CN107356902B - WiFi positioning fingerprint data automatic acquisition method - Google Patents
WiFi positioning fingerprint data automatic acquisition method Download PDFInfo
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- CN107356902B CN107356902B CN201710431579.0A CN201710431579A CN107356902B CN 107356902 B CN107356902 B CN 107356902B CN 201710431579 A CN201710431579 A CN 201710431579A CN 107356902 B CN107356902 B CN 107356902B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
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Abstract
The invention discloses a WiFi positioning fingerprint data automatic acquisition method, wherein an acquisition point information module sends coordinate information of a signal acquisition point to a map matching module; the mobile equipment starts to move from an initial point, and an ultrasonic probe is utilized to monitor whether an obstacle exists in front of the mobile equipment; in the process that the mobile equipment runs from a certain signal acquisition point to the next acquisition point, a pedometer of the positioning module measures the distance between the two points, the direction sensor acquires the running angle information of the mobile equipment, the specific position information of the acquisition point is calculated by combining the two parts of information, and the result is sent to the map matching module; the map information imported by the acquisition point information module and received by the map matching module is compared with the coordinate information calculated by the positioning module, and the comparison result is transmitted to the position correction module; and when the mobile equipment reaches the set coordinate point position, starting the WiFi communication module to collect data and transmitting the data to the information storage module for storage. The invention can greatly ensure the effectiveness and accuracy of the collected data.
Description
Technical Field
The invention relates to a WiFi positioning fingerprint data automatic acquisition method, and belongs to the field of indoor positioning.
Background
Since spatial Location information is becoming more and more important in various fields of daily life, in recent years, people have attracted attention to Location-based Services (LBS), and demand for Location-based Services is increasing, particularly in a complicated indoor environment. The wireless positioning technology based on the WIFI network is a hotspot of current research due to wide deployment and low cost. The common method of the WiFi positioning technology is a position fingerprint positioning method, and the fingerprint positioning algorithm is a set of algorithm provided based on the electromagnetic characteristic that different signal strength information is formed at different positions and formed by signal reflection and refraction under the condition that the indoor environment is complex. The method comprises the steps of acquiring a large amount of fingerprint data to establish a position fingerprint database in an off-line stage (namely acquiring signal strength data to generate a fingerprint signal strength database in the off-line stage), acquiring a certain point in real time in an on-line positioning stage, measuring a group of signal strength data (RSSI) values of the point, matching the acquired data with the data in the fingerprint database, and obtaining the position information of the data through a positioning algorithm. The larger the off-line generated fingerprint signal strength database is, the smaller the positioning error of on-line positioning is. To ensure the positioning accuracy, a large amount of data needs to be acquired in an off-line stage, which requires more acquisition points and more acquisition times for positioning fingerprint distribution.
The traditional signal intensity data acquisition is manually carried out one by one signal acquisition point, along with the increase of the signal acquisition points (the signal acquisition points are increased, the positioning range can be reduced, and the positioning error is reduced), the acquisition times are increased (the more the acquisition times, the more the signal intensity data are obtained, the more the interference of burst signals to the acquired data can be avoided, the reliability of the data is increased, the positioning accuracy and the error rate are ensured, and the time required by acquiring the signal intensity data is multiplied. Manually acquiring signal intensity data not only wastes valuable time of a plurality of people, but also has low accuracy of acquired and recorded data (people can generate certain influence on the acquired data in an acquisition environment, and manual recording handwriting can be wrong a little).
Disclosure of Invention
The invention aims to provide an automatic WiFi positioning fingerprint data acquisition method aiming at the trouble and inaccuracy of manually acquiring WiFi signal intensity data.
The technical scheme of the invention is as follows: a WiFi positioning fingerprint data automatic acquisition method comprises the following specific steps:
step 1, distributing acquisition points according to the actual condition of a measuring environment, importing map information of the acquisition points into an acquisition point information module 1 of the mobile equipment, and sending coordinate information of signal acquisition points to a map matching module 4 by the acquisition point information module 1;
step 4, comparing the map information imported by the acquisition point information module 1 received by the map matching module 4 with the coordinate information calculated by the positioning module 3, transmitting the comparison result to the position correction module 5, and judging whether the position result is correct or not through the position correction module 5: if the error is found, carrying out offset correction; otherwise, the specified acquisition point is reached;
step 5, when the mobile equipment reaches the set coordinate point position, starting a WiFi communication module 6 to collect data;
and 6, the WiFi communication module 6 transmits the WiFi signal strength fingerprint data and the position information to the information storage module 7 for storage.
The mobile equipment consists of an acquisition point information module 1, an obstacle avoidance module 2, a positioning module 3, a map matching module 4, a position correction module 5, a WiFi communication module 6 and an information storage module 7; the obstacle avoidance module 2 is connected with the positioning module 3, the acquisition point information module 1 and the positioning module 3 are connected with the map matching module 4, the map matching module 4 is connected with the position correction module 5, and the position correction module 5 is connected with the information storage module 7 through the WiFi communication module 6.
