CN109195123B - Fingerprint information updating method, device, storage medium and system in indoor positioning - Google Patents
Fingerprint information updating method, device, storage medium and system in indoor positioning Download PDFInfo
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- CN109195123B CN109195123B CN201810965258.3A CN201810965258A CN109195123B CN 109195123 B CN109195123 B CN 109195123B CN 201810965258 A CN201810965258 A CN 201810965258A CN 109195123 B CN109195123 B CN 109195123B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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
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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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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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
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Abstract
The invention discloses a method, a device, a storage medium and a system for updating fingerprint information in indoor positioning, wherein the method comprises the following steps: checking the fingerprint aging identification time of each position node in the target area at preset time intervals; when the fingerprint aging identification time of any position node is 0, judging whether the collected positioning information and the actual position information of the position node are within a preset error range; if so, not updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset first updating rule; and if not, updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset second updating rule. The invention can adaptively select the position node needing to update the fingerprint information and adaptively adjust the fingerprint information updating period of the position node.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a method, a device, a computer readable storage medium and a system for updating fingerprint information in indoor positioning.
Background
In recent years, the development of indoor positioning technology is more mature, indoor positioning is a technology for acquiring position information of an indoor target object, a set of indoor position positioning system is mainly formed by integrating multiple technologies such as wireless communication, base station positioning, inertial navigation positioning and the like, a fingerprint matching method is an important means in indoor positioning, the positioning technology based on fingerprints takes signal intensity of different Access Points (APs) received at different positions as vectors as fingerprints of corresponding positions, the fingerprints of different positions are concentrated to form an indoor fingerprint map, positioning is realized by comparing the fingerprints with fingerprints in the indoor fingerprint map during positioning, and a plurality of researchers provide different implementation methods for collecting and updating the fingerprint information of the wireless positioning system.
However, the indoor environment targeted by the indoor positioning system does not change all the time, and not all the areas change, the fingerprint information of some areas is relatively stable, and the change period of different positions is different for the areas with the changing fingerprint information. The fingerprint information updating method provided by the prior art can update the fingerprint information corresponding to all the positions at the same time, the updating period is fixed and unchanged, and the selection of the updating position and the setting of the updating period do not have the dynamic self-adaptive characteristic, so that the updating time is prolonged, and the system resources are wasted.
Disclosure of Invention
The technical problem to be solved in the embodiments of the present invention is to provide a method, an apparatus, a computer-readable storage medium, and a system for updating fingerprint information in indoor positioning, which can adaptively select a location node that needs to update fingerprint information, and adaptively adjust a fingerprint information update period of the location node.
In order to solve the above technical problem, an embodiment of the present invention provides an updating method of fingerprint information in indoor positioning, including:
checking the fingerprint aging identification time of each position node in the target area at preset time intervals;
when the fingerprint aging identification time of any position node is 0, judging whether the collected positioning information and the actual position information of the position node are within a preset error range;
when the acquired positioning information and the actual position information are within the error range, the fingerprint information of the position node is not updated, and the fingerprint information updating period and the fingerprint aging identification time of the position node are adjusted according to a preset first updating rule;
when the acquired positioning information and the actual position information are not in the error range, updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset second updating rule;
the first update rule is Ai ═ Ai' +1 and Ti ═ Ai; the second update rule is Ai ═ Ai' -1 and Ti ═ Ai; wherein Ai represents the fingerprint information updating period after the adjustment of the ith position node, Ai 'represents the current fingerprint information updating period of the ith position node, Ti represents the fingerprint aging identification time after the adjustment of the ith position node, Ai is more than or equal to 0 and less than or equal to Amax, Amax is more than or equal to 0 and less than or equal to Amax', i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
Further, the method further comprises:
when the fingerprint aging identification time of any position node is not 0, the fingerprint information of the position node is not updated, and the fingerprint aging identification time of the position node is adjusted according to a preset third updating rule.
Further, the third update rule is Ti ═ Ti' -1; and Ti represents the adjusted fingerprint aging identification time of the ith position node, Ti' represents the current fingerprint aging identification time of the ith position node, i is more than or equal to 1 and less than or equal to N, and N represents the total number of the position nodes in the target area.
Further, the method further comprises:
and performing learning updating for preset times on the fingerprint information updating period of each position node in advance.
