CN107734636A - A kind of indoor positioning algorithms and system - Google Patents
A kind of indoor positioning algorithms and system Download PDFInfo
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- CN107734636A CN107734636A CN201710828586.4A CN201710828586A CN107734636A CN 107734636 A CN107734636 A CN 107734636A CN 201710828586 A CN201710828586 A CN 201710828586A CN 107734636 A CN107734636 A CN 107734636A
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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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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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
- 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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- Computer Networks & Wireless Communication (AREA)
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
A kind of indoor positioning algorithms and system, belong to indoor positioning field.The inventive method comprises the following steps：S1, capture the signal intensity of WAP；S2, the probability that signal intensity corresponds to each position is searched, the probability of each position is calculated；S3, exclude the result for having obvious deviation；S4, it is smooth that position is carried out to position data.On the premise of the present invention does not change WiFi indoor positioning hardware conditions, enhance and signal intensity is shaken, the compensation of small magnitude signal decay, reduce the requirement of location equipment and indoor environment.The accuracy of positioning is improved, realizes 25 meters of positioning precision, meets the needs of indoor positioning.
Description
Technical field
The present invention relates to indoor positioning field, more particularly to a kind of indoor positioning algorithms and system.
Background technology
The fast development applied recently as smart mobile phone and mobile Internet, location Based service has attracted more next
More concerns.Real time positioning technology has become the basis of multiple high-level applications such as traffic, business, logistics, individual service
Technology.In an outdoor environment, GLONASS passes through long-term development, it is already possible to good positioning service is provided,
Such as global positioning system, Russian Glonass satellite navigation system (GLONASS), and China are developing and will answered
Beidou satellite navigation system (Beidou Navigation System, BDS).However, indoors in environment, due to satellite
Signal is weaker when reaching ground, can not penetrate building, and the problems such as multipath effect, global positioning system can not provide reliably
Service.Therefore, indoor positioning technologies have become a popular research direction of navigation field in recent years.
It is increasing for the demand of location technology at present.And most popular location technology is global positioning system (GPS),
This technology can obtain preferable precision in outdoor area, but due to this technology implementation itself, in room
Its stationkeeping ability significantly declines under interior environment.Therefore it is badly in need of finding a kind of feasible indoor orientation method to make up global location
The deficiency of system.
Patent of invention CN107015192A discloses indoor locating system, its specifically disclose according to include labeling apparatus,
Locating base station, excite base station and multiple excitation antennas；It is described to excite base station to connect multiple excitation antennas, the excitation antenna respectively
Installed in the indoor juncture area opening position of setting, in the positioning target that the labeling apparatus is disposed in the interior；The label is set
It is ready for use on and is moved in the setting range of any one excitation antenna, excites base station to be sent by the excitation antenna described in reception
Low frequency signal, from the low frequency signal received read send low frequency signal excitation antenna ID (identity number) ginseng
Number, is added to positioning signal, and the positioning signal is sent to locating base station by the ID parameters；The locating base station receives
The positioning signal, the arrival time of the positioning signal is recorded, the arrival time and positioning signal are reported into service end；
Wherein, the positioning signal is used to supply service end identification id parameter, and positioning target is determined according to the ID parameters and arrival time
Position.But this process employs the ID ginsengs that locating base station obtains low frequency signal, it is fixed to be determined according to ID parameters and arrival time
The position of position target, it is still necessary to not high by base station, positioning precision.
Patent of invention CN104535962A discloses a kind of indoor orientation method and indoor locating system, and it is specifically disclosed
According to the multiple wireless signal transmitters for being arranged in localization region, each wireless signal transmitter is each configured to fixed hair
Penetrate power broadcasts and send wireless signal；Mobile terminal, be configured to receive wireless signal, extract wireless signal signal characteristic and on
Reach indoor positioning server；Indoor positioning server, preserve the wireless communication of diverse location in the localization region measured in advance
Number signal characteristic, and be configured to by mobile terminal upload signal characteristic matched with the signal characteristic measured in advance, with
It is determined that position corresponding to the signal characteristic matched, mobile terminal is handed down to by the positional information determined.Using the program, carry
High indoor position accuracy and reliability.But this method simply improves positioning method, but determining of bringing of unresolved transient jitter
Position error problem.
The content of the invention
The problem of present invention exists for prior art, it is proposed that a kind of indoor positioning algorithms and system.
