CN107860358A - Localization method, system, readable storage medium storing program for executing and the intelligent terminal of floor - Google Patents
Localization method, system, readable storage medium storing program for executing and the intelligent terminal of floor Download PDFInfo
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- CN107860358A CN107860358A CN201711078446.6A CN201711078446A CN107860358A CN 107860358 A CN107860358 A CN 107860358A CN 201711078446 A CN201711078446 A CN 201711078446A CN 107860358 A CN107860358 A CN 107860358A
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- floor
- atmospheric pressure
- pressure value
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
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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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- 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
- G01S5/0257—Hybrid positioning
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention proposes a kind of localization method of floor, system, readable storage medium storing program for executing and intelligent terminal, and methods described includes：The observed quantity data that data acquisition equipment collects are received, and observed quantity data are pre-processed, wherein observed quantity data include multiple atmospheric pressure values and multiple WIFI signal intensity instruction vector；Calculate the instruction vector similarity between any two WIFI signal intensity instruction vector, it is more than default similarity threshold when determining instruction vector similarity, air pressure demarcation is then carried out to each atmospheric pressure value respectively to obtain multiple first atmospheric pressure values, at least one is floor atmospheric pressure value to be positioned in plurality of first atmospheric pressure value；One relative elevation height is calculated according to floor atmospheric pressure value to be positioned and a plane of reference atmospheric pressure value, and corresponding number of floor levels is highly calculated according to relative elevation.The localization method of floor proposed by the present invention, the positioning precision of floor is improved, meets practical application request.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of localization method of floor, system, readable storage medium storing program for executing
And intelligent terminal.
Background technology
In the modern life, location technology is a particularly important application, is widely used in military and civilian aspect,
Particularly important role is play in the development of modern society.Current location technology is generally divided into outdoor positioning and interior
Positioning, wherein outdoor positioning technology has developed highly developed, and accuracy is very high.Indoor positioning is due to factors
Interference, the precision of positioning still have much room for improvement.
It is well known that in outdoor positioning, the measurement and laser-measured height of elevation are mainly carried out using GPS.But
Indoors under environment, following limitation be present：(1) masking of the building to satellite-signal so that the weak output signal of indoor GPS, because
And it is difficult to use in the carry out measurement of higher degree；(2) the specific equipment of laser-measured height needs, cost are too high.Based on this problem, prior art
In, according to obvious correlation between air pressure and height above sea level be present, the baroceptor carried by smart mobile phone carries out high
The measurement of journey, to realize the requirement of indoor floor location.
However, because the baroceptor of the smart mobile phone carrying of different model has the isomery of hardware, cause same
Larger difference between the barometric information that time, same position are collected being present, this will undoubtedly reduce the precision of floor location,
Cause the erroneous judgement of floor.
The content of the invention
In view of above-mentioned condition, it is necessary to solve in the prior art, the air pressure transmission carried due to the smart mobile phone of different model
There is the isomery of hardware in sensor, cause larger difference between the barometric information that same time, same position are collected be present
It is different, and then the problem of reduction floor location precision.
The embodiments of the invention provide a kind of localization method of floor, floor is positioned applied to an intelligent terminal,
Carry out data transmission between the intelligent terminal and multiple data acquisition equipments, wherein, methods described comprises the following steps：
The observed quantity data that the data acquisition equipment collects are received, and the observed quantity data are pre-processed,
Wherein described observed quantity data include multiple atmospheric pressure values and multiple WIFI signal intensity instruction vector；
The instruction vector similarity between WIFI signal intensity instruction vector described in any two is calculated, it is described when determining
Indicate that vector similarity is more than default similarity threshold, then it is multiple to obtain to carry out air pressure demarcation to each atmospheric pressure value respectively
First atmospheric pressure value, at least one is floor atmospheric pressure value to be positioned in plurality of first atmospheric pressure value；
One relative elevation height, and root are calculated according to the floor atmospheric pressure value to be positioned and a plane of reference atmospheric pressure value
Corresponding number of floor levels is highly calculated according to the relative elevation.