Further, the performing learning update for a preset number of times on the fingerprint information update cycle of each location node in advance specifically includes, for each learning update of the ith location node:
judging whether the collected positioning information and the actual position information of the ith position node are in the error range;
when the acquired positioning information and the actual position information are in the error range, the fingerprint information of the ith position node is not updated, and Ai is set as Ai' + 1;
when the acquired positioning information and the actual position information are not in the error range, updating the fingerprint information of the ith position node, and setting Ai to be 0; and Ai represents the fingerprint information updating period of the ith position node after adjustment, Ai 'represents the current fingerprint information updating period of the ith position node, and Ai is more than or equal to 0 and less than or equal to Amax, and Ai' is more than or equal to 0 and less than or equal to Amax, i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
Further, the location node is a geometric center of a grid within the target region; the target area is divided into N grids which are not overlapped with each other in advance, and N is larger than or equal to 1.
Further, the error range is based on whether the grid corresponding to the acquired positioning information enters a grid tolerance area corresponding to the actual position information;
when the acquired positioning information and the actual position information are within the error range, the fingerprint information of the position node is not updated, and the fingerprint information update cycle and the fingerprint aging identification time of the position node are adjusted according to a preset first update rule, which specifically includes:
when the grid corresponding to the collected positioning information enters a grid tolerance area corresponding to the actual position information, the fingerprint information of the position node is not updated, and the fingerprint information updating period and the fingerprint aging identification time of the position node are adjusted according to the first updating rule;
when the acquired positioning information and the actual position information are not within the error range, updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset second updating rule, specifically comprising:
and when the grid corresponding to the acquired positioning information exceeds the grid tolerance area corresponding to the actual position information, updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to the second updating rule.
Further, the grid tolerance region corresponding to the actual position information is composed of a grid corresponding to the actual position information, or is composed of a grid corresponding to the actual position information and an adjacent grid of the grid corresponding to the actual position information.
In order to solve the above technical problem, an embodiment of the present invention further provides an apparatus for updating fingerprint information in indoor positioning, including:
the time checking module is used for checking the fingerprint aging identification time of each position node in the target area at intervals of preset time;
the positioning judgment module is used for judging whether the collected positioning information and the actual position information of any position node are within a preset error range when the fingerprint aging identification time of the position node is 0;
the first updating module is used for not updating the fingerprint information of the position node when the acquired positioning information and the actual position information are within the error range, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset first updating rule; and the number of the first and second groups,
the second updating module is used for updating the fingerprint information of the position node when the acquired positioning information and the actual position information are not in the error range, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset second updating rule;
the first update rule is Ai ═ Ai' +1 and Ti ═ Ai; the second update rule is Ai ═ Ai' -1 and Ti ═ Ai; wherein Ai represents the fingerprint information updating period after the adjustment of the ith position node, Ai 'represents the current fingerprint information updating period of the ith position node, Ti represents the fingerprint aging identification time after the adjustment of the ith position node, Ai is more than or equal to 0 and less than or equal to Amax, Amax is more than or equal to 0 and less than or equal to Amax', i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; the computer program controls, when running, an apparatus where the computer-readable storage medium is located to execute any one of the above methods for updating fingerprint information in indoor positioning.
The embodiment of the invention also provides an updating device of fingerprint information in indoor positioning, which is an information processing platform, wherein the information processing platform comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, and the processor realizes any one of the above methods for updating fingerprint information in indoor positioning when executing the computer program.
The embodiment of the invention also provides an updating system of fingerprint information in indoor positioning, which comprises a wireless signal access point, an information collector and an information processing platform; wherein the content of the first and second substances,
the wireless signal access point is used for providing a positioning reference signal;
the information collector is used for collecting the positioning reference signal sent by the wireless signal access point and fingerprint information of any position node in a target area, and sending the positioning reference signal and the fingerprint information to the information processing platform;
the information processing platform is used for acquiring the collected positioning information of the position node according to the received positioning reference signal and the fingerprint information and executing any one of the above methods for updating the fingerprint information in indoor positioning.
Compared with the prior art, the embodiment of the invention provides an updating method, a device, a computer readable storage medium and a system of fingerprint information in indoor positioning, the fingerprint aging identification time of each position node in a target area is checked at intervals of preset time, when the fingerprint aging identification time of any position node is 0, whether the collected positioning information and the actual position information of the position node are in a preset error range is judged, if yes, the fingerprint information of the position node is not updated, the fingerprint information updating period and the fingerprint aging identification time of the position node are adjusted according to a first updating rule, if not, the fingerprint information of the position node is updated, the fingerprint information updating period and the fingerprint aging identification time of the position node are adjusted according to a second updating rule, so that the position node needing to update the fingerprint information can be selected in a self-adaptive manner, and the fingerprint information updating period of the position node is adjusted in a self-adaptive manner.
