CN110057355A - A kind of indoor orientation method, device, system and calculate equipment - Google Patents
A kind of indoor orientation method, device, system and calculate equipment Download PDFInfo
- Publication number
- CN110057355A CN110057355A CN201910314405.5A CN201910314405A CN110057355A CN 110057355 A CN110057355 A CN 110057355A CN 201910314405 A CN201910314405 A CN 201910314405A CN 110057355 A CN110057355 A CN 110057355A
- Authority
- CN
- China
- Prior art keywords
- geomagnetic data
- data sequence
- earth magnetism
- geomagnetic
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Evolutionary Computation (AREA)
- Evolutionary Biology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Bioinformatics & Computational Biology (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Automation & Control Theory (AREA)
- Artificial Intelligence (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the invention discloses a kind of indoor orientation methods, comprising: acquires geomagnetic data sequence to be positioned via mobile terminal；Determine the earth magnetism fingerprint base of mobile terminal region；Geomagnetic data sequence to be positioned is matched with the earth magnetism finger print information of location point in region, to obtain the geomagnetic data sequence number to match in earth magnetism finger print information with geomagnetic data sequence to be positioned；At least with the transition probability of probabilistic localization model predicted positions point；And the geomagnetic data sequence number to match in the earth magnetism finger print information of the transition probability and location point based on location point with geomagnetic data sequence to be positioned, determine the position of mobile terminal.The embodiment of the invention also discloses corresponding indoor positioning device, system, calculate equipment and storage medium.
Description
Technical field
The present invention relates to indoor positioning field, in particular to a kind of indoor orientation method, device, system and calculating equipment.
Background technique
In recent years, location-based service (Location Based Services, LBS) industry development is swift and violent, high precision position confidence
Breath is to provide the basis of high quality position service.Conventional satellite positioning system, such as global positioning system (Global
Positioning System, GPS), BEI-DOU position system, possess higher positioning accuracy in outdoor spacious environment, still, by
Be formed on signal strength, satellite positioning signal is highly susceptible to block or interfere, this cause global position system in urban canyons and
Indoor environment location is inaccurate can not even to be positioned.
In order to solve the orientation problem under indoor environment, occur many indoor positioning technologies in recent years, as base station location,
WLAN (Wi-Fi) positioning etc..However, existing indoor positioning technologies largely require additional hardware supported, and
And since wireless signal can be absorbed by the body, wireless signal can be very faint or even receive and cause when the crowd is dense
Locating effect is bad in practical applications for positioning system.
Accordingly, it is desirable to provide a kind of more advanced indoor positioning scheme.
Summary of the invention
For this purpose, the embodiment of the invention provides a kind of indoor orientation method, device, system and equipment is calculated, to try hard to solve
Certainly or at least alleviate at least one existing problem above.
According to an aspect of an embodiment of the present invention, a kind of indoor orientation method is provided, method includes: via mobile whole
End acquires geomagnetic data sequence to be positioned；Determine that the earth magnetism fingerprint base of mobile terminal region, earth magnetism fingerprint base include described
The earth magnetism finger print information of multiple location points in region, earth magnetism finger print information include multiple geomagnetic data sequences of the location point；
Geomagnetic data sequence to be positioned is matched with the earth magnetism finger print information of location point, with obtain in earth magnetism finger print information with it is undetermined
The geomagnetic data sequence number that position geomagnetic data sequence matches；Transfer at least with probabilistic localization model predicted positions point is general
Rate；And match in the earth magnetism finger print information of the transition probability and location point based on location point with geomagnetic data sequence to be positioned
Geomagnetic data sequence number, determine the position of mobile terminal.
According to another aspect of an embodiment of the present invention, a kind of indoor positioning device is provided, comprising: communication unit is suitable for
Obtain the geomagnetic data sequence to be positioned acquired via mobile terminal；Regional search unit is adapted to determine that mobile terminal location
The earth magnetism fingerprint base in domain, earth magnetism fingerprint base include the earth magnetism finger print information of multiple location points in region, and earth magnetism finger print information includes
Multiple geomagnetic data sequences of location point；Data matching unit, suitable for by the earth magnetism of geomagnetic data sequence and location point to be positioned
Finger print information is matched, to obtain the geomagnetic data sequence to match in earth magnetism finger print information with geomagnetic data sequence to be positioned
Number；Probability prediction unit, suitable for the transition probability at least with probabilistic localization model predicted positions point；And position determines list
Member, suitable for matching in the earth magnetism finger print information of transition probability and location point based on location point with geomagnetic data sequence to be positioned
Geomagnetic data sequence number, determine the position of mobile terminal.
According to another aspect of an embodiment of the present invention, a kind of calculating equipment is provided, comprising: one or more processors；
And memory；One or more programs, wherein one or more programs are stored in memory and are configured as by one or more
A processor executes, and one or more programs include for executing either one in indoor orientation method according to an embodiment of the present invention
The instruction of method.
According to an embodiment of the present invention there are one aspects, and the computer for providing a kind of one or more programs of storage can
Storage medium is read, one or more programs include instruction, and instruction executes so that calculating equipment according to this when calculating equipment executes
Method either in the indoor orientation method of inventive embodiments.
Indoor positioning scheme according to an embodiment of the present invention can use geomagnetic data and probabilistic localization model carries out interior
Positioning, greatly improves the precision and stability of positioning.
Detailed description of the invention
To the accomplishment of the foregoing and related purposes, certain illustrative sides are described herein in conjunction with following description and drawings
Face, these aspects indicate the various modes that can practice principles disclosed herein, and all aspects and its equivalent aspect
It is intended to fall in the range of theme claimed.Read following detailed description in conjunction with the accompanying drawings, the disclosure it is above-mentioned
And other purposes, feature and advantage will be apparent.Throughout the disclosure, identical appended drawing reference generally refers to identical
Component or element.