The WiFi communication module 6 consists of a WiFi wireless transparent transmission module and a data transmission module; the WiFi wireless transparent transmission module is used for collecting WiFi signal strength fingerprint data and transmitting the information to the information storage module 7, and the data transmission module is used for transmitting the position information to the information storage module 7.
The invention has the beneficial effects that: the invention utilizes the ultrasonic ranging technology to avoid obstacles, utilizes the pedometer and the direction sensor to judge the moving track and the position information of the equipment, and combines the principle of terrain matching to realize accurate positioning, thereby realizing fixed-point acquisition of WiFi signal intensity information. The method can reduce labor cost, improve data acquisition efficiency, and greatly ensure validity and accuracy of acquired data.
Drawings
FIG. 1 is a block diagram of the structure of modules of the present invention;
FIG. 2 is a schematic diagram of the operation of the modules of the present invention;
FIG. 3 is a flow chart of the method of the present invention;
FIG. 4 is a block diagram of an obstacle avoidance module according to the present invention;
the reference numbers in the figures: the system comprises a 1-acquisition point information module, a 2-obstacle avoidance module, a 3-positioning module, a 4-map matching module, a 5-position correction module, a 6-WiFi communication module and a 7-information storage module.
Detailed Description
The invention will be further described with reference to the following figures and examples, without however restricting the scope of the invention thereto.
Example 1: as shown in fig. 1-4, a WiFi positioning fingerprint data automatic acquisition method includes the following specific steps:
step 1, distributing acquisition points according to the actual condition of a measuring environment, importing map information of the acquisition points into an acquisition point information module 1 of the mobile equipment, and sending coordinate information of signal acquisition points to a map matching module 4 by the acquisition point information module 1;
step 4, comparing the map information imported by the acquisition point information module 1 received by the map matching module 4 with the coordinate information calculated by the positioning module 3, transmitting the comparison result to the position correction module 5, and judging whether the position result is correct or not through the position correction module 5: if the error is found, carrying out offset correction; otherwise, the specified acquisition point is reached;
step 5, when the mobile equipment reaches the set coordinate point position, starting a WiFi communication module 6 to collect data;
and 6, the WiFi communication module 6 transmits the WiFi signal strength fingerprint data and the position information to the information storage module 7 for storage.
The mobile device structure may be: the system comprises an acquisition point information module 1, an obstacle avoidance module 2, a positioning module 3, a map matching module 4, a position correction module 5, a WiFi communication module 6 and an information storage module 7; the obstacle avoidance module 2 is connected with the positioning module 3, the acquisition point information module 1 and the positioning module 3 are connected with the map matching module 4, the map matching module 4 is connected with the position correction module 5, and the position correction module 5 is connected with the information storage module 7 through the WiFi communication module 6.
The WiFi communication module 6 may be: the wireless communication system is composed of a WiFi wireless transparent transmission module and a data transmission module; the WiFi wireless transparent transmission module is used for collecting WiFi signal strength fingerprint data and transmitting the information to the information storage module 7, and the data transmission module is used for transmitting the position information to the information storage module 7. Such as: the WiFi wireless transparent transmission module can be an HX-M02WiFi wireless transparent transmission module.
As shown in fig. 4, the obstacle avoidance module 2 monitors whether an obstacle exists in front of the module by using an ultrasonic probe, and the front end of the obstacle avoidance module 2 is mainly a transmitting and receiving circuit of a common distance meter composed of 2 40KC ultrasonic probes; the ultrasonic transmitting end transmits ultrasonic waves, the sound waves are reflected back when encountering an obstacle after being transmitted and are received by the ultrasonic receiving end, so that whether the obstacle exists in front or not can be judged, the distance from the obstacle can be calculated, the propagation speed of the ultrasonic waves in the air is known, the time of the sound waves reflected back when encountering the obstacle after being transmitted is measured, the actual distance from the transmitting point to the obstacle is calculated according to the time difference between transmitting and receiving, and the movement of the equipment is interrupted.
The direction sensor mainly adopts a gyroscope and a magnetometer, the angular speed is calculated through the gyroscope, the magnetometer measures included angles between the current equipment and four directions of the south, the east and the west, so that the space motion state of an object is judged through the included angles and the angular speed, the distance between two points is measured through the pedometer, and coordinate information can be calculated through combining angle information obtained by the direction sensor. The pedometer is a tool for measuring and calculating calorie or calorie consumption by counting data such as step number, distance, speed, time and the like, and is used for controlling exercise amount and preventing insufficient exercise amount or excessive exercise amount. Older pedometers use mechanical motion to drive sensors (the working principle is generally a small freely movable weight, the physical inertia of the device is used to generate the mutual motion between the device and the weight, the motion is checked by a sensing element, the sensor can use a mechanical switch to open or close two metal sheets, a photoelectric switch or a Hall element to detect the motion by adding a magnet on the weight), and the electronic circuit completes the subsequent work after counting, such as counting, storage, calculation, display, etc.