Drawings
FIG. 1 is a block diagram of a preferred embodiment of an updating system for fingerprint information in indoor location according to the present invention;
FIG. 2 is a flowchart of a preferred embodiment of a method for updating fingerprint information in indoor location according to the present invention;
FIG. 3 is a detailed flowchart of a preferred embodiment of learning and updating the fingerprint information updating period of a location node according to the present invention;
FIG. 4 is a block diagram of an embodiment of an apparatus for updating fingerprint information in indoor locations according to the present invention;
fig. 5 is a block diagram of another preferred embodiment of an apparatus for updating fingerprint information in indoor location according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
An embodiment of the present invention provides an updating system of indoor positioning central fingerprint information, which is shown in fig. 1 and is a block diagram of a preferred embodiment of the updating system of indoor positioning central fingerprint information provided by the present invention, where the updating system includes a wireless signal access point 100, an information collector 200, and an information processing platform 300; wherein the content of the first and second substances,
the wireless signal access point 100 is configured to provide a positioning reference signal;
the information collector 200 is configured to collect the positioning reference signal sent by the wireless signal access point 100 and fingerprint information of any position node in a target area, and send the positioning reference signal and the fingerprint information to the information processing platform 300;
the information processing platform 300 is configured to obtain the collected positioning information of the location node according to the received positioning reference signal and the fingerprint information, and execute the method for updating the fingerprint information in indoor positioning according to any embodiment of the present invention.
Specifically, when the system normally works, the wireless signal access point 100 (may be more than one AP) provides a positioning reference signal, the information collector 200 (for example, a mobile robot) moves to a target position node, collects the positioning reference signal sent by the wireless signal access point 100 and fingerprint information corresponding to the target position node at the target position node, and transmits the collected positioning reference signal and fingerprint information to the information processing platform 300, and the information processing platform 300 converts and analyzes the received positioning reference signal and fingerprint information to obtain collected positioning information corresponding to the target position node, so as to provide a positioning service according to the obtained collected positioning information corresponding to the target position node, and execute the method for updating the fingerprint information in indoor positioning according to any embodiment of the present invention.
It should be noted that when the information collector 200 collects fingerprint information for the first time, fingerprint information corresponding to all location nodes in the target area needs to be collected and sent to the information processing platform 300, so as to generate a fingerprint library, and when the information processing platform 300 executes the method for updating fingerprint information subsequently, if the fingerprint information of a certain location node needs to be updated, the fingerprint information of the location node stored in the fingerprint library is updated according to the fingerprint information of the location node currently collected by the information collector 200 and sent to the information processing platform 300.
The embodiment of the invention also provides an updating method of the fingerprint information in the indoor positioning, which is executed by the information processing platform in the system.
Referring to fig. 2, it is a flowchart of a preferred embodiment of an updating method of fingerprint information in indoor locations provided by the present invention, where the updating method includes steps S11 to S14:
step S11, checking the fingerprint aging identification time of each position node in the target area at preset time intervals;
step S12, when the fingerprint aging identification time of any position node is 0, judging whether the collected positioning information and the actual position information of the position node are in a preset error range;
step S13, when the collected positioning information and the actual position information are in the error range, the fingerprint information of the position node is not updated, and the fingerprint information updating period and the fingerprint aging identification time of the position node are adjusted according to a preset first updating rule;
and step S14, when the acquired positioning information and the actual position information are not in the error range, updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset second updating rule.
Specifically, the information processing platform sets corresponding fingerprint aging identification time and a fingerprint information updating period for each position node in a target area, sequentially checks whether the fingerprint aging identification time of each position node is 0 every preset time interval, judges whether the acquired positioning information corresponding to the position node and the actual position information of the position node are in a preset error range when the fingerprint aging identification time of any position node is 0, does not update the fingerprint information of the position node if the acquired positioning information and the actual position information of the position node are in the preset error range, and adjusts the current fingerprint information updating period and the current fingerprint aging identification time of the position node according to a preset first updating rule; if the fingerprint time is not within the preset error range, updating the fingerprint information of the position node stored in the fingerprint database according to the currently received fingerprint information of the position node, and adjusting the current fingerprint information updating period and the current fingerprint time validity identification time of the position node according to a preset second updating rule.
When the fingerprint aging identification time of any position node is 0, firstly, the fingerprint information of the position node needs to be collected through an information collector and sent to the information processing platform, the information processing platform obtains the collected positioning information corresponding to the position node at least according to the received fingerprint information of the position node, and then whether the collected positioning information of the position node and the actual position information of the position node are within a preset error range is judged.
