CN108680898A - Indoor orientation method, device, medium and electronic equipment - Google Patents
Indoor orientation method, device, medium and electronic equipment Download PDFInfo
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- CN108680898A CN108680898A CN201810470593.6A CN201810470593A CN108680898A CN 108680898 A CN108680898 A CN 108680898A CN 201810470593 A CN201810470593 A CN 201810470593A CN 108680898 A CN108680898 A CN 108680898A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0278—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving statistical or probabilistic considerations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Probability & Statistics with Applications (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Embodiments of the present invention provide a kind of indoor orientation method, device, medium and electronic equipment.This method includes：In each reference position, the signal strength of multiple beaconing nodes is obtained, and establish signal strength probability Distribution Model respectively according to this for K beaconing nodes in multiple beaconing nodes；For each reference position, according to the probability Distribution Model established in reference position, the multidimensional characteristic for building reference position is used as with reference to feature；In target terminal position, the signal strength of multiple beaconing nodes is obtained, and establish signal strength probability Distribution Model respectively according to this for K beaconing nodes in multiple beaconing nodes；According to the probability Distribution Model established in target terminal position, the multidimensional characteristic of target terminal position is built as comparison feature；Target terminal position is determined according to the comparison feature and each fixed reference feature.Embodiment of the present invention can improve positioning accuracy and increase the robustness of positioning.
Description
Technical field
Embodiments of the present invention are related to computer realm, more specifically, embodiments of the present invention are related to a kind of interior
Localization method, indoor positioning device, storage medium and electronic equipment.
Background technology
Background that this section is intended to provide an explanation of the embodiments of the present invention set forth in the claims or context.Herein
Description recognizes it is the prior art not because not being included in this part.
With the development of location technology, the built-in positioning navigation device of more and more electronic equipments.Indoors under environment,
Since satellite-signal is difficult to penetrate building, need to position target object using indoor positioning technologies.
Currently, having there are some indoor positioning technologies.In a kind of technical solution, same position is collected into multiple
The RSSI (Radio Signal Strength Indication, radio signal strength mark) of iBeacon uses a height
This model is modeled, wherein each RSSI is filtered；In positioning, by collecting target terminal in some position
The RSSI of the multiple iBeacon set calculates average distance of the target terminal relative to multiple iBeacon, finally by the distance
It is put into the Gaussian Profile figure that corresponding target terminal position is obtained in established Gauss model.
Invention content
But in the prior art scheme, the RSSI of multiple iBeacon is fused in a Gauss model, each
The factory characteristic of iBeacon itself has little difference, and the signal of each iBeacon is also closely related with installation environment simultaneously, because
This, the spy of the characteristic and iBeacon of iBeacon itself in different environments is had lost using only a Gauss model expression
Property.Further, since map has used single Gauss model, location algorithm is it is necessary that with single Gauss model, positioning accuracy also can
It is relatively poor.
Therefore in the prior art, it is difficult to reach satisfactory locating effect.
Thus, it is also very desirable to which a kind of improved indoor positioning technologies enable to improve indoor position accuracy.
In the present context, embodiments of the present invention are intended to provide a kind of indoor orientation method, indoor positioning device, deposit
Storage media and electronic equipment.
In the first aspect of the embodiment of the present invention, a kind of indoor orientation method is provided, is applied to be equipped with multiple beacons
The scene of node；The method includes：In each reference position, the signal strength of multiple beaconing nodes is obtained, and is according to this institute
The K beaconing nodes stated in multiple beaconing nodes establish signal strength probability Distribution Model respectively；For each reference bit
It sets, according to the probability Distribution Model established in the reference position, builds the multidimensional characteristic of the reference position as ginseng
Examine feature；In target terminal position, the signal strength of multiple beaconing nodes is obtained, and is in the multiple beaconing nodes according to this
K beaconing nodes establish signal strength probability Distribution Model respectively；According to the probability established in the target terminal position
Distributed model builds the multidimensional characteristic of the target terminal position as comparison feature；According to the comparison feature and each described
Fixed reference feature determines the target terminal position.
In some embodiments of the invention, aforementioned schemes are based on, are K beaconing nodes in the multiple beaconing nodes
Establishing signal strength probability Distribution Model respectively includes：It determines in the multiple beaconing nodes, average signal strength highest K
The beaconing nodes；Signal strength probability Distribution Model is established respectively for the K beaconing nodes.
In some embodiments of the invention, aforementioned schemes are based on, according to the comparison feature and each fixed reference feature
Determine that the target terminal position includes：According to the comparison feature and each fixed reference feature, determine that the target is whole respectively
The similarity of end position and each reference position；According to the similarity of the target terminal position and each reference position with
And each reference position, determine the target terminal position.