Fig. 1 shows the architecture diagram of indoor locating system 100 according to an embodiment of the invention；
Fig. 2 shows the schematic diagrames according to an embodiment of the invention for calculating equipment 200；
Fig. 3 shows the flow chart of indoor orientation method 300 according to an embodiment of the invention；And
Fig. 4 shows the structural block diagram of indoor positioning device 400 according to an embodiment of the invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Fig. 1 shows the architecture diagram of indoor locating system 100 according to an embodiment of the invention.As shown in Figure 1, indoor
Positioning system 100 includes mobile terminal 110 and indoor positioning device 400.Indoor positioning device 400 generally resides on server
In, and the one or more networks 120 and shifting of such as local area network (LAN) or the wide area network (WAN) of such as internet can be passed through
Dynamic terminal 110 is communicated.Mobile terminal 110 can acquire geomagnetic data sequence to be positioned.Specifically, mobile terminal 110 wraps
Magnetic field sensor is included, and the geomagnetic data of 110 position of mobile terminal can be acquired via magnetic field sensor, that is,
Geomagnetic data to be positioned.It includes horizontal axis, the longitudinal axis and vertical pivot that magnetic field sensor, which can measure corresponding with mobile terminal position,
Three axis in each axis magnetic field value.In some embodiments, mobile terminal 110 can be acquired according to Fixed Time Interval
Geomagnetic data, can also be with continuous acquisition geomagnetic data, to form geomagnetic data sequence to be positioned.
After acquiring geomagnetic data sequence to be positioned, mobile terminal 110 can be sent geomagnetic data sequence to be positioned
To indoor positioning device 400, so that indoor positioning device 400 determines movement eventually according at least to the geomagnetic data sequence to be positioned
The position at end.
Embodiment according to the present invention, indoor positioning device 400 can be realized by following calculating equipment 200.Fig. 2
Show the schematic diagram according to an embodiment of the invention for calculating equipment 200.As shown in Fig. 2, in basic configuration 207,
It calculates equipment 200 and typically comprises system storage 206 and one or more processor 204.Memory bus 208 can be used
In the communication between processor 204 and system storage 206.
Depending on desired configuration, processor 204 can be any kind of processor, including but not limited to: micro process
Device (μ P), microcontroller (μ C), digital information processor (DSP) or any combination of them.Processor 204 may include all
Cache, processor core such as one or more rank of on-chip cache 210 and second level cache 212 etc
214 and register 216.Exemplary processor core 214 may include arithmetic and logical unit (ALU), floating-point unit (FPU),
Digital signal processing core (DSP core) or any combination of them.Exemplary Memory Controller 218 can be with processor
204 are used together, or in some implementations, and Memory Controller 218 can be an interior section of processor 204.
Depending on desired configuration, system storage 206 can be any type of memory, including but not limited to: easily
The property lost memory (RAM), nonvolatile memory (ROM, flash memory etc.) or any combination of them.System storage
Device 206 may include operating system 220, one or more is using 222 and program data 224.In some embodiments,
It may be arranged to be executed instruction by one or more processors 204 using program data 224 on an operating system using 222.
Calculating equipment 200 can also include facilitating from various interface equipments (for example, output equipment 242, Peripheral Interface
244 and communication equipment 246) to basic configuration 202 via the communication of bus/interface controller 230 interface bus 240.Example
Output equipment 242 include graphics processing unit 248 and audio treatment unit 250.They can be configured as facilitate via
The various external equipments of one or more port A/V 252 or HDMI interface and such as display or loudspeaker etc into
Row communication.Example Peripheral Interface 244 may include serial interface controller 254 and parallel interface controller 256, they can be by
It is configured to facilitate via one or more port I/O 258 and such as input equipment (for example, keyboard, mouse, pen, voice are defeated
Enter equipment, touch input device, remote input apparatus) or other peripheral hardwares (such as printer, scanner etc.) etc outside
Equipment is communicated.Exemplary communication equipment 246 may include network controller 260, can be arranged to convenient for via one
Other calculating communications of equipment 262 by network communication link of a or multiple communication port 264 and one or more.
Network communication link can be an example of communication media.Communication media can be usually presented as in such as carrier wave
Or computer readable instructions, data structure, program module in the modulated data signal of other transmission mechanisms etc, and can
To include any information delivery media." modulated data signal " can be such signal, one in its data set or
It is multiple or it change can the mode of encoded information in the signal carry out.As unrestricted example, communication media can
To include the wired medium of such as cable network or private line network etc, and it is such as sound, radio frequency (RF), microwave, infrared
(IR) the various wireless mediums or including other wireless mediums.Term computer-readable medium used herein may include depositing
Both storage media and communication media.
Calculating equipment 200 can be implemented as server, such as database server, apps server and WEB service
Device etc., also can be implemented as include desktop computer and notebook computer configuration personal computer.Certainly, equipment is calculated
200 also can be implemented as portable (or mobile) electronic equipment of small size.
In an embodiment according to the present invention, calculating equipment 200 at least may be implemented as in indoor positioning device 400
Each component, and be configured as executing indoor orientation method 300 according to an embodiment of the present invention.Wherein, the application of equipment 200 is calculated
Comprising executing a plurality of instruction of indoor orientation method 300 according to an embodiment of the present invention in 222, and program data 224 can be with
The configuration information etc. of locker room's interior locating device 400.
Fig. 3 shows the flow chart of indoor orientation method 300 according to an embodiment of the invention.As shown in figure 3, indoor
Localization method 300 is suitable for executing in positioning device 400 indoors, and starts from step S310.
In step s310, geomagnetic data sequence to be positioned is acquired via mobile terminal 110, the geomagnetic data sequence to be positioned
Column include a plurality of geomagnetic data to be positioned.Geomagnetic data sequence A to be positioned includes s item geomagnetic data to be positioned, i.e. A={ OM1,
OM2,…,OMj,…,OMs, wherein j-th strip geomagnetic data OM to be positionedj=(OMagRotx,OMagRoty,OMagRotz),
OMagRotx,OMagRoty,OMagRotzMagnetic field value of the geomagnetic data respectively to be positioned on horizontal axis, the longitudinal axis and vertical pivot.One
In a little embodiments, s usually can be with value for 10.
