CN109889974A - A kind of building and update method of indoor positioning multi-source information fingerprint base - Google Patents
A kind of building and update method of indoor positioning multi-source information fingerprint base Download PDFInfo
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Abstract
The invention discloses the buildings and update method of a kind of indoor positioning multi-source information fingerprint base comprising: step S1: building fingerprint information data library；Step S2: using positioning track, PDR and bluetooth, WIFI, one of the three kinds of information that can form fingerprint of earth magnetism or a variety of provided in user's position fixing process, fingerprint information data library is automatically updated.The present invention has many advantages, such as that principle is simple, Yi Shixian, is capable of forming the higher finger print data information bank of precision.
Description
Technical field
Present invention relates generally to indoor positioning technologies fields, refer in particular to a kind of building of indoor positioning multi-source information fingerprint base
With update method.
Background technique
With the development of hyundai electronics information technology, human being's production, the life stepped into information epoch and to the intelligent epoch advance,
In this course, demand of the people to position and location based service is obtained is more and more long-range, this demand also just expands
It opens up including military affairs, traffic, produce, live in interior every field.
For under outdoor environment, perfect by the development to satellite positioning navigation technology decades, positioning has been able to satisfy big
The requirement to precision under partial picture.And it is very tired accurately to obtain position due to the particularity of its environment for indoor positioning
Difficulty is now in developing stage through appointing.
Common indoor orientation method include: reckoning location technology based on inertial sensor, bluetooth location technology,
Ultra wide band (UWB) location technology, radio frequency (RFID) location technology, based on LED visible light location technology, WiFi location technology etc.
Deng, methods wide variety, but generally can only all meet the positioning requirements of certain precision under specific environment, it is each have their own excellent
Gesture and disadvantage.For example, WiFi location technology is positioned by AP deployed in use environment, thus dispose it is simple, at
This low and WiFi signal is ubiquitous, while supporting to position on the mobile apparatus, therefore is a more promising indoor positioning
Technology.But to want WiFi positioning can stable position, need positioning terminal that can receive a certain number of AP, this
Point is not that can meet under any environment.To solve this problem while being positioned using WiFi, comprehensive utilization bluetooth,
The data that magnetic etc. is convenient for while being obtained realize Multi-source Information Fusion positioning.And realize the fusions such as WiFi, bluetooth, earth magnetism positioning
Best way is fingerprint matching locating method, and the premise of this method is the fingerprint base (radio that building can be used for matching positioning
map)。
When constructing fingerprint base, two methods of single-point acquiring and continuous acquisition are commonly used to realize raw data acquisition.Single-point
Acquisition method is the data collection point that good certain density is planned in the interior space for needing to acquire data building fingerprint base, and is led to
The position coordinates that mapping obtains acquisition are crossed, then the signal on each collection point of acquisition and recording one by one.Single-point acquiring is in scientific research
There is extensive application in neutralization of commercial practice, this method is although simple and effective, but needs to take a substantial amount of time to go with energy
Mapping measurement is carried out, cost is very high.In order to improve the efficiency of creation fingerprint database, continuous acquisition method is proposed.The party
Method in signal acquisition scene map by being arranged several road signs, and mapping worker carries signal pickup assembly, between each road sign
Uniform rectilinear's walking, acquires signal on the way, and reach road sign point markers write down reach road sign time and road sign it is good, finally lead to
Track route under overwriting can be obtained the signal between road sign point by the time used in the straight line between two road signs and adopt
Collect the coordinate pointed out.This method is higher by much than above-mentioned single-point acquiring method efficiency, but has mapping worker to need uniform rectilinear
The limitation of walking.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Kind of principle is simple, Yi Shixian, the indoor positioning multi-source information fingerprint base for being capable of forming the higher finger print data information bank of precision
Building and update method.
In order to solve the above technical problems, the invention adopts the following technical scheme:
A kind of building and update method of indoor positioning multi-source information fingerprint base comprising:
Step S1: building fingerprint information data library；
Step S2: using provided in user's position fixing process positioning track, PDR and bluetooth, WIFI, three kinds of earth magnetism
One of information of fingerprint or a variety of can be formed, fingerprint information data library is automatically updated.
