 Indoor orientation method based on WiFi double frequency-band
CN108924756B (en) * 2018-06-30 2020-08-18 天津大学 Indoor positioning method based on WiFi dual-band
CN109511084A (en) * 2018-08-02 2019-03-22 上海紫越网络科技股份有限公司 Localization method, system, computer readable storage medium and the terminal of asset equipment
CN109459016A (en) * 2018-11-15 2019-03-12 上海航天控制技术研究所 A kind of micro-nano satellite cluster relative positioning method based on location fingerprint
CN109769298A (en) * 2019-04-15 2019-05-17 江西师范大学 A kind of the positioning Linear Camaera Calibrating Method and system of the RSSI value receiving WiFi based on mobile phone
CN113204715A (en) * 2021-04-13 2021-08-03 Oppo广东移动通信有限公司 User recommendation method and device, electronic equipment and storage medium
CN113204715B (en) * 2021-04-13 2024-03-29 Oppo广东移动通信有限公司 User recommendation method and device, electronic equipment and storage medium
CN113205682A (en) * 2021-04-26 2021-08-03 Oppo广东移动通信有限公司 Method for determining travel track, electronic device and storage medium
CN117830958A (en) * 2024-03-04 2024-04-05 罗普特科技集团股份有限公司 Passenger clearance and weather detection management method and device and electronic equipment
CN117830958B (en) * 2024-03-04 2024-06-11 罗普特科技集团股份有限公司 Passenger clearance and weather detection management method and device and electronic equipment

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