The method for updating fingerprint information in indoor positioning provided by the embodiment of the invention checks fingerprint aging identification time corresponding to each position node every preset time, does not update the fingerprint information of the position node when the fingerprint aging identification time of the position node is 0 and the acquired positioning information and the actual position information of the position node are judged to be in a preset error range, and correspondingly adjusts the fingerprint information updating period and the fingerprint aging identification time of the position node, only when the fingerprint aging identification time of the position node is 0 and the acquired positioning information and the actual position information of the position node are judged not to be in the preset error range, the fingerprint information of the position node is updated, and the fingerprint information updating period and the fingerprint aging identification time of the position node are correspondingly adjusted, so that the method can adaptively select and select the fingerprint information according to the fingerprint aging identification time of the position node and the acquired positioning information The method comprises the steps that position nodes needing to update fingerprint information are adjusted in a self-adaptive mode, long updating periods are executed by position nodes which are not changed for a long time, short updating periods are executed by position nodes which are changed for a short time, the fingerprint information of all the position nodes is not required to be updated at the same time in a fixed updating period, and when the position nodes do not update the fingerprint information, fingerprint information collection and positioning of the position nodes are not required, so that the updating time of the fingerprint information is shortened, system resources are saved, and energy consumption is reduced.
Preferably, the first update rule is Ai ═ Ai' +1 and Ti ═ Ai; wherein Ai represents the fingerprint information updating period after the adjustment of the ith position node, Ai 'represents the current fingerprint information updating period of the ith position node, Ti represents the fingerprint aging identification time after the adjustment of the ith position node, Ai is more than or equal to 0 and less than or equal to Amax, Amax is more than or equal to 0 and less than or equal to Amax', i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
Preferably, the second update rule is Ai ═ Ai' -1 and Ti ═ Ai; wherein Ai represents the fingerprint information updating period after the adjustment of the ith position node, Ai 'represents the current fingerprint information updating period of the ith position node, Ti represents the fingerprint aging identification time after the adjustment of the ith position node, Ai is more than or equal to 0 and less than or equal to Amax, Amax is more than or equal to 0 and less than or equal to Amax', i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
It can be understood that if the fingerprint aging identification time of the ith position node is 0 but the fingerprint information of the position node does not need to be updated, the fingerprint information update period and the fingerprint aging identification time of the ith position node are increased according to the preset first update rule Ai' +1 and Ti Ai; if the fingerprint aging identification time of the ith position node is 0 and the fingerprint information of the position node needs to be updated, reducing the fingerprint information updating period and the fingerprint aging identification time of the ith position node according to a preset second updating rule Ai' -1 and Ti Ai; therefore, the fingerprint information updating period of the position node is adjusted in a self-adaptive mode, and the fingerprint information updating period of the position node is matched with the fingerprint information change period.
Since Ai ═ Ai' +1 may cause Ai > Amax, which indicates that the fingerprint information update period Ai of the ith position node has exceeded the preset maximum fingerprint information update period, Ai ═ 0 is set, and it is forced to update the fingerprint information of the ith position node at the next authentication, so that it is possible to prevent the fingerprint information of the position node from being still not updated when the maximum fingerprint information update period is exceeded.
Since Ai-Ai' -1 may result in Ai < 0, where Ai has no practical significance, it is necessary to set Ai-0 to reset it.
It should be noted that the initial values of the fingerprint information update period and the fingerprint aging evaluation time of each location node are both 0 and are both expressed in the form of integral multiples of the preset time interval, for example, when the fingerprint information update period is 2, the preset time interval of the fingerprint information update period which is actually 2 times is expressed, and when the fingerprint aging evaluation time is 3, the preset time interval of the fingerprint aging evaluation time which is actually 3 times is expressed, which is favorable for discrete processing in time and simplified calculation of the update period.
In another preferred embodiment, the method further comprises:
when the fingerprint aging identification time of any position node is not 0, the fingerprint information of the position node is not updated, and the fingerprint aging identification time of the position node is adjusted according to a preset third updating rule.
Specifically, when the fingerprint aging identification time of any one location node is not 0, the fingerprint information of the location node does not need to be updated, but the current fingerprint aging identification time of the location node needs to be adjusted according to a preset third update rule.
Preferably, the third update rule is Ti ═ Ti' -1; and Ti represents the adjusted fingerprint aging identification time of the ith position node, Ti' represents the current fingerprint aging identification time of the ith position node, i is more than or equal to 1 and less than or equal to N, and N represents the total number of the position nodes in the target area.
It can be understood that if the fingerprint aging identification time of the ith position node is not 0, the fingerprint information of the position node does not need to be updated, the fingerprint aging identification time of the ith position node is reduced according to the preset third update rule Ti' -1, so that the fingerprint aging identification time of the ith position node is shortened.
In yet another preferred embodiment, the method further comprises:
and performing learning updating for preset times on the fingerprint information updating period of each position node in advance.
Specifically, with reference to the above embodiment, since the initial value of the fingerprint information update period of each location node is 0, a preset number of learning updates (preferably 5) are required to obtain the initial fingerprint information update period of each location node.