In some embodiments of the invention, aforementioned schemes are based on, according to the comparison feature and each fixed reference feature
Determine that the target terminal position includes：Determine a search window for including the target terminal position, and by described search window
The reference position in mouthful is as candidate reference position；According to the comparison feature and each fixed reference feature, determine respectively
The similarity of the target terminal position and each candidate reference position；According to the target terminal position and each candidate
The similarity of reference position and each candidate reference position, determine the target terminal position.
In some embodiments of the invention, aforementioned schemes are based on, the method further includes：Calculate the determining target
The confidence level of terminal location, and according to the range of confidence level adjustment described search window.
In some embodiments of the invention, aforementioned schemes are based on, the method further includes：Obtain the target terminal
The movable information of Inertial Measurement Unit acquisition；According to the movable information, the determining target terminal position is modified.
In some embodiments of the invention, aforementioned schemes are based on, according to the movable information, to the determining target
Terminal location be modified including：Using the determining target terminal position as the measuring value of Extended Kalman filter model,
And in conjunction with the movable information, the determining target terminal position is modified.
In some embodiments of the invention, aforementioned schemes are based on, the method further includes：According to default resolution ratio, really
Fixed multiple reference positions.
In some embodiments of the invention, aforementioned schemes are based on, the probability Distribution Model is Gaussian distribution model.
In the second aspect of the embodiment of the present invention, a kind of indoor positioning device is provided, is applied to be equipped with multiple beacons
The scene of node；Described device includes：First model building module, in each reference position, obtaining multiple beaconing nodes
Signal strength, and according to this be the multiple beaconing nodes in K beaconing nodes establish signal strength probability distribution mould respectively
Type；Fixed reference feature builds module, is used for for each reference position, according to the probability established in the reference position
Distributed model, the multidimensional characteristic for building the reference position are used as with reference to feature；Second model building module, at target end
End position obtains the signal strength of multiple beaconing nodes, and is the K beaconing nodes difference in the multiple beaconing nodes according to this
Establish signal strength probability Distribution Model；Feature construction module is compared, for according to the institute established in the target terminal position
Probability Distribution Model is stated, builds the multidimensional characteristic of the target terminal position as comparison feature；Coordinate determining module is used for root
The target terminal position is determined according to the comparison feature and each fixed reference feature.
In the third aspect of the embodiment of the present invention, a kind of storage medium is provided, computer program is stored thereon with,
It is characterized in that, the computer program realizes the indoor orientation method described in above-mentioned first aspect when being executed by processor.
In the fourth aspect of the embodiment of the present invention, a kind of electronic equipment is provided, including：Processor；And memory,
Executable instruction for storing the processor；Wherein, the processor is configured to next via the executable instruction is executed
Execute the indoor orientation method described in above-mentioned first aspect.
Technical solution according to some embodiments of the present invention, on the one hand, the signal according to the beaconing nodes got is straight
It connects and signal strength probability Distribution Model is established to beaconing nodes, the initial data of beaconing nodes can be retained, to remain letter
Mark the information of the environment sensing of node under various circumstances；On the other hand, indicate that reference position and target are whole with multidimensional characteristic
End position indicates that beaconing nodes in the signal strength probability Distribution Model of corresponding position, are based on reference position per one-dimensional characteristic
Multidimensional characteristic and the multidimensional characteristic of target terminal position determine target terminal position, positioning accuracy and positioning Shandong can be improved
Stick remains able to accurately be positioned even if part beacon node is blocked.
Description of the drawings
Detailed description below, above-mentioned and other mesh of exemplary embodiment of the invention are read by reference to attached drawing
, feature and advantage will become prone to understand.In the accompanying drawings, if showing the present invention's by way of example rather than limitation
Dry embodiment, wherein：
Fig. 1 schematically shows the block diagram of an exemplary application scene of the embodiment of the present invention；
Fig. 2 schematically shows the flow charts of indoor orientation method according to an embodiment of the invention；
Fig. 3 schematically shows the flow chart of map structuring process according to example embodiment of the present invention；
Fig. 4 schematically shows the flow charts of position fixing process according to example embodiment of the present invention；
Fig. 5 schematically shows the signal of the application scenarios of indoor orientation method according to example embodiment of the present invention
Figure；
Fig. 6 schematically shows the schematic block diagram of the indoor positioning device of an embodiment according to the present invention；
Fig. 7 schematically shows the schematic diagram of storage medium according to example embodiment of the present invention；And
Fig. 8 schematically shows the block diagram of the electronic equipment of the example embodiment according to invention.
In the accompanying drawings, identical or corresponding label indicates identical or corresponding part.