The localization method of floor proposed by the present invention, the observed quantity data that data acquisition equipment collects, bag are received first
Atmospheric pressure value and WIFI signal intensity instruction vector are included, then calculates the finger between any two WIFI signal intensity instruction vector
Show vector similarity, when the instruction vector similarity is more than default similarity threshold, now can be determined that two WIFI letters
Data acquisition equipment is in same floor corresponding to number intensity instruction vector, and is positioned adjacent to, because two data acquisitions are set
Standby model may be different, and the corresponding atmospheric pressure value collected may also (atmospheric pressure value of adjacent position should be phase to difference in theory
Together), the atmospheric pressure value therefore now collected to two data acquisition equipments carries out demarcation correction to obtain the first atmospheric pressure value,
Then height above sea level corresponding to being calculated according to floor atmospheric pressure value to be positioned and plane of reference atmospheric pressure value and then calculating are true
Number of floor levels corresponding to fixed.The localization method of floor proposed by the present invention, can effectively it eliminate because the smart mobile phone of different model is taken
The baroceptor of load causes collected barometric information different and influences asking for floor location precision because hardware configuration is different
Topic, improves the positioning precision of floor, meets practical application request.
In addition, the localization method of floor according to the above embodiment of the present invention, can also have technology additional as follows special
Sign：
The localization method of the floor, wherein, described the step of being pre-processed to the observed quantity data, includes：
According to formulaMultiple atmospheric pressure values are carried out taking average value processing, are averaged with obtaining an air pressure
Value；
According to formulaTo more
The individual WIFI signal intensity instruction vector carries out average value processing, to obtain a WIFI signal average strength；
Wherein, Pre is the air pressure average value, PreiFor the atmospheric pressure value, (RSSI1, RSSI2..., RSSIn) for institute
State WIFI signal average strength, RSSIinIndicated for single WIFI signal intensity, m is that wherein one data acquisition equipment is adopted
The quantity of the atmospheric pressure value collected or WIFI signal intensity instruction vector, i are independent variable, and n is the wireless routing set
The quantity of device.
The localization method of the floor, wherein, between WIFI signal intensity instruction vector described in the calculating any two
Instruction vector similarity the step of include：
According to formulaMeter
Calculate the Euclidean distance between WIFI signal intensity instruction vector described in any two；
According to formulaThe instruction vector similarity is calculated；
Wherein, dABFor the Euclidean distance, θABFor the instruction vector similarity, RSSInAConnect for data acquisition equipment A
Receive the WIFI signal intensity instruction that the wireless router that numbering is n is sent.
The localization method of the floor, wherein, the data acquisition equipment includes a variety of different types, described to each institute
Stating the step of atmospheric pressure value progress air pressure demarcation is to obtain multiple first atmospheric pressure values includes：
The data acquisition equipment of selected one of which type is type equipment, is adopted with the type equipment
The atmospheric pressure value integrated calculates the draught head between the atmospheric pressure value of acquisition and the standard pressure value as standard pressure value
Value；
According to the air pressure difference, the institute collected to the data acquisition equipment in addition to the type equipment
State atmospheric pressure value and carry out air pressure correction to obtain first atmospheric pressure value.
The localization method of the floor, wherein, it is described according to the floor atmospheric pressure value to be positioned and a plane of reference air pressure
The method that a relative elevation height is calculated in value comprises the following steps：
According to formulaThe relative elevation height is calculated；
Wherein, Δ h01For relative elevation height, P'0For the plane of reference atmospheric pressure value, P'1For the floor to be positioned
Atmospheric pressure value, ε be air thermal coefficient of expansion, T01For the average atmospheric temperature between the plane of reference and floor to be positioned.