As a further improvement of the present invention: further including when constructing fingerprint base to data quality control process, comprising:
Step S101: integrity detection；I.e. when constructing fingerprint base, detection has the integrality of Various types of data；
Step S102: the significant data factor is determined；After integrity detection passes through, on final fingerprint base quality influence compared with
The significant data factor is as follows:
(a) it defends and leads data precision；
(b) wifi, bluetooth, Geomagnetic signal sample rate；
(c) wifi, bluetooth signal number.
Wherein: number of sources lays Absent measures by signal source；Signal sampling rate is by selecting data acquisition equipment
Control；The Horizontal offset and angle offset holding for leading that data precision is used to guarantee to optimize the indoor positioning track after alignment are defended in screening
Within the acceptable range.
As a further improvement of the present invention: during screening is defended and led, comprising:
Firstly, according to the middle error of dop value, satellite number and the horizontal plane defended in derivative evidence to satellite positioning location number
According to one initial screening of progress；
Secondly, for initial screening rear guard derivative according to micro- inertial navigation track in the corresponding period, select a time window
Mouthful, in the time window, translation rotation transformation is carried out with micro- inertial navigation positioning track and goes to be fitted to defend to lead positioning track, utilizes minimum
Square law finds out the optimal estimation location bias and rotation angle of the Euler's transformation, and then by the size of error of fitting, judgement should
The quality of data in time window；If the error after fitting is greater than thresholding, then it is assumed that fitting is bad, should abandon the Duan Wei and lead
Location data；Method defends derivative according to being screened one by one in all periods according to this.
As a further improvement of the present invention: further including the data quality control process when fingerprint base updates, comprising:
Step S201: data integrity detection；In detection data whether completely comprising PDR, WiFI, bluetooth, earth magnetism and
WiFi matches location data；
Step S202: for the data detected by data integrity, recycle whether the track PDR in data judges data
It can use, judgment basis has the step-length of each step in the track PDR, and adjacent two steps deflection variable quantity, the length of entire track, track are covered
The range of lid.
Wherein, step step-length judgment criterion is relatively all steps of step that step-length is greater than length threshold in all steps of statistics
The ratio of subnumber, if ratio is greater than thresholding, data are unavailable；Deflection variable quantity criterion is that the adjacent two steps deflection of statistics becomes
Amount is greater than the ratio of relatively all step numbers of deflection number of thresholding, if ratio is greater than thresholding,；Data are unavailable；
Step S203: it after PDR data are by above-mentioned two detection criteria, then calculates in the length and track that PDR estimates
Distance apart from maximum two points judges that data acquisition time is too short, is not suitable for referring to if there is being less than corresponding thresholding
Line library updates.
As a further improvement of the present invention: further including step S3: time synchronizing is carried out to data comprising:
Step S301: the first order is synchronous；The minimum a kind of data of selection sample frequency in the information data for constituting fingerprint
As alignment target, the acquisition time of each frame data of the target data is extracted, a time series is constituted, then utilizing should
Time series carries out nonstandard data down-sampled；
Step S302: the second level is synchronous；Realize the time synchronization of data needed for constructing pose figure in figure optimization.
Step S303: the third level is synchronous；By being associated with for the fingerprint not comprising position that indoor positioning position and information are constituted,
To obtain coordinate of the fingerprint collecting position after figure optimization, final complete fingerprint is produced.
As a further improvement of the present invention: in the step S301, by one each of in down-sampled time series
Time point as center time point, sets a time window, using mean value of other nonstandard data on the time window as
The value of corresponding data at the time point accomplishes that all data that may make up fingerprint are synchronous in time；It is complete in these data
After time synchronization, each frame data are packaged into the form of fingerprint, obtain not comprising acquisition position fingerprint or not with adopt
Collect the fingerprint of binding positions)；In fingerprint base automatically updates, which is realized in fingerprint matching position fixing process, synchronous
It is positioned in the form of not including the fingerprint of acquisition position for fingerprint matching afterwards, while saving and being updated for fingerprint.