The present invention is averaged using in input addition time weight, reduces the error that transient jitter is brought, and in input and refers to
Rule of judgment one by one is added in the algorithm that line database is compared and, to reduce the time complexity of database comparison, improves algorithm
Speed, add nearest neighbor algorithm and small yardstick backoff algorithm to reduce the position error that signal intensity shake is brought, pass through
Time weight is carried out to outgoing position and averagely improves positioning precision.
The technical scheme is that：
A kind of indoor positioning algorithms, comprise the following steps：
S1, capture the signal intensity of WAP；
S2, the probability that signal intensity corresponds to each position is searched, the probability of each position is calculated；
S3, exclude the result for having obvious deviation；
S4, it is smooth that position is carried out to position data.
As a preference of the present invention, the signal intensity that WAP is captured in the step S1 specifically includes：
Timed process S11, record current time, generation time mark；
First obtaining step S12, multi-polling obtain the signal intensity of the WAP and recorded；
Storing step S13, information to the database of server end for sending the signal intensity with having time mark store.
As a preference of the present invention, also include before the step S2：
Step S21 is transferred, transfers the historical signal intensity received in the database；
Time smoothing step S22, current signal intensity and historical signal intensity are made into weighted average, obtain time smoothing
It is recorded after data in database.
As a preference of the present invention, also include in the step S2：
Sequence step S23, the time smoothing data are ranked up, find out corresponding signal intensity；
Finding step S24, the probability that signal intensity corresponds to each position is searched in database.
As a preference of the present invention, also include in the step S2：
Integration step S25, all WAPs are obtained into the probability multiplication of current signal strength in the position,
Obtain the probability in the position.
As a preference of the present invention, the step S3 includes：
Second obtaining step S31, the probability of each position is obtained once in positioning result database；
Exclude step S32, to the step S2 obtain probability it is descending be ranked up and with last time position it is general
Rate is compared, if both have big difference, is cleaned the data and is excluded obvious deviation point.
As a preference of the present invention, also include before the step S4：
Calculation procedure S41, calculate the weighting coordinate for the probability for obtaining position.
As a preference of the present invention, the step S4 includes：
The position weighting coordinate of the weighting coordinate and history is weighted mean deviation and is stored to the positioning result data
In storehouse.
A kind of indoor locating system, including：
Trapping module, for capturing the signal intensity of WAP；
Computing module, the probability of each position is corresponded to for searching signal intensity, the probability of each position is calculated；
Module is excluded, for the result for excluding to have obvious deviation；
Position Leveling Block, it is smooth for carrying out position to position data.
As a preference of the present invention, the computing module includes：
Unit is transferred, for the historical signal intensity received in called data storehouse；
Time smoothing unit, for current signal intensity and historical signal intensity to be made into weighted average, the acquisition time puts down
It is recorded after sliding data in database；
Sequencing unit, for being ranked up to the time smoothing data, find out corresponding signal intensity；
Searching unit, the probability for corresponding to each position for searching signal intensity in database；
Integral unit, for all WAPs to be obtained into the probability phase of current signal strength in the position
Multiply, obtain the probability in the position.
Brief description of the drawings
Fig. 1 is a kind of flow chart of indoor positioning algorithms of the present invention；
Fig. 2 is step S1 of the present invention flow chart；
Fig. 3 is step S2 of the present invention flow chart；
Fig. 4 is step S3 of the present invention flow chart；
Fig. 5 is a kind of block diagram of indoor locating system of the present invention；
Fig. 6 is the block diagram of computing module of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.Based on the embodiment in the present invention, those of ordinary skill in the art are not before creative work is made
The every other embodiment obtained is put, belongs to the scope of protection of the invention.It should be noted that it is related in the present invention
The description of " first ", " second " etc. is only used for describing purpose, and it is not intended that indicating or implying its relative importance or hidden
Containing the quantity for indicating indicated technical characteristic.Thus, " first " is defined, the feature of " second " can be expressed or impliedly
Including at least one this feature.In addition, the technical scheme between each embodiment can be combined with each other, but must be with ability
Domain those of ordinary skill can be implemented as basis, will be understood that when the combination appearance of technical scheme is conflicting or can not realize
The combination of this technical scheme is not present, also not within the protection domain of application claims.
Under current regular situation, according to the multiple wireless signal transmitters for being arranged in localization region, each wireless signal
Transmitter is each configured to fixed transmission power broadcast transmission wireless signal；Mobile terminal, it is configured to receive wireless signal,
Extract the signal characteristic of wireless signal and be uploaded to indoor positioning server；Indoor positioning server, preserves what is measured in advance
The signal characteristic of the wireless signal of diverse location in localization region, and be configured to by mobile terminal upload signal characteristic with advance
The signal characteristic measured is matched, to determine position corresponding to the signal characteristic matched, by under the positional information determined
Issue mobile terminal.