The localization method of the floor, wherein, it is described that corresponding number of floor levels is highly calculated according to the relative elevation
Method comprise the following steps：
According to formula x=Δs h01/h0+ 1 is calculated the number of floor levels；
Wherein h0For every layer of floor height of building, x is the number of floor levels.
The present invention also proposes a kind of alignment system of floor, floor is positioned applied to an intelligent terminal, the intelligence
It can carry out data transmission between terminal and multiple data acquisition equipments, wherein, the system includes：
Data reception module, the observed quantity data collected for receiving the data acquisition equipment, and to the observation
Amount data are pre-processed, wherein the observed quantity data include multiple atmospheric pressure values and multiple WIFI signal intensity indicate to
Amount；
Data scaling module, for calculating the instruction vector phase between WIFI signal intensity instruction vector described in any two
Like degree, it is more than default similarity threshold when determining the instruction vector similarity, then each atmospheric pressure value is carried out respectively
Air pressure demarcation is to obtain multiple first atmospheric pressure values, and at least one is floor air pressure to be positioned in plurality of first atmospheric pressure value
Value；
Floor computing module, for being calculated one according to the floor atmospheric pressure value to be positioned and a plane of reference atmospheric pressure value
Relative elevation height, and corresponding number of floor levels is highly calculated according to the relative elevation.
The alignment system of the floor, wherein, the data reception module also particularly useful for：
According to formulaMultiple atmospheric pressure values are carried out taking average value processing, are averaged with obtaining an air pressure
Value；
According to formulaTo more
The individual WIFI signal intensity instruction vector carries out average value processing, to obtain a WIFI signal average strength；
Wherein, Pre is the air pressure average value, PreiFor the atmospheric pressure value, (RSSI1, RSSI2..., RSSIn) for institute
State WIFI signal average strength, RSSIinIndicated for single WIFI signal intensity, m is that wherein one data acquisition equipment is adopted
The quantity of the atmospheric pressure value collected or WIFI signal intensity instruction vector, i are independent variable, and n is the wireless routing set
The quantity of device.
The present invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, wherein, described program is processed
Device realizes the localization method of floor as described above when performing.
The present invention also proposes a kind of computer equipment, including memory, processor and storage are on a memory and can be
The computer program run on processor, wherein, determining for floor as described above is realized during the computing device described program
Position method.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by embodiments of the invention.
Brief description of the drawings
Fig. 1 is the theory diagram of the localization method for the floor that first embodiment of the invention proposes；
Fig. 2 is the flow chart for the baroceptor demarcation that first embodiment of the invention proposes；
Fig. 3 is the flow chart of the localization method for the floor that first embodiment of the invention proposes；
Fig. 4 is the practical application schematic diagram of the localization method for the floor that first embodiment of the invention proposes；
Fig. 5 is the structural representation of the alignment system for the floor that second embodiment of the invention proposes.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
With reference to following description and accompanying drawing, it will be clear that these and other aspects of embodiments of the invention.In these descriptions
In accompanying drawing, some particular implementations in embodiments of the invention are specifically disclosed, to represent to implement the implementation of the present invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention
Embodiment includes all changes, modification and the equivalent fallen into the range of the spirit and intension of attached claims.
In existing indoor floor location technology, because the smart mobile phone of different model has the isomery of hardware, cause
Larger difference between the barometric information that same time, same position are collected be present, this will undoubtedly reduce floor location
Precision, cause the erroneous judgement of floor.In order to solve this problem, in the present invention, it is proposed that a kind of localization method of floor, please join
Fig. 1 to Fig. 4 is read, for the localization method of the floor in first embodiment, floor is positioned for an intelligent terminal, it is described
Carry out data transmission between intelligent terminal and multiple data acquisition equipments, wherein, methods described comprises the following steps：
S101, the observed quantity data that the data acquisition equipment collects are received, and the observed quantity data are carried out pre-
Processing, wherein the observed quantity data include multiple atmospheric pressure values and multiple WIFI signal intensity instruction vector.