In some embodiments, after collecting geomagnetic data sequence to be positioned, can treat positioning geomagnetic data into
Row filtering processing, such as low-pass filtering treatment and/or Kalman filtering processing are carried out, the noise in geomagnetic data is dry to remove
It disturbs.
Usually low-pass filtering treatment can be carried out to geomagnetic data using following formula:
Wherein,α is low-pass filtering coefficient；X (n) is this sampled value；Y (n-1) is last time
Output valve after low-pass filtering treatment；Y (n) is the output valve after this low-pass filtering treatment.
Usually one-dimensional Kalman filtering processing can be carried out to geomagnetic data using following formula:
First calculate predicted value X-(n), X (n)=AX (n-1)+BU (n-1), wherein X (n-1) is last optimal measurement
Value.U (n-1) is control amount of the n-1 moment to system, and A and B are system parameter.
The covariance matrix of error between predicted value and true value is calculated again, and passes through last error co-variance matrix
P (n-1) and process noise Q predicts new error P-(n), P-(n)=AP (n-1) AT+Q.Then kalman gain K (n) is calculated, K
(n)=P-(n)HT(HP-(n)HT+R)-1.According to predicted value and measured value Y (n), estimated value X (n), X (n) can be calculated and corrected
=X-(n)+K(n)(Y(n)-HX-(n)).The covariance matrix of error between estimated value and true value is finally calculated, and is next
The iteration of the optimal measured value at step estimation n+1 moment is updated operation, while updating the value of P (n), P (n)=(I-K (n) H)
P-(n)。
In further embodiments, it is contemplated that geomagnetic data to be positioned is that the three-dimensional system of coordinate based on mobile terminal is acquired
, therefore coordinate conversion can be carried out to geomagnetic data after collecting geomagnetic data sequence to be positioned.
Firstly, three axis rotation angles of the mobile terminal under world coordinate system are obtained, for example, in Android operation system,
It can be obtained by the sensorManager.getOrientation () method for calling Android native library to provide
Take three axis rotation angles.Then three axis rotation angles can be based on, positioning geomagnetic data sequence is treated and carries out coordinate conversion.For example, can
To carry out coordinate conversion according to following formula:
Wherein, (α, beta, gamma) respectively indicates mobile terminal 110 (i.e. vertical pivot), X-axis (i.e. horizontal axis) and Y-axis is (i.e. vertical about the z axis
Axis) rotation angle.(OMagInix,OMagIniy,OMagIniz) it is the geomagnetic data to be positioned converted without coordinate,
OMagInix,OMagIniy,OMagInizThe respectively magnetic field value of horizontal axis, the longitudinal axis, vertical pivot.(OMagRotx,OMagRoty,
OMagRotz) be coordinate transform after geomagnetic data to be positioned, OMagRotx,OMagRoty,OMagRotzRespectively horizontal axis, vertical
The magnetic field value of axis, vertical pivot.It may be noted that magnetic field value on transverse axis is usually 0.
Above-mentioned filtering processing and/or coordinate transform process can execute in positioning device 400 indoors, can also be in movement
It is executed in terminal 110, the present invention is without limitation.
Then, in S320, the earth magnetism fingerprint base of 110 region of mobile terminal is determined.It in some embodiments, can be with
110 region of mobile terminal is determined by LBS data or GPS data, so that it is determined that the earth magnetism fingerprint base in the region.Region
Earth magnetism fingerprint base usually may include multiple location points in the region earth magnetism finger print information, the earth magnetism fingerprint of each location point
Information may include multiple geomagnetic data sequences of the location point, and each geomagnetic data sequence of location point may include the position
The a plurality of geomagnetic data of point.The foundation of earth magnetism fingerprint base will be described in detail hereinafter.
In some embodiments, region can be divided into mulitpath l, and each path l includes n location point p.Its
In, the earth magnetism finger print information sequence of path l is formed by the earth magnetism finger print information of n location point in path, and can be expressed asThe earth magnetism finger print information of location point p by the location point k geomagnetic data sequence MiShape
At, and can be expressed asPosition indicates the position of the location point.
Geomagnetic data sequence MiIncluding s geomagnetic data, i.e. Mi={ OMi1,OMi2,…,OMij,…,OMis, wherein jth
Geomagnetic data OMij=(MagRotx,MagRoty,MagRotz).In some embodiments, s usually can be with value for 10.
It, can be in step S330, by geomagnetic data sequence to be positioned and 110 institute of mobile terminal after determining earth magnetism fingerprint base
Earth magnetism fingerprint base in region is matched.That is, by the earth magnetism of location point in geomagnetic data sequence to be positioned and region
Finger print information is matched, to obtain the geomagnetic data sequence to match in the earth magnetism finger print information with geomagnetic data sequence to be positioned
Column number.
It specifically, can be by the geomagnetic data sequence in the earth magnetism finger print information of geomagnetic data sequence to be positioned and location point
It is matched, so that it is determined that the geomagnetic data sequence to match with geomagnetic data sequence to be positioned.
Embodiment according to the present invention can be based on geomagnetic data sequence to be positioned with earth magnetism finger print information magnetic number
According to the first distance of sequence, geomagnetic data sequence to be positioned is matched with geomagnetic data sequence.Here, first distance can be with
For standard Euclidean distance.
Wherein, the first distance of geomagnetic data sequence and geomagnetic data sequence to be positioned is first calculated.In some embodiments,
The second distance that geomagnetic data sequence and geomagnetic data sequence to be positioned can be calculated, is calculated to be positionedly based on second distance
The first distance of magnetic data sequence and geomagnetic data sequence.Here, second distance can be Hausdorff distance.Due to ground magnetic number
According to including three-axle magnetic field value, and magnetic field value on transverse axis is usually 0, and therefore, second distance includes at least ground to be positioned magnetic number
According to sequence and second distance of the geomagnetic data sequence on the longitudinal axis and/or vertical pivot.