It should be noted that, in each learning update, the system needs to collect the positioning reference signals and the fingerprint information corresponding to all the location nodes, and determine whether the fingerprint information of each location node needs to be updated, so as to obtain an initial fingerprint information update period of each location node through learning for a preset number of times, and since each learning update needs to determine the timeliness of the fingerprint information (which is equivalent to that the fingerprint aging identification time is 0), the fingerprint aging identification time of each location node does not need to be updated.
Referring to fig. 3, it is a specific flowchart of a preferred embodiment of learning and updating fingerprint information update cycles of location nodes provided in the present invention, where the learning and updating are performed in advance for a preset number of times for each fingerprint information update cycle of a location node, and each learning and updating for an ith location node specifically includes steps S21 to S23:
step S21, judging whether the acquired positioning information and the actual position information of the ith position node are in the error range;
step S22, when the acquired positioning information and the actual position information are within the error range, not updating the fingerprint information of the ith position node, and juxtaposing Ai ═ Ai' + 1;
step S23, when the acquired positioning information and the actual position information are not within the error range, updating the fingerprint information of the ith position node, and setting Ai to 0; and Ai represents the fingerprint information updating period of the ith position node after adjustment, Ai 'represents the current fingerprint information updating period of the ith position node, and Ai is more than or equal to 0 and less than or equal to Amax, and Ai' is more than or equal to 0 and less than or equal to Amax, i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
Specifically, each position node in the target area needs to be updated by learning for a preset number of times, and each learning updating method of each position node is the same, for each learning updating of the ith position node, firstly, whether the collected positioning information of the ith position node and the actual position information of the ith position node are within a preset error range is judged, if so, the fingerprint information of the ith position node is not updated, and the fingerprint information updating period of the ith position node is increased according to Ai ═ Ai' + 1; and if the position information is not in the preset error range, updating the fingerprint information of the ith position node stored in the fingerprint database according to the fingerprint information of the ith position node currently received by the information processing platform, and setting Ai to be 0.
In yet another preferred embodiment, the location node is a geometric center of a grid within the target region; the target area is divided into N grids which are not overlapped with each other in advance, and N is larger than or equal to 1.
It can be understood that, for convenience of positioning, the target area needs to be divided into N grids which are not overlapped with each other in advance, and the geometric center of each grid is taken as a position node corresponding to the grid, and the fingerprint information of the position node represents the fingerprint feature of the corresponding grid.
It should be noted that the grid division may be performed according to the actual environment condition of the target area or according to the size of the grid, and the method of dividing the grid is not specifically limited in the present invention.
In another preferred embodiment, the error range is based on whether the grid corresponding to the collected positioning information enters the grid tolerance area corresponding to the actual position information;
when the acquired positioning information and the actual position information are within the error range, the fingerprint information of the position node is not updated, and the fingerprint information update cycle and the fingerprint aging identification time of the position node are adjusted according to a preset first update rule, which specifically includes:
when the grid corresponding to the collected positioning information enters a grid tolerance area corresponding to the actual position information, the fingerprint information of the position node is not updated, and the fingerprint information updating period and the fingerprint aging identification time of the position node are adjusted according to the first updating rule;
when the acquired positioning information and the actual position information are not within the error range, updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset second updating rule, specifically comprising:
and when the grid corresponding to the acquired positioning information exceeds the grid tolerance area corresponding to the actual position information, updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to the second updating rule.
It can be understood that the collected positioning information of each position node may correspond to a grid within the target area, and the actual position information of each position node may also correspond to a grid within the target area.
In this embodiment, the preset error range is based on whether the grid corresponding to the acquired positioning information enters the grid tolerance area corresponding to the actual position information, specifically, when the acquired positioning information and the actual position information are within the preset error range, it indicates that the grid corresponding to the acquired positioning information is within the grid tolerance area corresponding to the actual position information, the fingerprint information of the corresponding position node is not updated, and the current fingerprint information update period and the current fingerprint aging identification time of the position node are adjusted according to a preset first update rule; when the acquired positioning information and the actual position information are not in the preset error range, the grid corresponding to the acquired positioning information is shown to exceed the grid tolerance area corresponding to the actual position information, the fingerprint information of the position node stored in the fingerprint library is updated according to the fingerprint information of the corresponding position node currently received by the information processing platform, and the current fingerprint information updating period and the current fingerprint aging identification time of the position node are adjusted according to a preset second updating rule.
In a further preferred embodiment, the grid tolerance region corresponding to the actual position information is composed of the grid corresponding to the actual position information, or is composed of the grid corresponding to the actual position information and an adjacent grid of the grid corresponding to the actual position information.