The map matching module 5 is mainly used for matching the position information calculated by the positioning module 3 with the read reference point information on the map, for example, if the initial direction angle of the reference point right ahead of the initial point is 0 degree, the initial direction angle is not matched if the driving direction angles of the mobile devices are different.
The position correction module 5 mainly adjusts the speed and the offset direction of the mobile device according to the offset amount to make the mobile device fine-adjust to the position of the reference point, for example, when the mobile device travels to the reference point right ahead of the initial point, the initial direction angle should be 0 degree originally, but the traveling direction of the mobile device is 10 degrees to the right, the position of the mobile device can be known according to the sine and cosine theorem of the triangle, that is, the horizontal moving distance and the vertical moving distance of the mobile device are known, the same distance is traveled in the opposite direction on the horizontal position, and the reference point can be returned to by traveling in the vertical direction.
When a simulation test is carried out, distribution of acquisition point information is mainly to divide an area in a grid form, select 1m by 1m in size, mark acquisition points in a coordinate form and guide plan information into mobile equipment through CAD drawing; meanwhile, the mobile device is made into driving routes, and the driving routes are used for driving the mobile device through driving commands of codes.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (2)
1. A WiFi positioning fingerprint data automatic acquisition method is characterized in that: the method comprises the following specific steps:
step 1, distributing acquisition points according to the actual condition of a measuring environment, importing map information of the acquisition points into an acquisition point information module (1) of the mobile equipment, and sending coordinate information of signal acquisition points to a map matching module (4) by the acquisition point information module (1);
step 2, determining an initial point of the mobile equipment, starting the mobile equipment to move from the initial point, keeping the obstacle avoidance module (2) in a working state all the time, and monitoring whether an obstacle exists in front by using an ultrasonic probe: if the mobile equipment touches an obstacle, the mobile equipment stops moving until no obstacle exists, and the mobile equipment continues moving;
step 3, when the mobile equipment runs in a moving mode, the positioning module (3) is in a working state, in the process that the mobile equipment runs from a certain signal acquisition point to a next acquisition point, a pedometer of the positioning module (3) measures the distance between the two points, a direction sensor acquires the running angle information of the mobile equipment, the specific position information, namely coordinate information, of the acquisition point is calculated by combining the two parts of information, and the result is sent to the map matching module (4);
step 4, comparing the map information imported by the acquisition point information module (1) received by the map matching module (4) with the coordinate information calculated by the positioning module (3), transmitting the comparison result to the position correction module (5), and judging whether the position result is correct through the position correction module (5): if the error is found, carrying out offset correction; otherwise, the specified acquisition point is reached;
step 5, when the mobile equipment reaches the set coordinate point position, starting a WiFi communication module (6) to collect data;
step 6, the WiFi communication module (6) transmits the WiFi signal intensity fingerprint data and the position information to the information storage module (7) for storage;
the mobile equipment consists of an acquisition point information module (1), an obstacle avoidance module (2), a positioning module (3), a map matching module (4), a position correction module (5), a WiFi communication module (6) and an information storage module (7); the obstacle avoidance module (2) is connected with the positioning module (3), the acquisition point information module (1) and the positioning module (3) are connected with the map matching module (4), the map matching module (4) is connected with the position correction module (5), and the position correction module (5) is connected with the information storage module (7) through the WiFi communication module (6).
2. The WiFi positioning fingerprint data auto-collection method of claim 1, wherein: the WiFi communication module (6) is composed of a WiFi wireless transparent transmission module and a data transmission module; the WiFi wireless transparent transmission module is used for collecting WiFi signal strength fingerprint data and transmitting the information to the information storage module (7), and the data transmission module is used for transmitting the position information to the information storage module (7).
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| CN108107915A (en) * | 2018-01-27 | 2018-06-01 | 广东容祺智能科技有限公司 | A kind of unmanned plane positioning searching system |
| CN108882169B (en) * | 2018-04-10 | 2020-11-03 | 北京三快在线科技有限公司 | WiFi position fingerprint data acquisition method and device and robot |
| CN111432346A (en) * | 2020-04-10 | 2020-07-17 | 桂林电子科技大学 | WiFi fingerprint automatic acquisition device |
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| CN103335652B (en) * | 2013-06-24 | 2016-06-08 | 陕西科技大学 | The dining room path guiding system of a kind of robot and air navigation aid |
| CN103674028A (en) * | 2013-12-27 | 2014-03-26 | 上海大唐移动通信设备有限公司 | Positioning test method and positioning test device of indoor advancing track |
| CN105282764A (en) * | 2014-06-30 | 2016-01-27 | 上海酷远物联网科技有限公司 | WIFI signal intensity acquisition method |
| CN104202725B (en) * | 2014-08-22 | 2018-08-07 | 百度在线网络技术（北京）有限公司 | Indoor fingerprint collecting method, device and equipment |
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