In the present embodiment, above-mentioned intelligent terminal is a floor location-server, and above-mentioned data acquisition equipment is usual
For smart mobile phone.Wherein, the mutual transmission of data between multiple smart mobile phones and the floor location server be present.To the intelligence
For mobile phone, baroceptor and WIFI signal reception device are mounted on thereon, can detect surrounding environment in real time
WIFI signal transmitted by atmospheric pressure value and reception wireless router.
In this respect it is to be noted that, it is necessary to the of this building before the positioning of floor is carried out to a certain building
Multiple wireless router AP are arranged on one layer and the second layer.The building can be the various buildings such as factory, market, residential building
Facility.It should be understood that there can be many smart mobile phones in the building.In the present embodiment, give tacit consent on smart mobile phone
It is equipped with baroceptor and WIFI signal receiver.Each smart mobile phone can be received transmitted by wireless router AP
The instruction of WIFI signal intensity, and detect the atmospheric pressure value of surrounding environment.
For smart mobile phone when being detected, in same position, the smart mobile phone can m atmospheric pressure value (Pre of continuous acquisition1,
Pre2...Prem) and m WIFI signal intensity instruction vector (RSSIi1, RSSIi2... RSSIin) (i=1,2 ... m), and
Send to the floor location server.In addition, when sending, smart mobile phone can also send out mobile phone model data corresponding to itself
Deliver to floor location server.
After the observed quantity data that the floor location server receives that smart mobile phone is gathered, sight that can be to receiving
Measurement data is pre-processed, and in the present embodiment, the pretreatment is progress average value processing.Specifically, respectively to above-mentioned m
Atmospheric pressure value (Pre1, Pre2...Prem) and m WIFI signal intensity instruction vector (RSSIi1, RSSIi2... RSSIin) (i=
1,2 ... m) carry out average value processing.
Wherein, m atmospheric pressure value is carried out according to formula (1) taking average value processing, to obtain an air pressure average value；
According to formula (2) to m WIFI signal intensity instruction vector (RSSIi1, RSSIi2... RSSIin) (i=1,
2 ... average value processing m) is carried out to obtain WIFI signal average strength.
Wherein, Pre is air pressure average value, PreiFor the single atmospheric pressure value detected, (RSSI1, RSSI2..., RSSIn)
For WIFI signal average strength, RSSIinSingle WIFI signal intensity instruction, m are the gas that data acquisition equipment collects
The quantity of pressure value or WIFI signal intensity instruction vector, i are independent variable, and n is the wireless router AP set quantity.
After equalization processing is carried out, obtain for air pressure average value P re and WIFI signal average strength
(RSSI1, RSSI2..., RSSIn)。
In this respect it is to be noted that after the process completes, floor location server can correspond to one record of generation.Note
The pattern of record is：(ID+PhoneType+STime+Pre+RSSI1,RSSI2,…,RSSIn)。
Wherein, for ID to number, PhoneType is the model of smart mobile phone, and at the time of STime starts for sampling, Pre is to work as
The average for the atmospheric pressure value that the smart mobile phone of preceding moment is collected, RSSI1、RSSI2、…、RSSInTo be received from each
The average of AP WiFi signal intensity level.
S102, the instruction vector similarity between WIFI signal intensity instruction vector described in any two is calculated, works as judgement
Indicate that vector similarity is more than default similarity threshold to described, then air pressure demarcation is carried out to each atmospheric pressure value to obtain respectively
To multiple first atmospheric pressure values, at least one is floor atmospheric pressure value to be positioned in plurality of first atmospheric pressure value.