For example, earth magnetism sequence A to be positioned and geomagnetic data sequence MiFirst distance d (A, Mi) can be according to following formula
It is calculated:
dy(A,Mi) it is earth magnetism sequence A to be positioned and geomagnetic data sequence MiSecond distance on longitudinal axis, dz(A,Mi) be
Earth magnetism sequence A to be positioned and geomagnetic data sequence MiSecond distance on vertical pivot.
Earth magnetism sequence A to be positioned and geomagnetic data sequence MiSecond distance d on longitudinal axisy(A,Mi) can be according to following
Formula is calculated:
Earth magnetism sequence A to be positioned and geomagnetic data sequence MiSecond distance d on vertical pivotz(A,Mi) calculation formula according to
It is secondary to analogize.
If the first distance of earth magnetism sequence to be positioned and geomagnetic data sequence is less than first distance threshold value, it is determined that should be to
Positioning geomagnetic data sequence matches with the geomagnetic data sequence.Otherwise the geomagnetic data sequence to be positioned and the ground magnetic number are determined
It is mismatched according to sequence.Then, the ground magnetic number to match in the earth magnetism finger print information with geomagnetic data sequence to be positioned can be counted
According to sequence number.
According to embodiment of the present invention, it is being based on first distance, by geomagnetic data sequence to be positioned and ground magnetic number
Before being matched according to sequence, it is also based on geomagnetic data to be positioned and geomagnetic data sequence in geomagnetic data sequence to be positioned
The third distance of middle geomagnetic data matches geomagnetic data sequence to be positioned with geomagnetic data sequence.Here, third distance
It can be manhatton distance.Similarly, since geomagnetic data includes three-axle magnetic field value, and magnetic field value on transverse axis is usually 0,
Third distance includes at least third of the geomagnetic data on the longitudinal axis and/or vertical pivot in geomagnetic data to be positioned and geomagnetic data sequence
Distance.
Specifically, it can be based on third distance, geomagnetic data to be positioned is matched with geomagnetic data sequence.Wherein,
First calculate the third distance of geomagnetic data in geomagnetic data to be positioned and geomagnetic data sequence.Such as it can be according to following formula meter
It obtains:
DHy=| MagRoty-OMagRoty|
DHz=| MagRotz-OMagRotz|
DHy is geomagnetic data OM to be positionedjWith geomagnetic data sequence MiMiddle geomagnetic data OMijThird on longitudinal axis away from
From dHz is geomagnetic data OM to be positionedjWith geomagnetic data sequence MiMiddle geomagnetic data OMijThird distance on vertical pivot.
If in geomagnetic data to be positioned and geomagnetic data sequence the third distance of any bar geomagnetic data be greater than third away from
From threshold value, it is determined that the geomagnetic data to be positioned and the geomagnetic data sequence mismatch.In more detail, as long as ground to be positioned magnetic number
It is greater than third distance threshold according to third distance of certain geomagnetic data in geomagnetic data sequence on the longitudinal axis or vertical pivot, then may be used
To think that the third distance of geomagnetic data to be positioned and this geomagnetic data is greater than third distance threshold.
After the determining and unmatched geomagnetic data to be positioned of geomagnetic data sequence, geomagnetic data to be positioned can be counted
In sequence with the unmatched geomagnetic data number to be positioned of geomagnetic data sequence.It is super in unmatched geomagnetic data number to be positioned
In the case where crossing predetermined number, determine that the geomagnetic data sequence to be positioned and the geomagnetic data sequence mismatch.Wherein, predetermined number
Mesh is usually the 1/2 of the geomagnetic data number to be positioned that geomagnetic data sequence to be positioned is included.
It is to be appreciated that for based on the determining ground with the unmatched location point of geomagnetic data sequence to be positioned of third distance
Magnetic data sequence, it is not necessary to be matched again based on first distance with geomagnetic data sequence to be positioned.
In some embodiments, the case where above-mentioned unmatched geomagnetic data number to be positioned is less than predetermined number
Under, it can be according to other geomagnetic datas to be positioned in geomagnetic data sequence to be positioned to these unmatched ground to be positioned magnetic numbers
According to being handled.Other geomagnetic datas to be positioned be geomagnetic data sequence to be positioned in except unmatched geomagnetic data to be positioned with
Outer geomagnetic data to be positioned.
For example, replacing unmatched geomagnetic data to be positioned with the mode of other geomagnetic datas to be positioned.In more detail, with
The mode of the longitudinal axis magnetic field value of other geomagnetic datas to be positioned replaces the magnetic field value of unmatched geomagnetic data to be positioned, and/or
The vertical pivot magnetic field value of unmatched geomagnetic data to be positioned is replaced with the mode of the vertical pivot magnetic field value of other geomagnetic datas to be positioned.
In embodiment according to the present invention, for not determined with geomagnetic data sequence to be positioned not based on third distance
The geomagnetic data sequence (i.e. above-mentioned unmatched geomagnetic data number to be positioned is less than predetermined number) of matched location point, after
It is continuous to be matched based on first distance with geomagnetic data sequence to be positioned.Also, using according to other above-mentioned ground to be positioned magnetic numbers
According to treated, geomagnetic data sequence to be positioned calculates first distance.
It is being based on first distance and/or third distance, by geomagnetic data sequence to be positioned and the progress of geomagnetic data sequence
Match and counts to obtain the geomagnetic data sequence number to match in the earth magnetism finger print information of location point with geomagnetic data sequence to be positioned
It, can be in step S340, at least with the transition probability of probabilistic localization model predicted positions point after mesh.Wherein, probability is fixed
Bit model can be Markov model, Hidden Markov Model etc..The transition probability of current location point is previous navigates to
Location point to current location point transition probability.