In the present invention, the indoor positioning algorithms based on wireless network and mobile terminal are designed, are realized algorithmically
The root problem of fingerprint location precision deficiency is made up, is averaged by adding time weight in input, transient jitter is reduced and brings
Error, Rule of judgment one by one is added in the algorithm that is compared with fingerprint database of input to reduce that database compares when
Between complexity, improve the speed of algorithm, add nearest neighbor algorithm and small yardstick backoff algorithm to reduce signal intensity shake band
The position error come, positioning precision is averagely improved by carrying out time weight to outgoing position.
It is the specific embodiment of the invention below.
Embodiment 1
Positioning under indoor environment is always the field that many problems are not solved.Due to signal deep fades and
Multipath effect, general outdoor positioning facility (such as GPS) can not effectively work in building.Positioning accuracy is also
Perhaps, one problem, GPS may indicate that mobile device in which building, but under indoor scene, and it is desirable to obtain more
Accurate indoor location, this needs more accurate cartographic information and Geng Gao positioning precision.
The present invention relates to the localization method based on wireless signal, at the same using statistical method (including smooth and normalizing), most
Nearest neighbor algorithm, small yardstick backoff algorithm improve positioning precision.
Such as Fig. 1-4, a kind of indoor positioning algorithms of the present invention, comprise the following steps：
S1, capture the signal intensity of WAP.
By the client application software in terminal, the central processing unit with certain frequency by terminal
(CPU) inquiry is regularly sent, sequentially inquires whether each WAP can provide the service of wireless network, end can be received
The WAP transmission power broadcast that end sends inquiry feeds back to terminal CPU, and terminal CPU services receive feedback while are somebody's turn to do
Signal intensity caused by WAP relative termination CPU, is inquired, is then constantly gone round and begun again next time again after terminating.
Further, the polling mode that uses is multi-polling in the present invention, and on same time point, terminal is to can connect
Inquired by multiple WAPs of inquiry command.
Finally the access point AP signal strength informations captured are recorded, and are sent to server end.
The signal intensity that WAP is captured in the step S1 specifically includes：
Timed process S11, record current time, generation time mark.
First obtaining step S12, multi-polling obtain the signal intensity of the WAP and recorded.
Storing step S13, information to the database of server end for sending the signal intensity with having time mark store.
Multiple wireless signal transmitters are arranged in localization region, with fixed transmission power broadcast transmission wireless signal,
And the structure of localization region is fixed, according to the attenuation principle of wireless signal, the letter of each wireless signal transmitter transmission
What the signal characteristic of number position a certain in localization region was to determine, thus in advance in measurement and positioning region each position signal,
Extract signal characteristic.
When terminal is inquired by multi-polling mode to WAP indoors, client application record
The current time, production time mark, and create and head is labeled as with the time, the letter of the corresponding WAP obtained containing inquiry
The data of number strength information, and the corresponding database for being stored into server end, produce the data list being labeled with the time.
S2, the probability that signal intensity corresponds to each position is searched, the probability of each position is calculated.
Before measuring, substantial amounts of datamation has been carried out in advance, has been created containing the various WAPs of history
The database of signal intensity.
By the signal intensity received and before reception to signal intensity make weighted average, with the letter at current time
Number intensity level as weight limit, it is more long before weight it is smaller, while the data at current time recorded in database.
Also include before the step S2：
Step S21 is transferred, transfers the historical signal intensity received in the database.
Found in database well-established before obtained in same place historical record can receive signal
Single WAP historical signal intensity.
Time smoothing is to be weighted averagely with the value at certain moment and its front and rear some moment, and income value is as the moment
Substitution value is to filter off the method for microvariations.The root problem of fingerprint location precision deficiency is algorithmically made up, by input
Add time weight to be averaged, reduce the error that transient jitter is brought.
Time smoothing step S22, current signal intensity and historical signal intensity are made into weighted average, obtain time smoothing
It is recorded after data in database.
By the signal intensity received and before reception to signal intensity make weighted average, with the letter at current time
Number intensity level as weight limit, it is more long before weight it is smaller.Finally by time smoothing, i.e. usage time weighted average,
The place for calculating acquisition current time receives the signal strength data of the WAP, and the data storage that will be calculated
Into database.
Further, the time weighting in the step by the operating personnel of execution indoor positioning algorithms according to specific indoor ring
Depending on border and history time of measuring length.
Also include in the step S2：
Smoothed signal intensity is ranked up, searched by lookup algorithm in database the signal intensity correspond to it is each
The probability of individual position.
Sequence step S23, the time smoothing data are ranked up, find out corresponding signal intensity.
Location fingerprint method is used in the step, the database established before (can be regarded as the finger in location fingerprint method
Line database)." location fingerprint " connects the position in actual environment and certain " fingerprint ", and a position correspondence one is solely
Special fingerprint.This fingerprint can be one-dimensional or multidimensional, for example equipment to be positioned is in reception or transmission information, then fingerprint
Can be this information or a feature of signal or multiple features (most commonly signal intensity).Include before pass through when
Between in smoothed signal strength data storehouse, all data are ranked up.
Find out corresponding signal intensity simultaneously.
Finding step S24, the probability that signal intensity corresponds to each position is searched in database.
Further, in small range indoor location location Calculation, the smoothed signal intensity of preferred pair is ranked up, and is taken
Go out signal intensity most strong 4-6, search the probability that the signal intensity corresponds to each position in database by lookup algorithm.
Integration step S25, all WAPs are obtained into the probability multiplication of current signal strength in the position,
Obtain the probability in the position.
The probability of the signal intensity of different radio access point is integrated in same position, i.e., by each WAP
The probability multiplication of current signal strength is obtained in the position, obtains probability of the terminal in the position.Such as terminal obtains on location A
It is X to obtain signal intensity1Probability is 80%, and it is X that terminal obtains signal intensity on location A2Probability is 40%, and terminal is on location A
Acquisition signal intensity is X3Probability is 75%, then probability of the terminal on location A is 80% × 40% × 75%=24%.
S3, exclude the result for having obvious deviation.
Nearest neighbor algorithm and small yardstick backoff algorithm are added to reduce the position error that signal intensity shake is brought.
The positioning result of last moment is first taken out, then each position of previous step output is ranked up according to probability,
Descending from probability, compared with the positioning result of last moment, if finding, the position differs with the result of last moment
It is excessive, then directly cast out the position, be so repeated up to and find sufficient amount of location point.
The data of acquisition are calculated probability and, i.e., the coordinate of each position is multiplied by the probability of the position, by all results
It is added again divided by total probability.
The step S3 includes：
Second obtaining step S31, the probability of each position is obtained once in positioning result database；
Exclude step S32, to the step S2 obtain probability it is descending be ranked up and with last time position it is general
Rate is compared, if both have big difference, is cleaned the data and is excluded obvious deviation point.
In position fixing process, positioning action can be carried out to diverse location, two positions are certainly adjacent position in succession, in hyposynchronization
Nearest neighbor algorithm is applied in rapid, realizes that statistics calculates again to the weightization of Primary Stage Data and normalization, analyzes adjacent two
Individual position data, if both have big difference, clean the data and exclude obvious deviation point.
S4, it is smooth that position is carried out to position data.
Due to multipath fading phenomenon be present, when terminal moves a small distance, reception signal in a short time quick
Fluctuation, when signal is propagated in macrocell environment, will necessarily reflect.Known by reflection theorem, the portion of energy of signal is anti-
(such as ground, trees) is absorbed by reflector when penetrating, so as to result in average path loss.It is described added in engineering is calculated it is small
Yardstick compensates, and the result that the moment is calculated is weighted the result after averagely, obtaining smoothly as defeated with position before
Go out, while be stored in a database, to repeat to call afterwards.
Embodiment 2
Such as Fig. 5-6, a kind of indoor locating system of the present invention, including：
Trapping module, for capturing the signal intensity of WAP.
Computing module, the probability of each position is corresponded to for searching signal intensity, the probability of each position is calculated.
The computing module includes：
Unit is transferred, for the historical signal intensity received in called data storehouse.
Time smoothing unit, for current signal intensity and historical signal intensity to be made into weighted average, the acquisition time puts down
It is recorded after sliding data in database.
Sequencing unit, for being ranked up to the time smoothing data, find out corresponding signal intensity.
Searching unit, the probability for corresponding to each position for searching signal intensity in database.
Integral unit, for all WAPs to be obtained into the probability phase of current signal strength in the position
Multiply, obtain the probability in the position.
Module is excluded, for the result for excluding to have obvious deviation.
Position Leveling Block, it is smooth for carrying out position to position data.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (10)
1. a kind of indoor positioning algorithms, it is characterised in that comprise the following steps：
S1, capture the signal intensity of WAP；
S2, the probability that signal intensity corresponds to each position is searched, the probability of each position is calculated；
S3, exclude the result for having obvious deviation；
S4, it is smooth that position is carried out to position data.
2. a kind of indoor positioning algorithms according to power requires 1, it is characterised in that capture WAP in the step S1
Signal intensity specifically include：
Timed process S11, record current time, generation time mark；
First obtaining step S12, multi-polling obtain the signal intensity of the WAP and recorded；
Storing step S13, information to the database of server end for sending the signal intensity with having time mark store.
3. a kind of indoor positioning algorithms according to power requires 2, it is characterised in that also include before the step S2：
Step S21 is transferred, transfers the historical signal intensity received in the database；
Time smoothing step S22, current signal intensity and historical signal intensity are made into weighted average, obtain time smoothing data
After recorded in database.
4. a kind of indoor positioning algorithms according to power requires 3, it is characterised in that also include in the step S2：
Sequence step S23, the time smoothing data are ranked up, find out corresponding signal intensity；
Finding step S24, the probability that signal intensity corresponds to each position is searched in database.
5. a kind of indoor positioning algorithms according to power requires 4, it is characterised in that also include in the step S2：
Integration step S25, all WAPs are obtained into the probability multiplication of current signal strength in the position, obtained
Probability in the position.
6. a kind of indoor positioning algorithms according to power requires 1, it is characterised in that the step S3 includes：
Second obtaining step S31, the probability of each position is obtained once in positioning result database；
Step S32 is excluded, the probability obtained to the step S2 is descending to be ranked up and enter with the location probability of last time
Row compares, if both have big difference, cleans the data and excludes obvious deviation point.
7. a kind of indoor positioning algorithms according to power requires 6, it is characterised in that also include before the step S4：
Calculation procedure S41, calculate the weighting coordinate for the probability for obtaining position.
8. a kind of indoor positioning algorithms according to power requires 7, it is characterised in that the step S4 includes：
The position weighting coordinate of the weighting coordinate and history is weighted into mean deviation to be stored in the positioning result database.
A kind of 9. indoor locating system, it is characterised in that including：
Trapping module, for capturing the signal intensity of WAP；
Computing module, the probability of each position is corresponded to for searching signal intensity, the probability of each position is calculated；
Module is excluded, for the result for excluding to have obvious deviation；
Position Leveling Block, it is smooth for carrying out position to position data.
10. a kind of indoor locating system according to power requires 9, it is characterised in that the computing module includes：
Unit is transferred, for the historical signal intensity received in called data storehouse；
Time smoothing unit, for current signal intensity and historical signal intensity to be made into weighted average, obtain time smoothing number
It is recorded after in database；
Sequencing unit, for being ranked up to the time smoothing data, find out corresponding signal intensity；
Searching unit, the probability for corresponding to each position for searching signal intensity in database；
Integral unit, for all WAPs to be obtained into the probability multiplication of current signal strength in the position, obtain
To the probability in the position.
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| CN109874172A (en) * | 2019-02-25 | 2019-06-11 | 广州市香港科大***研究院 | A kind of bluetooth localization method, device, equipment and system |
| CN111885494A (en) * | 2020-08-05 | 2020-11-03 | 深圳云里物里科技股份有限公司 | Social distance warning method, device, equipment and medium |
| CN112614255A (en) * | 2020-12-09 | 2021-04-06 | 广州橙行智动汽车科技有限公司 | Vehicle position detection method and device, and unlocking control method and device |
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| CN104535962A (en) * | 2014-12-24 | 2015-04-22 | 北京奇虎科技有限公司 | Indoor positioning method and system |
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| CN103200678A (en) * | 2013-04-09 | 2013-07-10 | 南京信息工程大学 | Android device wireless fidelity (WiFi) indoor locating method based on position fingerprint identification algorithm |
| CN103581831A (en) * | 2013-10-12 | 2014-02-12 | 上海交通大学 | Indoor locating algorithm based on WiFi and mobile terminal |
| CN104535962A (en) * | 2014-12-24 | 2015-04-22 | 北京奇虎科技有限公司 | Indoor positioning method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109874172A (en) * | 2019-02-25 | 2019-06-11 | 广州市香港科大***研究院 | A kind of bluetooth localization method, device, equipment and system |
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| CN112614255A (en) * | 2020-12-09 | 2021-04-06 | 广州橙行智动汽车科技有限公司 | Vehicle position detection method and device, and unlocking control method and device |
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Application publication date: 20180223 |