Specific implementation mode
The principle and spirit of the invention are described below with reference to several illustrative embodiments.It should be appreciated that providing this
A little embodiments are used for the purpose of making those skilled in the art can better understand that realizing the present invention in turn, and be not with any
Mode limits the scope of the invention.On the contrary, these embodiments are provided so that the disclosure is more thorough and complete, and energy
It is enough that the scope of the present disclosure is completely communicated to those skilled in the art.
One skilled in the art will appreciate that embodiments of the present invention can be implemented as a kind of system, device, equipment, method
Or computer program product.Therefore, the disclosure can be with specific implementation is as follows, i.e.,：Complete hardware, complete software
The form that (including firmware, resident software, microcode etc.) or hardware and software combine.
According to the embodiment of the present invention, it is proposed that a kind of indoor orientation method, device, medium and computing device.
Herein, it is to be understood that involved term RSSI (Radio Signal Strength
Indication, radio signal strength mark)：In telecommunications industry, RSSI is the measurement of the electromagnetic signal strength to receiving,
Relationship between transmission range and the signal strength received is described.Beaconing nodes (Anchor Node)：Beacon is one group of static state
Global or local position known to node.iBeacon：It is that Apple Inc. proposes " hand-hold electronic equipments inspection near can allowing
A kind of new low-power consumption for measuring, low cost signal conveyer ", is a set of agreement that can be used for indoor locating system, this skill
Art can make a smart mobile phone or other-end execute corresponding order in the induction range of a base station iBeacon.This
Outside, any number of elements in attached drawing be used to example and it is unrestricted and it is any name be only used for distinguishing, without appoint
What limitation.
Below with reference to several representative embodiments of the present invention, the principle and spirit of the invention are illustrated in detail.
Summary of the invention
The inventors discovered that in existing indoor positioning technologies, in map structuring, same position is collected into multiple
The RSSI of iBeacon is fused in a Gauss model, and is filtered to each RSSI.However, each iBeacon
Signal also simultaneously it is closely related with its installation environment, referring to Fig.1 shown in, desk itself can make the intensity of RSSI decline
It is weak, it is this it is weak itself be also the embodiment of environmental characteristics, therefore it is not filtered and can retain more environmental informations.
Further, since there are difference for the factory characteristic of each iBeacon itself, therefore, signal strength is indicated using a Gauss model
Have lost the characteristic of the characteristic and iBeacon of iBeacon itself under different installation environments.Further, since in map structuring
In used single Gauss model, positioning when it is necessary that with single Gauss model, cause positioning accuracy poor.
Based on the above, basic thought of the invention is：The signal that multiple beaconing nodes are obtained in reference position is strong
Degree, and the signal strength based on acquisition establishes signal strength probability distribution respectively for K beaconing nodes in multiple beaconing nodes
Model, and the multidimensional characteristic for building reference position is used as and refers to feature；Similarly, more according to what is got at target terminal
The signal strength of a beaconing nodes is that K beaconing nodes establish signal strength probability Distribution Model respectively, and build target terminal
The multidimensional characteristic of position is as comparison feature；Target terminal is determined according to the fixed reference feature of the comparison feature and multiple reference positions
Position.
After the basic principle for describing the present invention, lower mask body introduces the various non-limiting embodiment party of the present invention
Formula.
Application scenarios overview
The frame of an exemplary application scene of embodiments of the present invention is schematically shown referring initially to Fig. 1, Fig. 1
Figure.As shown in Figure 1, in the office scenarios, it is provided with multiple beaconing nodes such as iBeacon, it can be according to certain point
The nodes of locations of resolution such as 1m*1m acquires the signal of multiple beaconing nodes respectively.Select a certain number of position sections as ginseng
Position is examined, target is determined based on the collected beaconing nodes signal in reference position and the collected beaconing nodes signal of target terminal
Terminal location.
It should be noted that the quantity and resolution ratio of beaconing nodes can be determined according to the size of indoor scene.With reference to
The quantity of position can be determined according to the size of target terminal and the size of indoor scene.
It can be achieved wherein it should be understood that application scenarios shown in FIG. 1 are only embodiments of the present invention
An example.The scope of application of embodiment of the present invention is not limited by any aspect of the application scenarios.
Illustrative methods
With reference to the application scenarios of Fig. 1, it is described with reference to Figure 2 the indoor positioning according to exemplary embodiment of the invention
Method.It should be noted that above application scene is merely for convenience of understanding spirit and principles of the present invention and showing, the present invention
Embodiment it is unrestricted in this regard.On the contrary, embodiments of the present invention can be applied to applicable any scene.