Specifically, the earth magnetism fingerprint base in region further includes that the state of multiple location points to other positions point in region shifts square
Battle array.For carrying out to be based on for matched current location point with geomagnetic data sequence to be positioned in this position fixing process
The previous location point navigated to is navigated to the state-transition matrix of current location point using probabilistic localization model prediction is previous
Location point carries out the transition probability of matched current location point into this position fixing process with geomagnetic data sequence to be positioned.Its
In, the state-transition matrix of location point to other positions point precalculates to obtain also with probabilistic localization model in region.
In more detail, the available previous location point navigated to, and the previous location point navigated to is obtained to present bit
Set state-transition matrix a little.Predict that the previous location point navigated to arrives using probabilistic localization model and the state-transition matrix
The transition probability of current location point.
Finally in step S350, in the earth magnetism finger print information of transition probability and location point based on location point with it is to be positioned
The geomagnetic data sequence number that geomagnetic data sequence matches, determines the position of mobile terminal 110.Specifically, in region
Each position point can calculate transition probability and match with the earth magnetism finger print information of the location point with geomagnetic data sequence to be positioned
Geomagnetic data sequence number product, select position of the maximum location point of product as mobile terminal 110, that is, this
The result of positioning.
After the position for determining mobile terminal 110, which can be returned to mobile terminal 110, so as to via movement
Terminal 110 is shown.This location point navigated to can also be recorded, so that positioning next time uses.
In addition, embodiment according to the present invention, indoor orientation method 300 can also include the earth magnetism for pre-establishing region
The step of fingerprint base.The establishment process of the earth magnetism fingerprint base in region is described more fully below.
It is possible, firstly, to be mulitpath by region division.For example, each corridor is equal for the building of rule
For straight line, therefore can be with a corridor for a paths.
Then it can determine the location point that path is included, and a plurality of geomagnetic data is acquired to each location point.Normally,
For each path, a location point can be determined at interval of preset distance (such as 1 meter), and acquisition is a large amount of on point in the position
Geomagnetic data.
For each location point in path, the geomagnetic data of the location point is clustered, with obtain it is multiple (i.e. above
Described k) cluster centre.In some embodiments, it can be based on Euclidean distance, clustered using KNN clustering algorithm.
For obtained each cluster centre, several geomagnetic datas nearest apart from the cluster centre are obtained, so as to
A geomagnetic data of the location point is collectively formed in this predetermined number geomagnetic data geomagnetic data corresponding with the cluster centre
Sequence.Finally, the corresponding multiple geomagnetic data sequences of multiple cluster centres form the earth magnetism finger print information of the location point, this is more
The earth magnetism finger print information of a location point is also formed the earth magnetism finger print information sequence in the path.
For example, region can be divided into mulitpath l, each path l includes n location point p.The earth magnetism of path l refers to
Line information sequence is formed by the earth magnetism finger print information of n location point in path, and can be expressed as In path the earth magnetism finger print information of location point p by the location point k geomagnetic data sequence MiShape
At, and can be expressed asPosition indicates the position of the location point.
Geomagnetic data sequence MiIncluding s geomagnetic data, i.e. Mi={ OMi1,OMi2,…,OMij,…,OMis, wherein jth
Geomagnetic data OMij=(MagRotx,MagRoty,MagRotz)。
Wherein, according to embodiment of the present invention, the geomagnetic data acquired when establishing earth magnetism fingerprint base can also be with
Carry out low-pass filtering treatment as described previously, Kalman filtering processing and/or coordinate conversion.Concrete processing procedure is referring to preceding
Text, details are not described herein again.
After obtaining the earth magnetism finger print information sequence of each paths, position in region is calculated using probabilistic localization model
Set the state-transition matrix for a little arriving other positions point.Probabilistic localization model can be Markov model or Hidden Markov mould
Type etc..Specifically, the earth magnetism finger print information of location point may be with several positions before the location point on the paths on path
The earth magnetism finger print information correlation of point is larger.It is therefore possible to use Markov model N > m, is calculated on path
Each location point is to the state-transition matrix between the state-transition matrix and different paths of other positions point, to obtain area
State-transition matrix of each location point to other positions point in domain.So far the foundation of region earth magnetism fingerprint base is just completed.
Fig. 4 shows the structural block diagram of indoor positioning device 400 according to an embodiment of the invention.As shown in figure 4, room
Interior locating device 400 includes communication unit 410, regional search unit 420, data matching unit 430, probability prediction unit 440
With position determination unit 450.
Communication unit 410, which is suitable for obtaining, acquires geomagnetic data sequence to be positioned via mobile terminal 110.Regional search unit
420 are adapted to determine that the earth magnetism fingerprint base of 110 region of mobile terminal, earth magnetism fingerprint base include the ground of multiple location points in region
Magnetic finger print information, earth magnetism finger print information include multiple geomagnetic data sequences of location point.Data matching unit 430 is suitable for will be undetermined
Position geomagnetic data sequence matched with the earth magnetism finger print information of location point, with obtain in earth magnetism finger print information with earth magnetism to be positioned
The geomagnetic data sequence number that data sequence matches.Probability prediction unit 440 is suitable at least with probabilistic localization model prediction
The transition probability of location point.The earth magnetism fingerprint that position determination unit 450 is suitable for transition probability and location point based on location point is believed
The geomagnetic data sequence number to match in breath with geomagnetic data sequence to be positioned, determines the position of mobile terminal.
In addition, indoor positioning device 400 can also include fingerprint storage unit 460, the earth magnetism fingerprint suitable for storage region
Library.
Detailed processing logic and implementation process about each unit in indoor positioning device 400 may refer to previously in conjunction with figure
1- Fig. 3 is to the associated description of indoor orientation method 300, and details are not described herein again.
In conclusion indoor positioning scheme according to an embodiment of the present invention can use geomagnetic data and probabilistic localization model
Indoor positioning is carried out, the precision and stability of positioning are greatly improved.
It should be appreciated that in order to simplify the disclosure and help to understand one or more of the various inventive aspects, it is right above
In the description of exemplary embodiment of the present invention, each feature of the invention be grouped together into sometimes single embodiment, figure or
In person's descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. claimed hair
Bright requirement is than feature more features expressly recited in each claim.More precisely, as the following claims
As book reflects, inventive aspect is all features less than single embodiment disclosed above.Therefore, it then follows specific real
Thus the claims for applying mode are expressly incorporated in the specific embodiment, wherein each claim itself is used as this hair
Bright separate embodiments.