As described above, it is provided with multiple wireless router AP, the intelligence of different floor diverse locations in first layer and the second layer
WIFI signal intensity instruction vector received by energy mobile phone is different.In the present embodiment, whether two smart mobile phones are judged
In very similar position, the instruction vector similarity being based between two smart mobile phones.When any two intelligence
The instruction vector similarity for the WIFI signal that mobile phone is received is more than default similarity threshold, then now can be determined that two intelligence
The position of energy mobile phone is close.
Specifically, the Euclidean distance between any two WIFI signal intensity instruction vector is calculated according to formula (3)；
After corresponding Euclidean distance has been calculated, the Euclidean distance that is then calculated according to this passes through formula
(4) instruction vector similarity corresponding to being calculated；
Wherein, dABFor Euclidean distance, θABTo indicate vector similarity, RSSInANumbering is received for data acquisition equipment A
The WIFI signal intensity instruction sent for n wireless router.
It should be understood that in two smart mobile phones of very close positions, the atmospheric pressure value detected by it also should in theory
It is equal.Yet with the difference of smart mobile phone model, the baroceptor of carrying is different, and its hardware configuration is corresponding also not
Together.Therefore the corresponding atmospheric pressure value detected also differs.So now need to the air pressure detected by two smart mobile phones
Value carries out air pressure demarcation.Herein it should be noted that the purpose now demarcated is primarily to unified examination criteria.
For example, smart mobile phone A and smart mobile phone B, if the instruction vector for the WIFI signal that two smart mobile phones are received
Similarity θAB, more than default similarity threshold θ0, then can determine that smart mobile phone A and smart mobile phone B is in very similar
Position.But because the two smart mobile phones are the different mobile phone of model, it is equipped with the baroceptor of different model, its hardware knot
There is certain difference in structure, although it is in the close positions of same floor, detected atmospheric pressure value still suffers from one respectively
Fixed difference, it is therefore desirable to air pressure demarcation is carried out to the atmospheric pressure value detected with unified examination criteria.
Specifically, when carrying out air pressure demarcation, such as the atmospheric pressure value that smart mobile phone A is detected is PA, smart mobile phone B detections
The atmospheric pressure value arrived is PB.In the present embodiment, we, also will smart mobile phone A using smart mobile phone A as standard detecting devices
Detected atmospheric pressure value PAStandard pressure value as demarcation.Therefore, corresponding air pressure difference DELTAAB=PA-PB, it is calculated
After air pressure difference, the air pressure difference is stored in demarcation information bank.In detection operation below, for the intelligent hand of B types
Machine, when carrying out air pressure demarcation with the smart mobile phone of type-A, the draught head is added on the basis of the atmospheric pressure value detected
It is worth ΔAB, that is, obtain calibrated first atmospheric pressure value.
Supplementary notes are also needed to herein, in the calibration process of actual pressure, can also be combined using transmission demarcation
The method of calibration carries out air pressure demarcation.Specifically, in information bank is demarcated, it is assumed that known smart mobile phone A is relative to smart mobile phone B
Air pressure deviation value be ΔAB, smart mobile phone C is Δ relative to smart mobile phone B air pressure deviation valueCB, then following public affairs can be passed through
Air pressure deviation values of the smart mobile phone A relative to smart mobile phone C is calculated in formula (5)：
ΔAC=PA-PC=(PA-PB)-(PC-PB)=ΔAB-ΔCB (5)
It is possible thereby to complete the relative calibration of the atmospheric pressure value between smart mobile phone A and smart mobile phone C, pass through this transmission school
Accurate mode can complete the error calibration between the atmospheric pressure value detected by a variety of different types of smart mobile phones.
It is calculated every time after the air pressure difference of two different model neighbour's mobile phones, corresponding relative error is demarcated to mark
Determine standby in information bank.By the demarcation information bank, rower can be entered to the air pressure detected by the smart mobile phone of disposable type
Fixed calibration.
S103, relative elevation height is calculated according to the floor atmospheric pressure value to be positioned and a plane of reference atmospheric pressure value
Degree, and corresponding number of floor levels is highly calculated according to the relative elevation.