In this embodiment, a grid corresponding to the actual position information may be selected as the grid tolerance region, or a grid corresponding to the actual position information and an adjacent grid of the grid may be selected to form the grid tolerance region, where only the grid corresponding to the actual position information is selected as the grid tolerance region, which may improve the positioning accuracy, and the specific grid tolerance region may be selected and formulated according to the actual needs of the target region and the occupation of system resources.
It should be noted that the adjacent grids may be the grids at the upper, lower, left, right and diagonal positions of the grid corresponding to the actual position information, and in this case, the grid tolerance region is composed of 9 grids including the grid corresponding to the actual position information and its adjacent grids.
The embodiment of the present invention further provides an apparatus for updating fingerprint information in indoor positioning, which is capable of implementing all processes of the method for updating fingerprint information in indoor positioning provided in any of the above embodiments, and the functions and implemented technical effects of each module in the apparatus are respectively the same as those of the method for updating fingerprint information in indoor positioning provided in the above embodiment, and are not described herein again.
Referring to fig. 4, it is a block diagram of a preferred embodiment of an apparatus for updating fingerprint information in indoor locations, according to the present invention, where the apparatus includes:
the time checking module 11 is used for checking the fingerprint aging identification time of each position node in the target area at preset time intervals;
the positioning judgment module 12 is configured to judge whether the acquired positioning information and the actual position information of any position node are within a preset error range when the fingerprint aging identification time of the position node is 0;
the first updating module 13 is configured to not update the fingerprint information of the location node when the acquired positioning information and the actual location information are within the error range, and adjust a fingerprint information updating period and a fingerprint aging identification time of the location node according to a preset first updating rule; and the number of the first and second groups,
and the second updating module 14 is configured to update the fingerprint information of the location node when the acquired positioning information and the actual location information are not within the error range, and adjust a fingerprint information updating period and a fingerprint aging identification time of the location node according to a preset second updating rule.
Preferably, the first update rule is Ai ═ Ai' +1 and Ti ═ Ai; wherein Ai represents the fingerprint information updating period after the adjustment of the ith position node, Ai 'represents the current fingerprint information updating period of the ith position node, Ti represents the fingerprint aging identification time after the adjustment of the ith position node, Ai is more than or equal to 0 and less than or equal to Amax, Amax is more than or equal to 0 and less than or equal to Amax', i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
Preferably, the second update rule is Ai ═ Ai' -1 and Ti ═ Ai; wherein Ai represents the fingerprint information updating period after the adjustment of the ith position node, Ai 'represents the current fingerprint information updating period of the ith position node, Ti represents the fingerprint aging identification time after the adjustment of the ith position node, Ai is more than or equal to 0 and less than or equal to Amax, Amax is more than or equal to 0 and less than or equal to Amax', i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
Preferably, the updating apparatus further includes:
and the third updating module is used for not updating the fingerprint information of the position node when the fingerprint aging identification time of any position node is not 0, and adjusting the fingerprint aging identification time of the position node according to a preset third updating rule.
Preferably, the third update rule is Ti ═ Ti' -1; and Ti represents the adjusted fingerprint aging identification time of the ith position node, Ti' represents the current fingerprint aging identification time of the ith position node, i is more than or equal to 1 and less than or equal to N, and N represents the total number of the position nodes in the target area.
Preferably, the updating apparatus further includes:
and the learning updating module is used for performing learning updating on the fingerprint information updating period of each position node for preset times in advance.
Preferably, for each learning update of the ith position node, the learning update module is specifically configured to:
judging whether the collected positioning information and the actual position information of the ith position node are in the error range;
when the acquired positioning information and the actual position information are in the error range, the fingerprint information of the ith position node is not updated, and Ai is set as Ai' + 1;
when the acquired positioning information and the actual position information are not in the error range, updating the fingerprint information of the ith position node, and setting Ai to be 0; and Ai represents the fingerprint information updating period of the ith position node after adjustment, Ai 'represents the current fingerprint information updating period of the ith position node, and Ai is more than or equal to 0 and less than or equal to Amax, and Ai' is more than or equal to 0 and less than or equal to Amax, i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
Preferably, the location node is a geometric center of a grid within the target region; the target area is divided into N grids which are not overlapped with each other in advance, and N is larger than or equal to 1.
Preferably, the error range is based on whether the grid corresponding to the acquired positioning information enters a grid tolerance area corresponding to the actual position information;
the first update module is specifically configured to:
when the grid corresponding to the collected positioning information enters a grid tolerance area corresponding to the actual position information, the fingerprint information of the position node is not updated, and the fingerprint information updating period and the fingerprint aging identification time of the position node are adjusted according to the first updating rule;
the second update module is specifically configured to:
and when the grid corresponding to the acquired positioning information exceeds the grid tolerance area corresponding to the actual position information, updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to the second updating rule.