Fig. 2 schematically shows the flow chart of indoor orientation method according to an embodiment of the invention, the indoor positionings
Method is applied to the scene equipped with multiple beaconing nodes.With reference to shown in Fig. 2, which includes the following steps：
Step S210 obtains the signal strength of multiple beaconing nodes in each reference position, and is the multiple letter according to this
K beaconing nodes in mark node establish signal strength probability Distribution Model respectively；
Step S220, for each reference position, according to the probability distribution mould established in the reference position
Type, the multidimensional characteristic for building the reference position are used as with reference to feature；
Step S230 obtains the signal strength of multiple beaconing nodes in target terminal position, and is the multiple letter according to this
K beaconing nodes in mark node establish signal strength probability Distribution Model respectively；
It is whole to build the target according to the probability Distribution Model established in the target terminal position by step S240
The multidimensional characteristic of end position is as comparison feature；
Step S250 determines the target terminal position according to the comparison feature and each fixed reference feature.
Indoor orientation method according to Fig.2, in multiple reference positions and target terminal position according to getting
The signal of multiple beaconing nodes is that K beaconing nodes establish signal strength probability Distribution Model respectively, builds the more of reference position
Dimensional feature, which is used as, refers to feature, builds the multidimensional characteristic of target terminal position as comparison feature；According to the comparison feature with it is more
The fixed reference feature of a reference position determines target terminal position.On the one hand, the signal according to the beaconing nodes got is directly right
Beaconing nodes establish signal strength probability Distribution Model, can retain the initial data of beaconing nodes, to remain beacon section
The information of the environment sensing of point under various circumstances；On the other hand, reference position and target terminal position are indicated with multidimensional characteristic
Set, per one-dimensional characteristic indicate beaconing nodes corresponding position signal strength probability Distribution Model, based on the more of reference position
The multidimensional characteristic of dimensional feature and target terminal position determines target terminal position, can improve positioning accuracy and positioning robust
Property, even if part beacon node is blocked, remain able to accurately be positioned.
In the following, the indoor orientation method in the example embodiment to Fig. 2 is described in detail.
In step S210, in each reference position, the signal strength of multiple beaconing nodes is obtained, and is described more according to this
K beaconing nodes in a beaconing nodes establish signal strength probability Distribution Model respectively.
In the exemplary embodiment, such as underground parking of the indoor scene equipped with multiple beaconing nodes off field, can need
Multiple positions are chosen in the preset range of the target terminal positioned to be used as with reference to position, and obtain the seat of reference position
Mark.For example, can be divided to the indoor scene according to certain resolution ratio such as 1m*1m, being formed has multiple intersections section
The map of the indoor scene of point, when target terminal enters the indoor scene, the closer crossover node of chosen distance target terminal
As with reference to position, the map based on the indoor scene obtains the coordinate of reference position.
Further, it is also possible to determine the search window of an adaptive search-window such as 3m*3m comprising target terminal position,
Using the reference position in the search window as candidate reference position, the coordinate of the reference position in the search window is obtained.
Further, in each reference position, the signal strength of multiple beaconing nodes can be obtained.Multiple beaconing nodes are
In the pre-set beaconing nodes of the indoor scene such as iBeacon nodes, WIFI nodes, bluetooth nodes.It is more getting
After the signal strength of a beaconing nodes, K can be chosen from multiple beaconing nodes according to the size of the signal strength of beaconing nodes
A beaconing nodes establish signal strength probability distribution for K beaconing nodes of selection.The value of K can be according to institute in indoor environment
The quantity and density of the beaconing nodes of arrangement determines.
It should be noted that the signal strength probability Distribution Model can be Gauss model, or Bayes is distributed
Model, Gaussian Mixture Distribution Model etc., the present invention is to this without particular determination.
In step S220, for each reference position, according to the probability established in the reference position point
Cloth model, the multidimensional characteristic for building the reference position are used as with reference to feature.
In the exemplary embodiment, can according to the signal strength probability distribution for the K beaconing nodes established in reference position,
The multidimensional characteristic for building reference position is used as with reference to feature, a beaconing nodes can be indicated in the reference position per one-dimensional characteristic
Signal strength probability Distribution Model such as Gauss model.For each reference position, can according in step S210 in the ginseng
The probability Distribution Model for examining K beaconing nodes of position foundation, builds the K dimensional features of the reference position, and K is indicated per one-dimensional characteristic
Signal strength probability Distribution Model such as Gauss model of the beaconing nodes in the reference position in a beaconing nodes.
In step S230, in target terminal position, the signal strength of multiple beaconing nodes is obtained, and is described more according to this
K beaconing nodes in a beaconing nodes establish signal strength probability Distribution Model respectively.
In the exemplary embodiment, pre-set multiple beaconing nodes under the indoor scene are obtained at target terminal position
Signal strength, after the signal strength for getting multiple beaconing nodes, can according to the size of the signal strength of beaconing nodes,
K beaconing nodes are chosen from multiple beaconing nodes, and signal strength probability Distribution Model is established for K beaconing nodes of selection.