In the present embodiment it should also be noted that, being treated when calculating the height above sea level of floor to be positioned, it is necessary to obtain one
The atmospheric pressure value (after demarcation calibration) of floor is positioned, the atmospheric pressure value of the wherein floor to be positioned is for plane of reference atmospheric pressure value
's.
In the present embodiment, it is to the principle that the plane of reference is identified：Due to the Stall only in building and second floor portion
Wireless router AP is affixed one's name to.When user is located at building Stall, in the WiFi signal that its smart mobile phone carried receives, come
Most from the number of signals of Stall AP transmittings, signal is most strong, from the second floor wireless router AP number of signals launched and by force
Degree it is inferior it；And when user is in other floors of building, in the WiFi signal that its smart mobile phone receives, sent out from second floor AP
The number of signals penetrated is most, and signal is most strong, and from Stall wireless router AP transmitting number of signals and intensity it is inferior it.Root
According to this rule, it can quickly determine which smart mobile phone is currently located at the Stall of building, also the as plane of reference.
For example, to the observed quantity data hair in the floor location server transmitted by the smart mobile phone carried from each user
It is existing：It is most that smart mobile phone E receives the WiFi signal quantity from building first layer, and signal is most strong；Receive from the
Two layers of WiFi signal intensity is integrally on the weak side compared with the WiFi signal of first layer, and quantity will also be less than first layer, then can be determined that
Smart mobile phone E is currently located at the first layer of the building.
It is determined that after the plane of reference, atmospheric pressure value P corresponding to the plane of reference is obtained0.In floor location server, to the intelligence
30 barometric informations of the baroceptor institute continuous acquisition that mobile phone E is carried take average, obtain the air pressure of the floor location plane of reference
Value P0。
Then floor atmospheric pressure value P to be positioned is obtained1, using certain model smart mobile phone F in floor continuous acquisition 30 to be positioned
Individual barometric information, the model of the related smart mobile phone of these barometric informations is sent to above-mentioned floor location server.Floor is determined
Position server takes average to this 30 barometric informations, the atmospheric pressure value p as floor to be positioned1。
Obtaining plane of reference atmospheric pressure value P0And the atmospheric pressure value P of floor to be positioned1Afterwards, demarcation calibration is carried out respectively：Look into
Ask demarcation information bank, get the smart mobile phone E positioned at the plane of reference, floor to be positioned smart mobile phone F and standard device A phase
It is respectively to error amount：ΔEA, ΔFA。
On the basis of respective measured value, relative error magnitudes corresponding to compensation as the observation numerical quantity after each self calibration,
Correspond to：P0'=P0-ΔEA,P1'=P1-ΔFA。
After the atmospheric pressure value of plane of reference atmospheric pressure value and floor to be positioned is determined, high equation meter is pressed according to Laplce
The relative elevation distance of floor and the plane of reference to be measured is calculated, is specially：
Δ h in formula01Relative elevation distance between the plane of reference and floor to be positioned, P'0With P'1Respectively the plane of reference with
And the atmospheric pressure value after layer correction to be positioned, ε are the thermal coefficient of expansion of air,T01For this ground temperature value.
After height above sea level distance has been calculated, the building of floor to be positioned is then calculated according to the height above sea level distance being calculated
The number of plies.Specially：
X=Δs h01/h0+1
Floor location server returns to the information in the intelligent hand of user after specific number of floor levels has been calculated
Machine.