As a further improvement of the present invention: in the step S302, using micro- inertial navigation track data as time synchronization mark
, for each track step point, using the center time point of the step and former and later two steps as time window, in the time
It selects to correspond to time point nearest defending in window away from the step and leads with fingerprint information data and lead and refer to as corresponding defend of the step
Line information data；If led or fingerprint information data without defending in the window, labeled as without this data；And automatically updating rank
Section, this grade synchronization are then to realize the time synchronization of matching location data and PDR data, only need to be micro- inertial navigation track therein more
It changes the track PDR into, defends derivative evidence and fingerprint information data and substituted with fingerprint matching location data herein.
As a further improvement of the present invention: in the step S303, to each fingerprint, according to the finger in the fingerprint
Line acquisition time, interpolation on the track of carrying position coordinates generation time after optimization, obtain the finger print data to it is corresponding when
The position coordinates at quarter.
Compared with the prior art, the advantages of the present invention are as follows: a kind of indoor positioning multi-source information fingerprint base of the invention
Building and update method, principle is simple, Yi Shixian, is capable of forming the higher finger print data information bank of precision, it also utilizes use
The information such as positioning track, PDR, bluetooth, WIFI, earth magnetism are provided in person's position fixing process, automatically update fingerprint information data library.The party
Method can rapid build position precision be high, the multi-source information fingerprint base complete comprising information, and realizes that the fingerprint database updates automatically,
The finger print data information bank of precision height and long-time stable is provided for the indoor positioning based on fingerprint matching.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention.
Fig. 2 is the flow diagram that the present invention controls the quality of data in specific application example.
Fig. 3 is the flow diagram that the present invention carries out time synchronizing in specific application example to data.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
As shown in Figure 1, the building and update method of a kind of indoor positioning multi-source information fingerprint base of the invention, comprising:
Step S1: building fingerprint information data library；
Step S2: using provided in user's position fixing process positioning track, PDR and bluetooth, WIFI, three kinds of earth magnetism
One of information of fingerprint or a variety of can be formed, fingerprint information data library is automatically updated.
In above process, positioning terminal is carried by user, PDR, bluetooth, Wifi, Geomagnetism Information can be acquired in real time.
In fingerprint information data library, need to control the quality of data.The purpose of data quality control is to screen out tool
There are the data of significant big error, the quality stability in fingerprint information data library after guaranteeing final building, updating.Here data matter
Data quality control when amount control includes creation fingerprint base controls two parts with quality when updating fingerprint base, referring to fig. 2
It is shown.
First part: the data quality control when constructing fingerprint base；
S101: integrity detection；
When constructing fingerprint base, most basic data quality control is the integrality that detection has Various types of data, for example whether
Whether interrupted in collecting, acquiring.
S102: the significant data factor is determined；
After integrity detection passes through, it is as follows that the more significant data factor is influenced on final fingerprint base quality:
(a) it defends and leads data precision；
(b) wifi, bluetooth, Geomagnetic signal sample rate；
(c) wifi, bluetooth signal number.
Wherein: number of sources lays Absent measures by signal source；Signal sampling rate is by selecting the number met the requirements
According to acquisition equipment control；The Horizontal offset and angle for leading that data precision is used to guarantee to optimize the indoor positioning track after alignment are defended in screening
Degree biasing is kept within the acceptable range.
In the method for the invention, it leads location position data by two different screenings and carries out stringent screening to defending.
Firstly, according to the middle error of dop value, satellite number and the horizontal plane defended in derivative evidence to satellite positioning location number
According to one initial screening of progress.
Secondly, for initial screening rear guard derivative according to micro- inertial navigation track in the corresponding period, select a time window
Mouthful, in the time window, translation rotation transformation is carried out with micro- inertial navigation positioning track and goes to be fitted to defend to lead positioning track, utilizes minimum
Square law finds out the optimal estimation location bias and rotation angle of the Euler's transformation, and then by the size of error of fitting, judgement should
The quality of data in time window.If the error after fitting is greater than thresholding, then it is assumed that fitting is bad, should abandon the Duan Wei and lead
Location data.Method defends derivative according to being screened one by one in all periods according to this.