The signal strength probability Distribution Model is consistent with the signal strength probability Distribution Model established in step S210, for example, signal
Intensive probable distributed model can be Gauss model, Bayes's distributed model or Gaussian Mixture Distribution Model equal-probability distribution mould
Type.
In step S240, according to the probability Distribution Model established in the target terminal position, the mesh is built
The multidimensional characteristic of terminal location is marked as comparison feature.
It in the exemplary embodiment, can be according to the signal strength probability for the K beaconing nodes established in target terminal position
Distributed model, the multidimensional characteristic for building target terminal position are used as with reference to feature, and a beacon section can be indicated per one-dimensional characteristic
Signal strength probability Distribution Model such as Gauss model of the point in the reference position.It can be according to whole in the target in step S230
The probability Distribution Model for the K beaconing nodes that end position is established, builds the K dimensional features of the target terminal position, per one-dimensional characteristic
Indicate that a beaconing nodes are in the signal strength probability Distribution Model such as Gaussian mode of the target terminal position in K beaconing nodes
Type.
In step s 250, the target terminal position is determined according to the comparison feature and each fixed reference feature.
In some embodiments, the comparison feature of target terminal position and the fixed reference feature of each reference position can be calculated
Similarity is weighted the coordinate of each reference position based on the similarity calculated the seat for averagely obtaining target terminal position
Mark.Specifically, since K beaconing nodes have unique identifier, can be corresponded according to the identifier of beaconing nodes
Ground calculates K similarity of the K dimensional features of target terminal position and the K dimensional features of reference position, and each reference position is calculated
The value of K similarity be added similarity as the reference position and target terminal position, by reference position and target terminal
The similarity of position is weighted the coordinate of each reference position as weight on the coordinate for averagely obtaining target terminal position.
Fig. 3 schematically shows the flow chart of map structuring process according to example embodiment of the present invention.
With reference to shown in Fig. 3, in step S310, a certain indoor environment such as office is selected, by manually demarcating
(landmark) as mapping beats key point or obtains the indoor environment using the equipment such as ultrasonic positioning system of higher precision
Local map.
In step s 320, beaconing nodes are arranged by certain density in the indoor environment, the quantity of beaconing nodes with
And layout density can be determined according to the size of indoor scene.Beaconing nodes include but not limited to iBeacon nodes, WIFI
(Wireless Fidelity, Wireless Fidelity) node, bluetooth nodes etc., ensure the indoor environment key point (such as entrance,
Outlet etc.) arrangement beaconing nodes.
In step S330, the indoor scene is divided according to the nodes of locations of certain resolution ratio such as 1m*1m,
The beacon signal that acquisition different location node is collected into respectively, each nodes of locations are adopted according to the sequence of signal strength from big to small
Collect top (highest) K beacon signal, collected top K beacon signals are stored as a K dimensional feature.
In step S340, the signal based on collected K beaconing nodes establishes K dimension Gauss feature maps, and K ties up Gauss
Each dimension of feature is Gauss model of the beaconing nodes in corresponding position node.If collected beacon signal is few
It is discontented with K in K i.e. characteristic dimension, then allows certain dimensional characteristics vacant.It can be with by using K Gauss model being independently distributed
Increase positioning robustness.
Fig. 4 schematically shows the flow charts of position fixing process according to example embodiment of the present invention.
With reference to shown in Fig. 4, in step S410, target terminal such as cell-phone customer terminal just enters indoor environment and for example handles official business
Room receives the signal of the beaconing nodes of reference point, initializes the position of client.
In the step s 420, the signal that multiple beaconing nodes are received in regular hour Windows Client termination, is established respectively
The Gauss model of the signal for the top K beaconing nodes that client receives, by the Gauss model group of the signal of each beaconing nodes of K
At the K dimensional features of client, if certain dimensions because signal is too weak or insincere, can be vacant by these dimensions.
In step S430, the map acquisition node within the scope of x*x meters of such as 1m*1m is searched for using adaptive search-window
That is the K dimensional features of these reference modes are done similarity calculation, because each by reference mode with the K dimensional features of client respectively
Beaconing nodes have unique id (identity, mark), therefore participate in the similarity meter between node and the feature of client
Calculate is also to carry out 1 pair 1 according to unique id of beaconing nodes to correspond to calculating.The reference mode calculated is corresponding with client special
The similarity of sign can be as the weight of subsequent arithmetic.As shown in following formula (1), wherein PcjIt is j-th of Gauss feature of client,
PmjIt is j-th of feature of m-th of reference point of map, similarity is the Gauss feature of client and the Gauss feature of reference point
Similarity, calculated similarity can be selected accurately calculate or closely according to project demands as the weight of the reference point
Like the similarity of the Gauss feature for the Gauss feature and reference point for calculating client.