Referring to Fig. 5, for the alignment system of the floor in second embodiment, floor is carried out applied to an intelligent terminal
Positioning, carries out data transmission between the intelligent terminal and multiple data acquisition equipments, wherein, the system includes being sequentially connected
Data reception module 11, data scaling module 12 and floor computing module 13,；
Wherein, data reception module 11 is specifically used for：
The observed quantity data that the data acquisition equipment collects are received, and the observed quantity data are pre-processed,
Wherein described observed quantity data include multiple atmospheric pressure values and multiple WIFI signal intensity instruction vector；
Data scaling module 12 is specifically used for：
The instruction vector similarity between WIFI signal intensity instruction vector described in any two is calculated, it is described when determining
Indicate that vector similarity is more than default similarity threshold, then it is multiple to obtain to carry out air pressure demarcation to each atmospheric pressure value respectively
First atmospheric pressure value, at least one is floor atmospheric pressure value to be positioned in plurality of first atmospheric pressure value；
Floor computing module 13 is specifically used for：
One relative elevation height, and root are calculated according to the floor atmospheric pressure value to be positioned and a plane of reference atmospheric pressure value
Corresponding number of floor levels is highly calculated according to the relative elevation.
The data reception module 11 also particularly useful for：
According to formulaMultiple atmospheric pressure values are carried out taking average value processing, are averaged with obtaining an air pressure
Value；
According to formulaTo more
The individual WIFI signal intensity instruction vector carries out average value processing, to obtain a WIFI signal average strength；
Wherein, Pre is the air pressure average value, PreiFor the atmospheric pressure value, (RSSI1, RSSI2..., RSSIn) for institute
State WIFI signal average strength, RSSIinIndicated for single WIFI signal intensity, the m data acquisition equipments collect
The quantity of the atmospheric pressure value or WIFI signal intensity instruction vector, i are independent variable, and n is the number of the wireless router set
Amount.
The present invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, wherein, described program is processed
Device realizes the localization method of floor as described above when performing.
The present invention also proposes a kind of computer equipment, including memory, processor and storage are on a memory and can be
The computer program run on processor, wherein, determining for floor as described above is realized during the computing device described program
Position method.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
Put.
The more specifically example (non-exhaustive list) of computer-readable medium includes following：Connected up with one or more
Electrical connection section (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium, which can even is that, to print the paper of described program thereon or other are suitable
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, have suitable combinational logic gate circuit application specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of localization method of floor, is positioned applied to an intelligent terminal to floor, the intelligent terminal and more numbers
Carry out data transmission according between collecting device, it is characterised in that methods described comprises the following steps：
The observed quantity data that the data acquisition equipment collects are received, and the observed quantity data are pre-processed, wherein
The observed quantity data include multiple atmospheric pressure values and multiple WIFI signal intensity instruction vector；
The instruction vector similarity between WIFI signal intensity instruction vector described in any two is calculated, when determining the instruction
Vector similarity is more than default similarity threshold, then carries out air pressure demarcation to each atmospheric pressure value respectively to obtain multiple first
Atmospheric pressure value, at least one is floor atmospheric pressure value to be positioned in plurality of first atmospheric pressure value；
One relative elevation height is calculated according to the floor atmospheric pressure value to be positioned and a plane of reference atmospheric pressure value, and according to institute
State relative elevation and corresponding number of floor levels is highly calculated.
2. the localization method of floor according to claim 1, it is characterised in that described that the observed quantity data are carried out in advance
The step of processing, includes：
According to formulaMultiple atmospheric pressure values are carried out taking average value processing, to obtain an air pressure average value；
According to formulaTo multiple described
WIFI signal intensity instruction vector carries out average value processing, to obtain a WIFI signal average strength；
Wherein, Pre is the air pressure average value, PreiFor the atmospheric pressure value, (RSSI1, RSSI2..., RSSIn) it is the WIFI
Signal intensity average value, RSSIinIndicated for single WIFI signal intensity, wherein one data acquisition equipments of m collect
The quantity of the atmospheric pressure value or WIFI signal intensity instruction vector, i are independent variable, and n is the number of the wireless router set
Amount.