Preferably, the grid tolerance region corresponding to the actual position information is composed of a grid corresponding to the actual position information, or is composed of a grid corresponding to the actual position information and an adjacent grid of the grid corresponding to the actual position information.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the method for updating fingerprint information in indoor positioning according to any of the above embodiments.
An embodiment of the present invention further provides an apparatus for updating fingerprint information in indoor positioning, as shown in fig. 5, which is a block diagram of another preferred embodiment of the apparatus for updating fingerprint information in indoor positioning provided by the present invention, the apparatus is an information processing platform, the information processing platform includes a processor 10, a memory 20, and a computer program stored in the memory 20 and configured to be executed by the processor 10, and the processor 10, when executing the computer program, implements the method for updating fingerprint information in indoor positioning described in any of the above embodiments.
Preferably, the computer program may be divided into one or more modules/units (e.g., computer program 1, computer program 2, … …) that are stored in the memory 20 and executed by the processor 10 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the information processing platform.
The Processor 10 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc., the general purpose Processor may be a microprocessor, or the Processor 10 may be any conventional Processor, the Processor 10 is a control center of the information Processing platform, and various interfaces and lines are used to connect various parts of the information Processing platform.
The memory 20 mainly includes a program storage area that may store an operating system, an application program required for at least one function, and the like, and a data storage area that may store related data and the like. In addition, the memory 20 may be a high speed random access memory, may also be a non-volatile memory, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like, or the memory 20 may also be other volatile solid state memory devices.
It should be noted that the information processing platform may include, but is not limited to, a processor and a memory, and those skilled in the art will appreciate that the block diagram of fig. 5 is merely an example of the information processing platform and does not constitute a limitation of the information processing platform, and may include more or less components than those shown, or may combine some components, or may be different components.
To sum up, the method, the apparatus, the computer-readable storage medium, and the system for updating fingerprint information in indoor positioning according to embodiments of the present invention can adaptively select a location node that needs to update fingerprint information according to fingerprint aging identification time of the location node and acquired positioning information, and adaptively adjust a fingerprint information update period of the location node, where a long-term unchanging location node executes a long update period, a short-term changing location node executes a short update period, and it is not necessary to update fingerprint information of all location nodes at the same time with a fixed update period, and when a location node does not update fingerprint information, it is not necessary to acquire fingerprint information and locate the location node, thereby shortening update time of fingerprint information, saving system resources, and reducing energy consumption.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (12)
1. A method for updating fingerprint information in indoor positioning is characterized by comprising the following steps:
checking the fingerprint aging identification time of each position node in the target area at preset time intervals;
when the fingerprint aging identification time of any position node is 0, judging whether the collected positioning information and the actual position information of the position node are within a preset error range;
when the acquired positioning information and the actual position information are within the error range, the fingerprint information of the position node is not updated, and the fingerprint information updating period and the fingerprint aging identification time of the position node are adjusted according to a preset first updating rule;
when the acquired positioning information and the actual position information are not in the error range, updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset second updating rule;
the first update rule is Ai ═ Ai' +1 and Ti ═ Ai; the second update rule is Ai ═ Ai' -1 and Ti ═ Ai; wherein Ai represents the fingerprint information updating period after the adjustment of the ith position node, Ai 'represents the current fingerprint information updating period of the ith position node, Ti represents the fingerprint aging identification time after the adjustment of the ith position node, Ai is more than or equal to 0 and less than or equal to Amax, Amax is more than or equal to 0 and less than or equal to Amax', i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
2. The method for updating fingerprint information in indoor positioning according to claim 1, further comprising:
when the fingerprint aging identification time of any position node is not 0, the fingerprint information of the position node is not updated, and the fingerprint aging identification time of the position node is adjusted according to a preset third updating rule.
3. The method for updating fingerprint information in indoor positioning according to claim 2, wherein the third update rule is Ti ═ Ti' -1; and Ti represents the adjusted fingerprint aging identification time of the ith position node, Ti' represents the current fingerprint aging identification time of the ith position node, i is more than or equal to 1 and less than or equal to N, and N represents the total number of the position nodes in the target area.
4. The method for updating fingerprint information in indoor positioning according to claim 1, further comprising:
and performing learning updating for preset times on the fingerprint information updating period of each position node in advance.
5. The method for updating fingerprint information in indoor positioning according to claim 4, wherein the performing learning update for a preset number of times on the fingerprint information update cycle of each of the location nodes in advance specifically includes, for each learning update of an ith location node:
judging whether the collected positioning information and the actual position information of the ith position node are in the error range;
when the acquired positioning information and the actual position information are in the error range, the fingerprint information of the ith position node is not updated, and Ai is set as Ai' + 1;
when the acquired positioning information and the actual position information are not in the error range, updating the fingerprint information of the ith position node, and setting Ai to be 0; and Ai represents the fingerprint information updating period of the ith position node after adjustment, Ai 'represents the current fingerprint information updating period of the ith position node, and Ai is more than or equal to 0 and less than or equal to Amax, and Ai' is more than or equal to 0 and less than or equal to Amax, i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
6. The method for updating fingerprint information in indoor positioning according to claim 1, wherein said position node is a geometric center of a grid within said target area; the target area is divided into N grids which are not overlapped with each other in advance, and N is larger than or equal to 1.
7. The method for updating fingerprint information in indoor positioning according to claim 6, wherein the error range is based on whether the grid corresponding to the collected positioning information enters the grid tolerance area corresponding to the actual position information;
when the acquired positioning information and the actual position information are within the error range, the fingerprint information of the position node is not updated, and the fingerprint information update cycle and the fingerprint aging identification time of the position node are adjusted according to a preset first update rule, which specifically includes:
when the grid corresponding to the collected positioning information enters a grid tolerance area corresponding to the actual position information, the fingerprint information of the position node is not updated, and the fingerprint information updating period and the fingerprint aging identification time of the position node are adjusted according to the first updating rule;
when the acquired positioning information and the actual position information are not within the error range, updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset second updating rule, specifically comprising:
and when the grid corresponding to the acquired positioning information exceeds the grid tolerance area corresponding to the actual position information, updating the fingerprint information of the position node, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to the second updating rule.
8. The method for updating fingerprint information in indoor positioning according to claim 7, wherein the grid tolerant region corresponding to the actual position information is composed of a grid corresponding to the actual position information, or is composed of a grid corresponding to the actual position information and an adjacent grid of the grid corresponding to the actual position information.
9. An updating device of fingerprint information in indoor positioning, comprising:
the time checking module is used for checking the fingerprint aging identification time of each position node in the target area at intervals of preset time;
the positioning judgment module is used for judging whether the collected positioning information and the actual position information of any position node are within a preset error range when the fingerprint aging identification time of the position node is 0;
the first updating module is used for not updating the fingerprint information of the position node when the acquired positioning information and the actual position information are within the error range, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset first updating rule; and the number of the first and second groups,
the second updating module is used for updating the fingerprint information of the position node when the acquired positioning information and the actual position information are not in the error range, and adjusting the fingerprint information updating period and the fingerprint aging identification time of the position node according to a preset second updating rule;
the first update rule is Ai ═ Ai' +1 and Ti ═ Ai; the second update rule is Ai ═ Ai' -1 and Ti ═ Ai; wherein Ai represents the fingerprint information updating period after the adjustment of the ith position node, Ai 'represents the current fingerprint information updating period of the ith position node, Ti represents the fingerprint aging identification time after the adjustment of the ith position node, Ai is more than or equal to 0 and less than or equal to Amax, Amax is more than or equal to 0 and less than or equal to Amax', i is more than or equal to 1 and less than or equal to N, Amax represents the maximum fingerprint information updating period, and N represents the total number of the position nodes in the target area.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program; wherein the computer program controls, when running, an apparatus in which the computer-readable storage medium is located to perform the method for updating fingerprint information in indoor positioning according to any one of claims 1 to 8.
11. An apparatus for updating fingerprint information in indoor positioning, wherein the apparatus is an information processing platform, the information processing platform comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, and the processor, when executing the computer program, implements the method for updating fingerprint information in indoor positioning according to any one of claims 1 to 8.
12. An updating system of fingerprint information in indoor positioning is characterized by comprising a wireless signal access point, an information collector and an information processing platform; wherein the content of the first and second substances,
the wireless signal access point is used for providing a positioning reference signal;
the information collector is used for collecting the positioning reference signal sent by the wireless signal access point and fingerprint information of any position node in a target area, and sending the positioning reference signal and the fingerprint information to the information processing platform;
the information processing platform is configured to obtain the collected positioning information of the location node according to the received positioning reference signal and the fingerprint information, and perform the method for updating fingerprint information in indoor positioning according to any one of claims 1 to 8.
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| CN109856596B (en) * | 2019-02-21 | 2021-05-07 | 上海迹寻科技有限公司 | Method for collecting wireless node signal position fingerprint in high-speed moving state, computer readable storage medium and equipment thereof |
| CN114466373B (en) * | 2020-11-09 | 2023-08-15 | ***通信集团湖北有限公司 | Method, device, equipment and computer readable storage medium for updating position fingerprint library |
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