It should be noted that the size of adaptive search-window is related with the confidence level for the result that active client calculates,
It can then amplify adaptive search-window in confidence level change hour, adaptable search window can be then reduced when confidence level becomes larger
Mouthful, to improve the efficiency of search acquisition node, that is, reference position.For example, in the average letter for the top K beaconing nodes collected
Number it is less than some threshold value, then increasing search window, (signal is smaller, illustrates that previous positioning result may be problematic, therefore need
Increase region of search), when the average signal for the top K beaconing nodes collected is more than some threshold value, then can reduce
Search window or the size for not changing search window.
In step S440, calculates all nodes of locations in search window using the processing traversal of step S430 and refer to
Position, the coordinate of each reference position of weighted average optimized after client coordinate；Although the nodes of locations of map is
Discrete, but the position after the optimization of final client is the weighted average of all nodes of locations in window, is saved in position
In the case that point is intensive enough, technical scheme of the present invention can be as the location technology scheme of continuous space.Such as following formula (2) institute
Show, PiIt is i-th of nodes of locations of map, Pc_alignedIt is the client location after weighted average.
In step S450, using the client location that step S440 is obtained as the measuring value of Extended Kalman filter,
Obtain the movable information of the client by IMU (Inertial measurement unit, inertial navigation unit) acquisitions, knot
Close the measured value and client movable information advanced optimized after client position.By the positioning to target terminal
It is combined with the movable information of the target terminal of IMU acquisitions, can realize and dynamic target terminal is accurately positioned.
Usually, the accelerometer of the gyroscope and three directions of three axis can be housed, to measure object three in an IMU
Angular speed in dimension space and acceleration, and calculate with this posture of object.Expand Kalman filtering (extended
Kalman filter) be Kalman filtering non-linear form, be a kind of efficient Recursive filtering method, can be from a system
In the incomplete and measurement comprising noise of row, the state of dynamical system is estimated.
Fig. 5 schematically shows the signal of the application scenarios of indoor orientation method according to example embodiment of the present invention
Figure.Referring to Figure 5, the indoor scene of the office is divided using the resolution ratio of 1m*1m, is entered in target terminal
It, can be using the closer crossover node of chosen distance target terminal as position is referred to, for example, 4m* can be passed through when the indoor scene
Reference position in the range of the adaptive search-window search 4m*4m of 4m, obtains 7 reference positions in the search window,
The signal of each reference position acquisition top K beaconing nodes, establishes the Gauss model of the signal of each beaconing nodes respectively.Even if
The pedestrian of the office or other barriers influence the positioning of the reference position near it, but due to only to each reference position
It is vertical to establish K dimension Gauss models, it is thus possible to increase the robustness of positioning.
Exemplary means
After describing the medium of exemplary embodiment of the invention, next, with reference to figure 6 to the exemplary reality of the present invention
The indoor positioning device for applying mode illustrates.
With reference to shown in Fig. 6, which may include：First model building module 610, fixed reference feature structure
It models block 620, the second model construction module 630, compare feature construction module 640, coordinate determination unit 650.Wherein, the first mould
Type establishes module 610 in each reference position, obtaining the signal strength of multiple beaconing nodes, and is the multiple letter according to this
K beaconing nodes in mark node establish signal strength probability Distribution Model respectively；Fixed reference feature build module 620 be used for for
Each reference position builds the reference position according to the probability Distribution Model established in the reference position
Multidimensional characteristic, which is used as, refers to feature；Second model building module 630 is used to, in target terminal position, obtain multiple beaconing nodes
Signal strength, and signal strength probability Distribution Model is established respectively for K beaconing nodes in the multiple beaconing nodes according to this；
Feature construction module 640 is compared for according to the probability Distribution Model established in the target terminal position, described in structure
The multidimensional characteristic of target terminal position is as comparison feature；Coordinate determining module 650 is used for according to the comparison feature and each institute
It states fixed reference feature and determines the target terminal position.
In some embodiments of the invention, aforementioned schemes are based on, the first model building module 610 is configured as：It determines
In the multiple beaconing nodes, highest K beaconing nodes of average signal strength；It is built respectively for the K beaconing nodes
Vertical signal strength probability Distribution Model.
In some embodiments of the invention, aforementioned schemes are based on, coordinate determination unit 650 is configured as：According to described
Feature and each fixed reference feature are compared, determines the similarity of the target terminal position and each reference position respectively；Root
According to the similarity and each reference position of the target terminal position and each reference position, the target terminal is determined
Position.
In some embodiments of the invention, aforementioned schemes are based on, coordinate determination unit 650 is configured as：Determine a packet
Search window containing the target terminal position, and using the reference position in described search window as candidate reference position
It sets；According to the comparison feature and each fixed reference feature, the target terminal position and each candidate reference are determined respectively
The similarity of position；According to the similarity and each candidate ginseng of the target terminal position and each candidate reference position
Position is examined, determines the target terminal position.