Second part: data quality control when fingerprint base updates；
Data quality control when compared to fingerprint building, quality control is then more important when update, to the quality shadow of fingerprint base
It rings also bigger.Because data when creating fingerprint base are acquired by professional, by strictly observing collecting flowchart, selecting suitably
Equipment can largely guarantee the quality of data, while manual control means can also be added during creating, and guarantee
Final fingerprint base quality.But when fingerprint base automatically updates, all data sources are in the intelligent terminal of positioning user, user couple
The use of intelligent terminal has randomness, and influence of this point to the pdr track data used in automatically updating is especially great,
Think accurately to update fingerprint base, need to obtain the preferable track pdr, it is desirable that user smoothly holds positioning eventually for a long time
End.And due to the randomness of user, many data are all unsatisfactory for this requirement, to the update that has obtained as a result, must have
One effective data screening strategy.
At this stage, the data screening strategy that the present invention uses is as follows:
S201: data integrity detection；
Whether completely comprising data such as PDR, WiFI, bluetooth, earth magnetism and WiFi matching positioning in detection data.
S202: for the data detected by data integrity, the track PDR in data is recycled to judge that data whether may be used
With judgment basis has the step-length of each step in the track PDR, adjacent two steps deflection variable quantity, the length of entire track, track covering
Range etc..
Wherein, step step-length judgment criterion is relatively all steps of step that step-length is greater than length threshold in all steps of statistics
The ratio of subnumber shows that user does not hold positioning terminal steadily, data are unavailable if ratio is greater than thresholding.Deflection becomes
Change amount criterion is the ratio for relatively all step numbers of deflection number that statistics adjacent two step direction angle variable is greater than thresholding, if
Ratio is greater than thresholding, equally may determine that and shows that user does not hold positioning terminal steadily, data are unavailable.
S203: after PDR data are by above-mentioned two detection criteria, then distance in the length and track that PDR estimates is calculated
The distance of maximum two points can determine whether that data acquisition time is too short, be not suitable for fingerprint if there is being less than corresponding thresholding
Library updates.
In specific application example, when being acquired in real time in above-mentioned steps to user data, due to Various types of data
Sample frequency is not quite similar, all after data are by integrity screening, further comprises step S3: it is same to carry out the time to data
Step processing.
It is shown in Figure 3, data are carried out with the detailed process of time synchronizing are as follows:
S301: the first order is synchronous；
A kind of data for selecting sample frequency minimum in the information data that WiFi, bluetooth, earth magnetism etc. may make up fingerprint are made
To be aligned target, the acquisition time of each frame data of the target data is extracted, a time series is constituted, when then utilizing this
Between sequence nonstandard data are carried out it is down-sampled.
Method particularly includes: using a time point each of in the down-sampled time series as center time point, set one
Time window, using mean value value as corresponding data at the time point of other nonstandard data on the time window, thus
Accomplish that all data that may make up fingerprint are synchronous in time.After these data deadlines synchronize, by each frame number
According to the form for being packaged into fingerprint, the fingerprint (or not fingerprint with acquisition position binding) not comprising acquisition position is obtained.Referring to
During line library automatically updates, grade synchronization is realized in fingerprint matching position fixing process, not include acquisition position after synchronizing
The form of fingerprint is positioned for fingerprint matching, while being saved and being updated for fingerprint.
After the first order synchronously completes, i.e., fingerprint information data can be generated, only include multiple indigo plants in fingerprint only at this moment
Tooth beacon signal source MAC, the source WiFi AP signal source MAC, the ID of Geomagnetic signal and all these signal sources
The acquisition time of corresponding signal strength indication and these signal strength informations, and do not include the position of these signal message collection points
Set coordinate because need etc. by figure optimization to micro- inertial navigation track alignment, amendment obtain world coordinates track, then pass through the third level
After synchronizing, correct fingerprint collecting position could be obtained.
S302: the second level is synchronous；
Purpose is the time synchronization of data needed for constructing pose figure in the optimization of realization figure, constructs stage, the grade to fingerprint base
It is to be carried out on the basis of the first order is synchronous, need to realizes the fingerprint information data after synchronizing and micro- inertial guidance data, defend derivative evidence
Synchronization.