Those skilled in the art should understand that the module of the equipment in example disclosed herein or unit or groups
Part can be arranged in equipment as depicted in this embodiment, or alternatively can be positioned at and the equipment in the example
In different one or more equipment.Module in aforementioned exemplary can be combined into a module or furthermore be segmented into multiple
Submodule.
The present invention may also include: A7, the method as described in A6, wherein third distance is based on, by the earth magnetism to be positioned
The step of data are matched with the geomagnetic data sequence includes: to calculate the geomagnetic data to be positioned and the geomagnetic data
The third distance of geomagnetic data in sequence；If any bar earth magnetism in the geomagnetic data to be positioned and the geomagnetic data sequence
The third distance of data is greater than third distance threshold, it is determined that the geomagnetic data to be positioned and the geomagnetic data sequence are not
Match.A8, the method as described in A6 or 7, wherein third distance is based on, by the geomagnetic data sequence to be positioned and the earth magnetism
The step of data sequence is matched further include: be less than predetermined number in the unmatched geomagnetic data number to be positioned
In the case of, according to other geomagnetic datas to be positioned in the geomagnetic data sequence to be positioned to it is described it is unmatched to be positionedly
Magnetic data is handled.A9, the method as described in A8, wherein according in the geomagnetic data sequence to be positioned other are undetermined
The step of position geomagnetic data handles the unmatched geomagnetic data to be positioned includes: with other described earth magnetism to be positioned
The mode of data replaces the unmatched geomagnetic data to be positioned.A10, the method as described in A4, wherein the geomagnetic data
Including three-axle magnetic field value, the second distance includes at least the geomagnetic data sequence to be positioned and the geomagnetic data sequence exists
Second distance on the longitudinal axis and/or vertical pivot.A11, the method as described in any one of A5-8, wherein the geomagnetic data includes
Three-axle magnetic field value, the third distance include at least geomagnetic data in the geomagnetic data to be positioned and the geomagnetic data sequence
Appoint in third distance on the longitudinal axis and/or vertical pivot, the unmatched geomagnetic data to be positioned and the geomagnetic data sequence
Third distance of one geomagnetic data on the longitudinal axis or vertical pivot is greater than third distance threshold.A12, the method as described in A11,
In, the step of unmatched geomagnetic data to be positioned is replaced with the modes of other geomagnetic datas to be positioned include: with
The longitudinal axis that the mode of the ordinate of orthogonal axes of other geomagnetic datas to be positioned replaces the unmatched geomagnetic data to be positioned is sat
Mark；And/or the unmatched ground to be positioned magnetic number is replaced with the mode of the vertical pivot coordinate of other geomagnetic datas to be positioned
According to vertical pivot coordinate.A13, the method as described in any one of A3-12, wherein the first distance is standard Euclidean distance, institute
Stating second distance is Hausdorff distance, and the third distance is manhatton distance.A14, the method as described in A13, wherein institute
First distance is stated to be calculated according to following formula:
Wherein, d (A, Mi) it is first distance, dy(A,Mi) and dz(A,Mi) be respectively on the longitudinal axis and vertical pivot second away from
From.A15, method as described in a1, wherein the probabilistic localization model includes Markov model, and the earth magnetism fingerprint base is also
State-transition matrix including multiple location points in the region to other positions point, at least with probabilistic localization model prediction institute
The step of stating the transition probability of location point includes: for the location point, based on the previous location point navigated to the position
The state-transition matrix of point, utilizes the previous location point navigated to described in the probabilistic localization model prediction to the location point
Transition probability.A16, method as described in a1, wherein further include the steps that the earth magnetism fingerprint base for establishing the region, establish institute
It is mulitpath that the step of stating the earth magnetism fingerprint base in region, which includes: by the region division,；Determine that the path is included more
A location point, and a plurality of geomagnetic data is acquired to the location point；The geomagnetic data of the location point is clustered, to obtain
Multiple cluster centres；For the cluster centre, several geomagnetic datas nearest apart from the cluster centre are obtained, with toilet
It states predetermined number geomagnetic data and the cluster centre corresponds to the geomagnetic data sequence that geomagnetic data forms the location point
Column.A17, method as described in a1, wherein after the step of acquiring geomagnetic data sequence to be positioned via mobile terminal, also
It include: that low-pass filtering treatment and Kalman filtering processing are carried out to the geomagnetic data sequence to be positioned.It is A18, as described in a1
Method, wherein after the step of acquiring geomagnetic data sequence to be positioned via mobile terminal, further includes: obtain mobile terminal
The three axis rotation angles under world coordinate system；Based on the three axis rotation angle, the geomagnetic data sequence to be positioned is sat
Mark conversion.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
Meaning one of can in any combination mode come using.
In addition, be described as herein can be by the processor of computer system or by executing by some in the embodiment
The combination of method or method element that other devices of the function are implemented.Therefore, have for implementing the method or method
The processor of the necessary instruction of element forms the device for implementing this method or method element.In addition, Installation practice
Element described in this is the example of following device: the device be used for implement as in order to implement the purpose of the invention element performed by
Function.
As used in this, unless specifically stated, come using ordinal number " first ", " second ", " third " etc.
Description plain objects, which are merely representative of, is related to the different instances of similar object, and is not intended to imply that the object being described in this way must
Must have the time it is upper, spatially, sequence aspect or given sequence in any other manner.
Although the embodiment according to limited quantity describes the present invention, above description, the art are benefited from
It is interior it is clear for the skilled person that in the scope of the present invention thus described, it can be envisaged that other embodiments.Additionally, it should be noted that
Language used in this specification primarily to readable and introduction purpose and select, rather than in order to explain or limit
Determine subject of the present invention and selects.Therefore, without departing from the scope and spirit of the appended claims, for this
Many modifications and changes are obvious for the those of ordinary skill of technical field.For the scope of the present invention, to this
Invent done disclosure be it is illustrative and not restrictive, it is intended that the scope of the present invention be defined by the claims appended hereto.