In some embodiments of the invention, aforementioned schemes are based on, indoor positioning device 600 further includes：Range adjustment is single
Member, the confidence level for calculating the determining target terminal position, and described search window is adjusted according to the confidence level
Range.
In some embodiments of the invention, aforementioned schemes are based on, indoor positioning device 600 further includes：Acquiring unit is used
In the movable information for the Inertial Measurement Unit acquisition for obtaining the target terminal；Position correction unit, for according to the movement
Information is modified the determining target terminal position.
In some embodiments of the invention, aforementioned schemes are based on, the position correction unit is configured as：It will be determining
Measuring value of the target terminal position as Extended Kalman filter model, and in conjunction with the movable information, to determining institute
Target terminal position is stated to be modified.
In some embodiments of the invention, aforementioned schemes are based on, indoor positioning device 600 further includes：Reference position is true
Order member, for according to resolution ratio is preset, determining multiple reference positions.
In some embodiments of the invention, aforementioned schemes are based on, the probability Distribution Model is Gaussian distribution model.
Exemplary media
After the indoor orientation method and indoor positioning device for describing exemplary embodiment of the invention, connect down
Come, the storage medium of exemplary embodiment of the invention is illustrated with reference to figure 7.
Refering to what is shown in Fig. 7, describing the program product for realizing the above method according to the embodiment of the present invention
700, portable compact disc read only memory (CD-ROM) may be used and include program code, and can in terminal device,
Such as it is run on PC.However, the program product of the present invention is without being limited thereto.
The arbitrary combination of one or more readable mediums may be used in described program product.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or
System, device or the device of semiconductor, or the arbitrary above combination.The more specific example of readable storage medium storing program for executing is (non exhaustive
List) include：It is electrical connection, portable disc, hard disk, random access memory (RAM) with one or more conducting wires, read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Computer-readable signal media may include in a base band or as the data-signal that a carrier wave part is propagated,
In carry readable program code.The data-signal of this propagation may be used diversified forms, including but not limited to electromagnetic signal,
Optical signal or above-mentioned any appropriate combination.Readable signal medium can also be any readable Jie other than readable storage medium storing program for executing
Matter.
It can be write with any combination of one or more programming languages for executing the program that operates of the present invention
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user
It executes on computing device, partly execute on a user device, part executes or on a remote computing completely long-range
It is executed on computing device or server.In the situation for being related to remote computing device, remote computing device can be by any number of
The network of class, including LAN (LAN) or wide area network (WAN), are connected to user calculating equipment.
Exemplary computer device
The indoor orientation method, indoor positioning device and storage medium for describing exemplary embodiment of the invention it
Afterwards, next, the electronic equipment of exemplary embodiment of the invention is described in detail with reference to figure 8.
As shown in figure 8, electronic equipment 800 is showed in the form of universal computing device.The component of electronic equipment 800 can wrap
It includes but is not limited to：Above-mentioned at least one processing unit 801, above-mentioned at least one storage unit 802, connection different system component
The bus 803 of (including storage unit 802 and processing unit 801), display unit 807.
Bus 803 indicates one or more in a few class bus structures, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using the arbitrary bus structures in a variety of bus structures.
Storage unit 802 may include the readable medium of form of volatile memory, such as random access memory (RAM)
8021 and/or cache memory 8022, it can further include read-only memory (ROM) 8023.
Storage unit 802 can also include program/utility with one group of (at least one) program module 8024
8025, such program module 8024 includes but not limited to：Operating system, one or more application program, other program moulds
Block and program data may include the realization of network environment in each or certain combination in these examples.
Electronic equipment 800 can also be with one or more external equipments 804 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with electronic equipment 800 communicate, and/or with make electricity
Any equipment that sub- equipment 800 can be communicated with one or more of the other computing device (such as router, modem etc.
Deng) communication.This communication can be carried out by input/output (I/O) interface 805.Also, electronic equipment 800 can also pass through
Network adapter 806 and one or more network (such as LAN (LAN), wide area network (WAN) and/or public network, such as
Internet) communication.As shown, network adapter 806 is communicated by bus 803 with other modules of electronic equipment 800.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 800, including but it is unlimited
In：Microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage system etc..
It should be noted that although being referred to several units/modules or son list of indoor positioning device in above-detailed
Member/module, but it is this division be only exemplary it is not enforceable.In fact, according to the embodiment of the present invention, on
The feature and function of two or more units/modules of text description can embody in a units/modules.Conversely, above
The feature and function of one units/modules of description can be further divided into be embodied by multiple units/modules.
In addition, although the operation of the method for the present invention is described with particular order in the accompanying drawings, this do not require that or
Hint must execute these operations according to the particular order, or have to carry out shown in whole operation could realize it is desired
As a result.Additionally or alternatively, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/or by one
Step is decomposed into execution of multiple steps.
Although by reference to several spirit and principle that detailed description of the preferred embodimentsthe present invention has been described, it should be appreciated that, this
It is not limited to the specific embodiments disclosed for invention, does not also mean that the feature in these aspects cannot to the division of various aspects
Combination is this to divide the convenience merely to statement to be benefited.The present invention is directed to cover appended claims spirit and
Included various modifications and equivalent arrangements in range.
Claims (10)
1. a kind of indoor orientation method is applied to the scene equipped with multiple beaconing nodes；It is characterized in that, the method includes：
In each reference position, the signal strength of multiple beaconing nodes is obtained, and is K in the multiple beaconing nodes according to this
Beaconing nodes establish signal strength probability Distribution Model respectively；
The ginseng is built according to the probability Distribution Model established in the reference position for each reference position
The multidimensional characteristic for examining position is used as with reference to feature；
In target terminal position, the signal strength of multiple beaconing nodes is obtained, and is K in the multiple beaconing nodes according to this
Beaconing nodes establish signal strength probability Distribution Model respectively；
According to the probability Distribution Model established in the target terminal position, the multidimensional for building the target terminal position is special
Sign is as comparison feature；
The target terminal position is determined according to the comparison feature and each fixed reference feature.
2. indoor orientation method according to claim 1, which is characterized in that for K letter in the multiple beaconing nodes
Mark node establishes signal strength probability Distribution Model and includes respectively：
It determines in the multiple beaconing nodes, highest K beaconing nodes of average signal strength；
Signal strength probability Distribution Model is established respectively for the K beaconing nodes.
3. indoor orientation method according to claim 1, which is characterized in that according to the comparison feature and each reference
Feature determines that the target terminal position includes：
According to the comparison feature and each fixed reference feature, the target terminal position and each reference position are determined respectively
Similarity；
According to the similarity and each reference position of the target terminal position and each reference position, the mesh is determined
Mark terminal location.
4. indoor orientation method according to claim 1, which is characterized in that according to the comparison feature and each reference
Feature determines that the target terminal position includes：
Determine a search window for including the target terminal position, and using the reference position in described search window as
Candidate reference position；
According to the comparison feature and each fixed reference feature, the target terminal position and each candidate reference are determined respectively
The similarity of position；
According to the similarity and each candidate reference position of the target terminal position and each candidate reference position, really
The fixed target terminal position.
5. indoor orientation method according to claim 4, which is characterized in that the method further includes：
The confidence level of the determining target terminal position is calculated, and adjusts the model of described search window according to the confidence level
It encloses.
6. according to the indoor orientation method described in Claims 1 to 5 any one, which is characterized in that the method further includes：
Obtain the movable information of the Inertial Measurement Unit acquisition of the target terminal；
According to the movable information, the determining target terminal position is modified.
7. indoor orientation method according to claim 6, which is characterized in that according to the movable information, to determining institute
State target terminal position be modified including：
Using the determining target terminal position as the measuring value of Extended Kalman filter model, and believe in conjunction with the movement
Breath, is modified the determining target terminal position.
8. a kind of indoor positioning device is applied to the scene equipped with multiple beaconing nodes；It is characterized in that, described device includes：
First model building module, in each reference position, obtaining the signal strength of multiple beaconing nodes, and be according to this institute
The K beaconing nodes stated in multiple beaconing nodes establish signal strength probability Distribution Model respectively；
Fixed reference feature builds module, is used for for each reference position, described general according to being established in the reference position
Rate distributed model, the multidimensional characteristic for building the reference position are used as with reference to feature；
Second model building module, in target terminal position, obtaining the signal strength of multiple beaconing nodes, and be according to this institute
The K beaconing nodes stated in multiple beaconing nodes establish signal strength probability Distribution Model respectively；
Feature construction module is compared, for according to the probability Distribution Model established in the target terminal position, building institute
The multidimensional characteristic of target terminal position is stated as comparison feature；
Coordinate determining module, for determining the target terminal position according to the comparison feature and each fixed reference feature.
9. a kind of storage medium, is stored thereon with computer program, which is characterized in that the computer program is executed by processor
Shi Shixian indoor orientation methods according to any one of claims 1 to 7.
10. a kind of electronic equipment, which is characterized in that including：
Processor；And
Memory, the executable instruction for storing the processor；
Wherein, the processor is configured to come described in any one of perform claim requirement 1~7 via the execution executable instruction
Indoor orientation method.
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| CN201810470593.6A CN108680898A (en) | 2018-05-17 | 2018-05-17 | Indoor orientation method, device, medium and electronic equipment |
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