3. the localization method of floor according to claim 2, it is characterised in that WIFI letters described in the calculating any two
The step of instruction vector similarity between number intensity instruction vector, includes：
According to formulaCalculate and appoint
Euclidean distance between the WIFI signal intensity instruction vector of meaning two；
According to formulaThe instruction vector similarity is calculated；
Wherein, dABFor the Euclidean distance, θABFor the instruction vector similarity, RSSInAReceived for data acquisition equipment A
The WIFI signal intensity instruction that the wireless router that numbering is n is sent.
4. the localization method of floor according to claim 3, it is characterised in that the data acquisition equipment include it is a variety of not
Same type, described the step of demarcating each atmospheric pressure value progress air pressure to obtain multiple first atmospheric pressure values, include：
The data acquisition equipment of selected one of which type is type equipment, is collected with the type equipment
The atmospheric pressure value be standard pressure value, calculate the air pressure difference between the atmospheric pressure value of acquisition and the standard pressure value；
According to the air pressure difference, the gas collected to the data acquisition equipment in addition to the type equipment
Pressure value carries out air pressure correction to obtain first atmospheric pressure value.
5. the localization method of floor according to claim 1, it is characterised in that described according to the floor air pressure to be positioned
The method that a relative elevation height is calculated in value and a plane of reference atmospheric pressure value comprises the following steps：
According to formulaThe relative elevation height is calculated；
Wherein, Δ h01For relative elevation height, P0' it is the plane of reference atmospheric pressure value, P1' it is the floor air pressure to be positioned
Value, ε be air thermal coefficient of expansion, T01For the average atmospheric temperature between the plane of reference and floor to be positioned.
6. the localization method of floor according to claim 5, it is characterised in that described according to the relative elevation altimeter
The method for calculating number of floor levels corresponding to obtaining comprises the following steps：
According to formula x=Δs h01/h0+ 1 is calculated the number of floor levels；
Wherein h0For every layer of floor height of building, x is the number of floor levels.
7. a kind of alignment system of floor, is positioned applied to an intelligent terminal to floor, the intelligent terminal and more numbers
Carry out data transmission according between collecting device, it is characterised in that the system includes：
Data reception module, the observed quantity data collected for receiving the data acquisition equipment, and to the observed quantity number
According to being pre-processed, wherein the observed quantity data include multiple atmospheric pressure values and multiple WIFI signal intensity instruction vector；
Data scaling module, it is similar for calculating the instruction vector between WIFI signal intensity instruction vector described in any two
Degree, it is more than default similarity threshold when determining the instruction vector similarity, then promoting the circulation of qi is entered to each atmospheric pressure value respectively
Pressure demarcation is to obtain multiple first atmospheric pressure values, and at least one is floor air pressure to be positioned in plurality of first atmospheric pressure value
Value；
Floor computing module is relative for being calculated one according to the floor atmospheric pressure value to be positioned and a plane of reference atmospheric pressure value
Height above sea level, and corresponding number of floor levels is highly calculated according to the relative elevation.
8. the alignment system of floor according to claim 7, it is characterised in that the data reception module is also specifically used
In：
According to formulaMultiple atmospheric pressure values are carried out taking average value processing, to obtain an air pressure average value；
According to formulaTo multiple institutes
State WIFI signal intensity instruction vector and carry out average value processing, to obtain a WIFI signal average strength；
Wherein, Pre is the air pressure average value, PreiFor the atmospheric pressure value, (RSSI1, RSSI2..., RSSIn) it is the WIFI
Signal intensity average value, RSSIinIndicated for single WIFI signal intensity, wherein one data acquisition equipments of m collect
The quantity of the atmospheric pressure value or WIFI signal intensity instruction vector, i are independent variable, and n is the number of the wireless router set
Amount.
9. a kind of readable storage medium storing program for executing, is stored thereon with computer program, it is characterised in that when described program is executed by processor
Realize the localization method of the floor described in any one of the claims 1 to 6.
10. a kind of intelligent terminal, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, it is characterised in that realized during the computing device described program described in any one of the claims 1 to 6
Floor localization method.
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