Claims (10)
1. a kind of indoor orientation method, which comprises
Geomagnetic data sequence to be positioned is acquired via mobile terminal；
Determine that the earth magnetism fingerprint base of the mobile terminal region, the earth magnetism fingerprint base include multiple positions in the region
The earth magnetism finger print information of point, the earth magnetism finger print information includes multiple geomagnetic data sequences of the location point；
The geomagnetic data sequence to be positioned is matched with the earth magnetism finger print information of the location point, to obtain the earth magnetism
The geomagnetic data sequence number to match in finger print information with the geomagnetic data sequence to be positioned；
At least with the transition probability of location point described in probabilistic localization model prediction；And
Transition probability based on the location point and in the earth magnetism finger print information of the location point with the geomagnetic data to be positioned
The geomagnetic data sequence number that sequence matches, determines the position of the mobile terminal.
2. the method for claim 1, wherein the geomagnetic data sequence to be positioned and the earth magnetism of the location point are referred to
The step of line information is matched include:
Based on the first distance of geomagnetic data sequence in the geomagnetic data sequence to be positioned and the earth magnetism finger print information, by institute
Geomagnetic data sequence to be positioned is stated to be matched with the geomagnetic data sequence；
Count the geomagnetic data sequence number to match in the earth magnetism finger print information with the geomagnetic data sequence to be positioned.
3. method according to claim 2, wherein be based on first distance, by the geomagnetic data sequence to be positioned with it is described
The step of geomagnetic data sequence is matched include:
Calculate the first distance of the geomagnetic data sequence to be positioned and the geomagnetic data sequence；
If the first distance is less than first distance threshold value, it is determined that the geomagnetic data sequence to be positioned and described ground magnetic number
Match according to sequence.
4. method as claimed in claim 3, wherein calculate the geomagnetic data sequence to be positioned and the geomagnetic data sequence
First distance the step of include:
Calculate the second distance of the geomagnetic data sequence to be positioned and the geomagnetic data sequence；
Based on the second distance, the first distance of the geomagnetic data sequence to be positioned and the geomagnetic data sequence is calculated.
5. method according to claim 2, wherein first distance is being based on, by the geomagnetic data sequence to be positioned and institute
Before stating the step of geomagnetic data sequence is matched, further includes:
Based on geomagnetic data in geomagnetic data to be positioned in the geomagnetic data sequence to be positioned and the geomagnetic data sequence
Third distance matches the geomagnetic data sequence to be positioned with the geomagnetic data sequence.
6. method as claimed in claim 5, wherein be based on third distance, by the geomagnetic data sequence to be positioned with it is described
The step of geomagnetic data sequence is matched include:
Based on third distance, the geomagnetic data to be positioned is matched with the geomagnetic data sequence；
Count in the geomagnetic data sequence to be positioned with the unmatched geomagnetic data number to be positioned of the geomagnetic data sequence；
In the case where the unmatched geomagnetic data number to be positioned is more than predetermined number, the ground to be positioned magnetic number is determined
It is mismatched according to sequence and the geomagnetic data sequence.
7. a kind of indoor positioning device, comprising:
Communication unit, suitable for obtaining the geomagnetic data sequence to be positioned acquired via mobile terminal；
Regional search unit is adapted to determine that the earth magnetism fingerprint base of the mobile terminal region, the earth magnetism fingerprint base include
The earth magnetism finger print information of multiple location points in the region, the earth magnetism finger print information include multiple ground magnetic number of the location point
According to sequence；
A data matching unit, suitable for carrying out the earth magnetism finger print information of the geomagnetic data sequence to be positioned and the location point
Match, to obtain the geomagnetic data sequence number to match in the earth magnetism finger print information with the geomagnetic data sequence to be positioned；
Probability prediction unit, suitable for the transition probability at least with location point described in probabilistic localization model prediction；And
Position determination unit, suitable in the earth magnetism finger print information of transition probability and the location point based on the location point with institute
The geomagnetic data sequence number that geomagnetic data sequence to be positioned matches is stated, determines the position of the mobile terminal.
8. a kind of indoor locating system, comprising:
Mobile terminal is suitable for acquiring geomagnetic data sequence to be positioned；
Server is populated with indoor positioning device as claimed in claim 7.
9. a kind of calculating equipment, comprising:
One or more processors；With
Memory；
One or more programs, wherein one or more of programs are stored in the memory and are configured as by described one
A or multiple processors execute, and one or more of programs include for executing in -6 the methods according to claim 1
The instruction of either method.