Method particularly includes: using micro- inertial navigation track data as time synchronization target, for each track step point, with the step
The center time point of son and former and later two steps is as time window, and selection corresponds to time point most away from the step in the time window
It is close defend to lead with fingerprint information data led and fingerprint information data as corresponding defend of the step.If lead without defending in the window or
Fingerprint information data, then labeled as without this data.And in the stage that automatically updates, this grade synchronization is then matching location data to be realized
With the time synchronization of PDR data, method is similar to the building secondary synchronization in fingerprint base stage, only need to be micro- inertial navigation track therein
It is replaced with the track PDR, defends the fingerprint matching location data substitution of derivative evidence and fingerprint information data herein, this, which is synchronized, equally exists
It has been completed in fingerprint matching position fixing process.
S303: the third level is synchronous；
It is not include position for what the information such as indoor positioning position and WiFi, bluetooth, earth magnetism were constituted that the third level, which synchronizes,
The association of fingerprint, the grade is synchronous to be carried out on the basis of the first order is synchronous, it is therefore an objective to obtain fingerprint collecting position after figure optimization
Coordinate, produce final complete fingerprint.
Method particularly includes: to each fingerprint, according to the fingerprint collecting time point in the fingerprint, carrying position after optimization
Interpolation on the track of coordinate generation time is set, the position coordinates that the finger print data corresponds to the moment are obtained.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (8)
1. a kind of building and update method of indoor positioning multi-source information fingerprint base characterized by comprising
Step S1: building fingerprint information data library；
Step S2: using provided in user's position fixing process positioning track, PDR and bluetooth, WIFI, three kinds of earth magnetism can shape
One of information at fingerprint is a variety of, automatically updates fingerprint information data library.
2. the building and update method of indoor positioning multi-source information fingerprint base according to claim 1, which is characterized in that also
To data quality control process when being included in building fingerprint base, comprising:
Step S101: integrity detection；I.e. when constructing fingerprint base, detection has the integrality of Various types of data；
Step S102: the saliency data factor is determined；After integrity detection passes through, final fingerprint base quality is influenced more significant
The data factor it is as follows:
(a) it defends and leads data precision；
(b) wifi, bluetooth, Geomagnetic signal sample rate；
(c) wifi, bluetooth signal number.
Wherein: number of sources lays Absent measures by signal source；Signal sampling rate is by selecting data acquisition equipment control；
Screening, which is defended, to be led Horizontal offset that data precision is used to guarantee indoor positioning track after optimization alignment and angle offset be maintained at can
In the range of receiving.
3. the building and update method of indoor positioning multi-source information fingerprint base according to claim 2, which is characterized in that
During screening is defended and is led, comprising:
Firstly, according to defend dop value of the derivative in, the middle error of satellite number and horizontal plane to satellite positioning location data into
One initial screening of row；
Secondly, for initial screening rear guard derivative according to micro- inertial navigation track in the corresponding period, select a time window,
In the time window, translation rotation transformation is carried out with micro- inertial navigation positioning track and goes to be fitted to defend to lead positioning track, utilizes least square
Method, the optimal estimation location bias and rotation angle for finding out the Euler's transformation judge the time then by the size of error of fitting
The quality of data in window；If the error after fitting is greater than thresholding, then it is assumed that fitting is bad, should abandon the Duan Wei and lead positioning
Data；Method defends derivative according to being screened one by one in all periods according to this.
4. the building and update method of indoor positioning multi-source information fingerprint base according to claim 2, which is characterized in that also
Including the data quality control process when fingerprint base updates, comprising:
Step S201: data integrity detection；It whether completely include PDR, WiFI, bluetooth, earth magnetism and WiFi in detection data
Match location data；
Step S202: for the data detected by data integrity, the track PDR in data is recycled to judge that data whether may be used
With judgment basis has the step-length of each step in the track PDR, adjacent two steps deflection variable quantity, the length of entire track, track covering
Range.
Wherein, step step-length judgment criterion is relatively all step numbers of step that step-length is greater than length threshold in all steps of statistics
Ratio, if ratio is greater than thresholding, data are unavailable；Deflection variable quantity criterion is that statistics adjacent two step direction angle variable is big
In the ratio of relatively all step numbers of the deflection number of thresholding, if ratio is greater than thresholding, data are unavailable；
Step S203: after PDR data are by above-mentioned two detection criteria, then distance in the length and track that PDR estimates is calculated
The distance of maximum two points judges that data acquisition time is too short, is not suitable for fingerprint base if there is being less than corresponding thresholding
It updates.
5. the building and update method of indoor positioning multi-source information fingerprint base described in any one of -4 according to claim 1,
It is characterized in that, further including step S3: carrying out time synchronizing to data comprising:
Step S301: the first order is synchronous；Constitute fingerprint information data in select sample frequency minimum a kind of data as
It is aligned target, the acquisition time of each frame data of the target data is extracted, constitutes a time series, then utilizes the time
Sequence carries out nonstandard data down-sampled；
Step S302: the second level is synchronous；Realize the time synchronization of data needed for constructing pose figure in figure optimization.
Step S303: the third level is synchronous；Indoor positioning position is associated with the fingerprint not comprising position that multi-source information is constituted, with
Coordinate of the fingerprint collecting position after figure optimization is obtained, final complete fingerprint is produced.
6. the building and update method of indoor positioning multi-source information fingerprint base according to claim 5, which is characterized in that
In the step S301, using a time point each of in down-sampled time series as center time point, a time window is set
Mouthful, using mean value value as corresponding data at the time point of other nonstandard data on the time window, accomplish it is all can
Constituting the data of fingerprint is synchronous in time；After these data deadlines synchronize, each frame data are packaged into finger
The form of line, the fingerprint for obtaining the fingerprint not comprising acquisition position or not bound with acquisition position)；It is automatically updated in fingerprint base
In, which realizes in fingerprint matching position fixing process, to be used in the form of not including the fingerprint of acquisition position after synchronizing
Fingerprint matching positioning, while saving and being updated for fingerprint.
7. the building and update method of indoor positioning multi-source information fingerprint base according to claim 5, which is characterized in that
In the step S302, using micro- inertial navigation track data as time synchronization target, for each track step point, with the step with
The center time point of former and later two steps selects correspond in the time window time point away from the step recently as time window
It defends to lead with fingerprint information data and be led and fingerprint information data as corresponding defend of the step；If led or fingerprint without defending in the window
Information data, then labeled as without this data；And in the stage that automatically updates, this grade synchronization be then to realize matching location data with
Micro- inertial navigation track therein need to be only replaced with the track PDR, defend derivative evidence and fingerprint information data by the time synchronization of PDR data
It is substituted with fingerprint matching location data herein.
8. the building and update method of indoor positioning multi-source information fingerprint base according to claim 5, which is characterized in that
In the step S303, to each fingerprint, according to the fingerprint collecting time point in the fingerprint, carrying position after optimization is sat
Interpolation on the track of generation time is marked, the position coordinates that the finger print data corresponds to the moment are obtained.
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| CN110300385A (en) * | 2019-07-09 | 2019-10-01 | 桂林理工大学 | A kind of indoor orientation method based on adaptive particle filter |
| CN111207738A (en) * | 2020-01-14 | 2020-05-29 | 中国矿业大学 | Visible light assisted geomagnetic indoor positioning method |
| CN111818474A (en) * | 2020-06-16 | 2020-10-23 | 北京无限向溯科技有限公司 | Method, device, equipment and system for constructing positioning fingerprint database and storage medium |
| CN112987064A (en) * | 2021-02-09 | 2021-06-18 | 北京百度网讯科技有限公司 | Building positioning method, device, equipment, storage medium and terminal equipment |
| CN112985392A (en) * | 2021-04-19 | 2021-06-18 | 中国人民解放军国防科技大学 | Pedestrian inertial navigation method and device based on graph optimization framework |
| CN113239137A (en) * | 2021-05-20 | 2021-08-10 | 北京智慧图科技有限责任公司 | Method for fingerprint generation and maintenance of Wi-Fi SLAM |
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