10. a kind of computer readable storage medium for storing one or more programs, one or more of programs include instruction,
Described instruction is when calculating equipment execution, so that the calculating equipment executes any in -6 the methods according to claim 1
Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910314405.5A CN110057355B (en) | 2019-04-18 | 2019-04-18 | Indoor positioning method, device and system and computing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910314405.5A CN110057355B (en) | 2019-04-18 | 2019-04-18 | Indoor positioning method, device and system and computing equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110057355A true CN110057355A (en) | 2019-07-26 |
| CN110057355B CN110057355B (en) | 2021-06-08 |
Family
ID=67319590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910314405.5A Active CN110057355B (en) | 2019-04-18 | 2019-04-18 | Indoor positioning method, device and system and computing equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110057355B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112880677A (en) * | 2019-12-01 | 2021-06-01 | 成都易书桥科技有限公司 | Indoor positioning algorithm based on geomagnetism and similarity matching |
| CN113465286A (en) * | 2020-07-14 | 2021-10-01 | 青岛海信电子产业控股股份有限公司 | Intelligent refrigerator, angle determination and food material identification method |
| CN114387592A (en) * | 2022-03-22 | 2022-04-22 | 佛山沧科智能科技有限公司 | Character positioning and identifying method under complex background |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102573049A (en) * | 2010-12-14 | 2012-07-11 | 北京智慧图科技发展有限责任公司 | Method and system for indoor positioning |
| CN105716604A (en) * | 2016-02-25 | 2016-06-29 | 华南理工大学 | Mobile robot indoor positioning method and system based on geomagnetic sequences |
| CN105910601A (en) * | 2016-05-31 | 2016-08-31 | 天津大学 | Indoor geomagnetic positioning method based on hidden Markov model |
| CN105928512A (en) * | 2016-04-26 | 2016-09-07 | 杭州欣晟达信息技术有限公司 | Geomagnetic field-based indoor positioning method |
| US20170289753A1 (en) * | 2016-03-30 | 2017-10-05 | Honeywell International Inc. | Magnetic fingerprinting for proximity-based systems |
| CN108289283A (en) * | 2018-01-02 | 2018-07-17 | 重庆邮电大学 | User trajectory localization method based on sequences match under indoor DAS system |
| CN108521627A (en) * | 2018-03-14 | 2018-09-11 | 华南理工大学 | The indoor locating system and method for wifi and earth magnetism fusion based on HMM |
| CN109115205A (en) * | 2018-07-20 | 2019-01-01 | 上海工程技术大学 | A kind of indoor fingerprint positioning method and system based on geomagnetic sensor array |
-
2019
- 2019-04-18 CN CN201910314405.5A patent/CN110057355B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102573049A (en) * | 2010-12-14 | 2012-07-11 | 北京智慧图科技发展有限责任公司 | Method and system for indoor positioning |
| CN105716604A (en) * | 2016-02-25 | 2016-06-29 | 华南理工大学 | Mobile robot indoor positioning method and system based on geomagnetic sequences |
| US20170289753A1 (en) * | 2016-03-30 | 2017-10-05 | Honeywell International Inc. | Magnetic fingerprinting for proximity-based systems |
| CN105928512A (en) * | 2016-04-26 | 2016-09-07 | 杭州欣晟达信息技术有限公司 | Geomagnetic field-based indoor positioning method |
| CN105910601A (en) * | 2016-05-31 | 2016-08-31 | 天津大学 | Indoor geomagnetic positioning method based on hidden Markov model |
| CN108289283A (en) * | 2018-01-02 | 2018-07-17 | 重庆邮电大学 | User trajectory localization method based on sequences match under indoor DAS system |
| CN108521627A (en) * | 2018-03-14 | 2018-09-11 | 华南理工大学 | The indoor locating system and method for wifi and earth magnetism fusion based on HMM |
| CN109115205A (en) * | 2018-07-20 | 2019-01-01 | 上海工程技术大学 | A kind of indoor fingerprint positioning method and system based on geomagnetic sensor array |
Non-Patent Citations (4)
| Title |
|---|
| 余秋星: "一种基于地磁强度特征的室内定位方法", 《中国新通信》 * |
| 姜浩等: "利用Hausdorff距离地磁匹配算法的室内定位", 《科技传播》 * |
| 揭增: "基于WiFi无线定位的关键技术研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 王欣等: "一种基于环境磁场的室内移动人员定位方法", 《杭州电子科技大学学报》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112880677A (en) * | 2019-12-01 | 2021-06-01 | 成都易书桥科技有限公司 | Indoor positioning algorithm based on geomagnetism and similarity matching |
| CN113465286A (en) * | 2020-07-14 | 2021-10-01 | 青岛海信电子产业控股股份有限公司 | Intelligent refrigerator, angle determination and food material identification method |
| CN114387592A (en) * | 2022-03-22 | 2022-04-22 | 佛山沧科智能科技有限公司 | Character positioning and identifying method under complex background |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110057355B (en) | 2021-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108141837B (en) | Apparatus and method for tracking | |
| KR101556711B1 (en) | Time of arrival based wireless positioning system | |
| WO2019062734A1 (en) | Indoor positioning method and device based on wi-fi hot spots | |
| CN108628904A (en) | A kind of path code, Similar Track search method and device and electronic equipment | |
| CN110057355A (en) | A kind of indoor orientation method, device, system and calculate equipment | |
| EP2141957A1 (en) | System and method for position estimation | |
| CN108235247B (en) | Node positioning method and device | |
| CN103220777A (en) | Mobile device positioning system | |
| Chidlovskii et al. | Semi-supervised variational autoencoder for WiFi indoor localization | |
| He et al. | A novel radio map construction method to reduce collection effort for indoor localization | |
| CN108307498B (en) | WSN node positioning method and device | |
| Su et al. | A hybrid indoor-position mechanism based on bluetooth and WiFi communications for smart mobile devices | |
| Jia et al. | A DNN-based WiFi-RSSI indoor localization method in IoT | |
| Basiouny et al. | Enhancing Wi-Fi fingerprinting for indoor positioning system using single multiplicative neuron and PCA algorithm | |
| Cheng et al. | Indoor mobile localization in wireless sensor network under unknown NLOS errors | |
| CN111182460A (en) | Hybrid indoor positioning method and device, computer equipment and storage medium | |
| CN105704676A (en) | Method for improving fingerprint indoor positioning precision through employing signal time correlation | |
| WO2023134430A1 (en) | Aoa estimation method and device, base station, storage medium, and computer program product | |
| CN114185003B (en) | Indoor positioning method and system based on multi-source signal fusion | |
| Zhang et al. | A node three-dimensional localization algorithm based on RSSI and LSSVR parameters optimization | |
| Barnwal et al. | Crowdsensing-based WiFi indoor localization using feed-forward multilayer perceptron regressor | |
| Bai et al. | RFedRNN: An end-to-end recurrent neural network for radio frequency path fingerprinting | |
| CN110940951A (en) | Positioning method and device | |
| Zhou et al. | Joint positioning and radio map generation based on stochastic variational Bayesian inference for FWIPS | |
| CN109116342B (en) | Positioning method, positioning device, positioning medium and computing equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |