CN103455811B - Indoor wireless locating fingerprint collection method and system - Google Patents
Indoor wireless locating fingerprint collection method and system Download PDFInfo
- Publication number
- CN103455811B CN103455811B CN201310398090.XA CN201310398090A CN103455811B CN 103455811 B CN103455811 B CN 103455811B CN 201310398090 A CN201310398090 A CN 201310398090A CN 103455811 B CN103455811 B CN 103455811B
- Authority
- CN
- China
- Prior art keywords
- collection point
- point
- collection
- line segment
- data
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 239000004744 fabric Substances 0.000 claims 1
- 238000012545 processing Methods 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 8
- 230000004899 motility Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000001215 vagina Anatomy 0.000 description 1
Landscapes
- Mobile Radio Communication Systems (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention discloses an indoor wireless locating fingerprint collection method and system. The method comprises the steps that according to a pre-planned route comprising at least two segments, fingerprint collection data are sequentially obtained at equal intervals; collection point identifiers corresponding to inflection points are determined according to direction and angle data of collection points; distribution of the collection points on each segment is determined according to the collection point identifiers corresponding to the inflection points; a collection point coordinate on each segment is calculated according to a starting point coordinate, an end point coordinate and an inflection point coordinate of the pre-planned route and distribution of the collection points on each segment, and the starting point coordinate, the end point coordinate and the inflection point coordinate are tested in advance; wireless locating fingerprints are obtained according to the collection point coordinate corresponding to the same collection point identifier and strength data of wireless signals on the collection points. Therefore, according to the technical scheme, fingerprint collection is more flexible, and meanwhile accuracy of fingerprint collection is improved.
Description
Technical field
The invention belongs to wireless communication technology field is and in particular to a kind of indoor wireless location fingerprint acquisition method and be
System.
Background technology
The development of wireless communication technology, the indoor wireless location technology based on wireless technology is also more being taken seriously.Wirelessly
Communication technology is to utilize, for example, GPRS (General Packet Radio Service, general packet radio service), CDMA
(Code Division Multiple Access, CDMA), WCDMA (Wideband Code Division
Multiple Access, WCDMA), LTE (Long Term Evolution, Long Term Evolution), WiFi (wireless
Fidelity, Wireless Fidelity), bluetooth etc. carry out data is activation and reception.Realizing wireless location is to there is wireless communication with interior
Based on number, the realization of indoor wireless location technology includes two stages, builds storehouse stage and tuning on-line stage offline；Its
In, build the basis that storehouse is indoor wireless positioning offline.Build offline the storehouse stage refer to gather wireless signal strength and determine signal adopt
Collection point coordinates, and then formed multiple based on the signal strength data being gathered and collection point coordinates<Signal, coordinate>, i.e. fingerprint,
Then fingerprint base is set up according to fingerprint.
In prior art, the collection of fingerprint is realized generally by the mode of fixed point collection.Predetermined pickup area
Interior a number of collection point, then arrives the collection point collection wireless signal strength data determining, further determines that collection point
Coordinate.With this, the wireless signal strength data being gathered at the coordinate according to collection point and collection point, formed multiple<Signal, sits
Mark>, and then set up fingerprint base.
Mode is set up for above-mentioned fingerprint base, though enabling the foundation of fingerprint, less efficient, because collection point selection needs
Manually to operate, motility is poor；And pinpoint collection to be difficult to accurately determine whether to be located at preset collection point, error is relatively
Greatly；Simultaneously for fixed point collection as acquisition precision need to be improved it is thus necessary to determine that more collection point, also make gatherer process excessively complicated.
Content of the invention
Have more motility for making indoor wireless location fingerprint gather, and improve fingerprint collecting precision further, the present invention is real
Apply example and provide following technical scheme：
In a first aspect, embodiments providing a kind of indoor wireless location fingerprint acquisition method, including：
According to the programme path in advance including at least two lines section, obtain fingerprint collecting data at equal intervals successively；Described pre-
First programme path has starting point, flex point and terminal；Described fingerprint collecting data includes collection point mark, the collection point deflection number of degrees
According to collection point at wireless signal strength data；
Collection point identification corresponding to flex point is determined based on described collection point orientation angle data；And
Determine the distribution of the collection point on every line segment based on the collection point identification corresponding to described flex point；
The starting point coordinate of programme path, terminal point coordinate and flex point coordinate and every line in advance according to measured in advance
The distribution of the collection point in section calculates the collection point coordinates on every line segment；
Obtained no based on wireless signal strength data at the collection point coordinates corresponding to same collection point identification and collection point
Line location fingerprint.
The indoor wireless location fingerprint acquisition method providing in embodiment, gathers fingerprint collecting data at equal intervals successively, leads to
Cross the distribution that the data processing to fingerprint collecting data determines every line segment collection point on route, and then determine that each collection point is sat
Mark, obtains fingerprint；With this, the fingerprint collecting method disclosed in embodiment, because carrying out edge with gather during fingerprint collecting
Collection route determines collection point in real time, records fingerprint collecting data while determination in collection point simultaneously, thus public in embodiment
The fingerprint collecting method opened makes fingerprint collecting have more motility, and further increases fingerprint collecting precision.
In second aspect, the embodiment of the present invention additionally provides a kind of indoor wireless location fingerprint acquisition system, including：
Acquisition module, for according to the programme path in advance including at least two lines section, obtaining fingerprint at equal intervals successively and adopting
Collection data；Described programme path in advance has starting point, flex point and terminal；Described fingerprint collecting data includes collection point mark, adopts
Wireless signal strength data at collection point orientation angle data and collection point；
Determine collection point module, for determining the collection point mark corresponding to flex point based on described collection point orientation angle data
Know；
Determine distribution module, for the collection point on every line segment is determined based on the collection point identification corresponding to described flex point
Distribution；
Computing module, for the starting point coordinate of programme path, terminal point coordinate and turn in advance according to measured in advance
The distribution of the collection point on point coordinates and every line segment calculates the collection point coordinates on every line segment；
Acquisition module, for strong based on wireless signal at the collection point coordinates corresponding to same collection point identification and collection point
Degrees of data obtains wireless location fingerprint.
The indoor wireless location fingerprint acquisition system providing in embodiment, acquisition module gathers fingerprint collecting at equal intervals successively
Data, determines that distribution module determines the distribution of every line segment collection point on route, and computing module determines each collection point coordinates, and then
Acquisition module obtains fingerprint；With this, the fingerprint acquisition system disclosed in embodiment makes fingerprint collecting have more motility, and further
Improve fingerprint collecting precision.
Brief description
Fig. 1 is indoor positioning fingerprint collecting method schematic flow sheet in the embodiment of the present invention one.
Fig. 2 is the route schematic diagram of pickup area programme path in advance in the embodiment of the present invention two.
Fig. 3 is indoor positioning fingerprint collecting method schematic flow sheet in the embodiment of the present invention two.
Fig. 4 is the collection point identification being determined based on collection point orientation angle data in the embodiment of the present invention two corresponding to flex point
Schematic flow sheet.
Fig. 5 is indoor positioning fingerprint acquisition system apparatus module schematic diagram in the embodiment of the present invention three.
Fig. 6 is indoor positioning fingerprint acquisition system concrete application schematic diagram in the embodiment of the present invention four.
Specific embodiment
The invention discloses a kind of indoor wireless location fingerprint acquisition mode and system, below in conjunction with the accompanying drawings and be embodied as
The present invention is carried out in further detail with complete explanation.It is understood that specific embodiment described herein is only used for solving
Release the present invention, rather than limitation of the invention.It also should be noted that, for the ease of description, illustrate only in accompanying drawing with
The related part of the present invention rather than full content.
The realization of indoor wireless location technology is based on the wireless signal of indoor presence, particularly with interior not
Based on the wireless signal strength in place.After determining the wireless signal strength data of indoor certain point, just can be utilized and refer to
Finger print information present in stricture of vagina storehouse, determines the position coordinateses corresponding to this signal strength data, and then realizes positioning.Therefore, it is
Realize indoor wireless positioning it is necessary to have fingerprint base, that is to say that wireless signal strength data and wireless signal strength data institute are in place
Put corresponding coordinate.Wireless signal strength data position respective coordinates refer to the seat of collection point during fingerprint base foundation
With the fingerprint in this fingerprint base, mark, refers to that signal strength data is multiple with what collection point coordinates was formed<Signal strength data, adopts
Collection point coordinates>.
Embodiment one
It is indoor positioning fingerprint collecting method schematic flow sheet in the embodiment of the present invention one as shown in Figure 1.As shown in figure 1,
Methods described includes：
Step 101, foundation include the programme path in advance of at least two lines section, obtain fingerprint collecting number at equal intervals successively
According to；Wherein, programme path has starting point, flex point and terminal in advance；Described fingerprint collecting data includes collection point mark, collection point
Wireless signal strength data at orientation angle data and collection point.
According to the programme path in advance including at least two lines section in this step, obtain fingerprint collecting number at equal intervals successively
According to fingerprint collecting data includes：Record collection point identification, obtains collection point orientation angle data and obtains wireless communication at collection point
Number intensity data；That is to say and collection point is determined in equidistant intervals mode, and from programme path starting point along programme path according to
Secondary acquisition collection point fingerprint collecting data, is record collection point identification, obtains collection point orientation angle data and obtain collection
Point wireless signal strength data.Wherein, refer at equal intervals in gatherer process, the line segment between adjacent collection point, to keep big
Cause the equal collection carrying out apart from length to fingerprint collecting data, that is to say that the distance of adjacent collection point selects to control certain
In the range of, the fingerprint collecting data gathering within this range determines that the impact of fingerprint precision is less.
Step 102, the collection point identification corresponding to flex point is determined based on described collection point orientation angle data.
Determine the collection point identification corresponding to flex point in this step, namely be to determine corresponding to corner position in pickup area
Record corner position fingerprint collecting data collection point identification.
Step 103, the distribution of the collection point on every line segment is determined based on the collection point identification corresponding to described flex point.
The collection point identification corresponding to flex point is determined, this step is using corresponding to flex point in above-mentioned steps 102
Collection point identification determines the distribution of collection point on every line segment on programme path.Wherein, on line segment, collection point distribution includes line segment
Upper collection point number and line segment end points collection point mark.
Step 104, according to measured in advance the starting point coordinate of programme path, terminal point coordinate and flex point coordinate in advance
Distribution with the collection point on every line segment calculates the collection point coordinates on every line segment.
Above-mentioned steps 103 obtain the distribution of the collection point on every line segment, and then the starting point coordinate according to measured in advance,
Terminal point coordinate and flex point coordinate calculate the collection point coordinates on every line segment.
Step 105, based on same collection point identification corresponding to collection point coordinates and collection point at wireless signal strength number
According to acquisition wireless location fingerprint.
Fingerprint be collection point coordinates and collection point wireless signal strength data formed multiple<Signal strength data, adopts
Collection point coordinates>.In fingerprint collecting data based on collection point coordinates and collection point in this step, signal intensity obtains wireless location
Fingerprint, that is to say that acquisition is multiple<Signal strength data, gathers point coordinates>.
The indoor wireless location fingerprint acquisition method providing in the present embodiment, gathers fingerprint collecting data at equal intervals successively,
By the data processing of fingerprint collecting data is determined with the distribution of every line segment collection point on route, and then determine that each collection point is sat
Mark, obtains fingerprint；With this, the fingerprint collecting method disclosed in the present embodiment, because during fingerprint collecting with collection carrying out
Determine collection point in real time along collection route, while determination in collection point, record fingerprint collecting data simultaneously, thus the present embodiment
Disclosed in fingerprint collecting method make fingerprint collecting have more motility, and further increase fingerprint collecting precision.
Embodiment two
It is the route schematic diagram of pickup area programme path in advance in the embodiment of the present invention two shown in Fig. 2.In the present embodiment
With pickup area, based on that is to say with the WiFi of indoor presence (wireless fidelity, Wireless Fidelity) signal, carry out
Fingerprint collecting.
As shown in Fig. 2 the collection route G that pickup area M is planned in advance includes two line segment AB line segments and BC line segment, wherein
Starting point A, flex point B, terminal C.According to measured in advance, starting point A coordinate is（A1、A2）, flex point B coordinate is（B1、B2）, terminal C seat
Mark is（C1、C2）.Wherein, on the collection route of planning, composition line segment, flex point are intended to and determination according to being intended to pickup area design drawing,
That is to say the design drawing according to this region being formed in pickup area design process or after design, pickup area is determined with this
Programme path, the line segment composition in flex point and route in route.
Specifically, the coordinate of starting point A, flex point B and terminal C is to be determined according to maps such as Baidu maps.With Baidu map
As a example, search pickup area from Baidu map, the shape contour of the pickup area presenting in adjustment Baidu map makes it and adopts
The planning diagram shape in collection region is mutually matched.By the pickup area profile presenting in the planning chart of pickup area and Baidu map
Form fit information determines starting point in pickup area, flex point and terminal location in map, and then utilizes Baidu map
The coordinate distribution of middle pickup area determines the coordinate of starting point, flex point and terminal in pickup area.In the present embodiment, that is to say that handle is adopted
The collection region M and pickup area M shape contour in Baidu map is mated, and then determines starting point A, flex point B and terminal C
Coordinate.
It is indoor positioning fingerprint collecting method schematic flow sheet in the embodiment of the present invention two as shown in Figure 3.As shown in figure 3,
Methods described includes：
Step 301, foundation include the programme path in advance of at least two lines section, obtain fingerprint collecting number at equal intervals successively
According to；Wherein, described programme path in advance has starting point, flex point and terminal, and fingerprint collecting data includes collection point mark, collection point
WiFi signal intensity data at orientation angle data and collection point.Wherein, refer at equal intervals in gatherer process, adjacent collection point
Between line segment, with the collection keeping distance substantially equal length to carry out to fingerprint collecting data, that is to say adjacent collection point
Between line segment error in length, control within the specific limits, the fingerprint collecting data that gathers within this range is to determining fingerprint essence
Degree impact is less；Those skilled in the art should understand that be control line segment length error scope be to be adopted so that determination can be prepared
Integrate a little and fingerprint collecting data precision as basis for estimation, corresponding model can be set according to the application demand that the present invention is actual
Enclose.Specifically, in the present embodiment, as shown in FIG. 2, programme path includes line segment AB and line segment BC, and starting point A, flex point B
With terminal C.It will be understood by those skilled in the art that for the line segment composition in programme path and flex point, being treated according to actual
The actual environment situation of detection zone, can have different divisions.
According to programme path in advance in this step, in the flex point in route and route, line segment composition, obtains at equal intervals successively
Fingerprint collecting data, including：Record collection point identification, obtains collection point orientation angle data and obtains WiFi signal at collection point
Intensity data.That is to say and collection point is determined in equidistant intervals mode, and from programme path starting point along programme path successively
Obtain collection point fingerprint collecting data, be record collection point identification, obtain collection point orientation angle data and obtain collection point
WiFi signal intensity data.Wherein, equidistant intervals refer in gatherer process, and the distance of adjacent collection point selects to control one
The fingerprint collecting data determining, in scope, to gather within this range is less on determining that fingerprint precision affects.It should be noted that obtaining
Record collection point identification in fingerprint collecting data, obtains collection point orientation angle data and obtains WiFi signal intensity at collection point
The record of data or acquisition order can be set according to respective environment situation.
Specifically, obtain fingerprint collecting data to be acquired by manually carrying harvester, phase can also be passed through
The equipment of shutting down carries harvester and realizes the collection to fingerprint collecting data.In the present embodiment, as shown in Fig. 2 manually carrying
Harvester is walked along programme path G from starting point A, and often make a move direction angle-data of record and WiFi signal intensity
Data, and record each step sequence numbering, that is to say the mark of collection point.In the present embodiment along collection route G from starting point A to end
Point C concurrence walks 300 steps, that is to say common obtain 300 collection points fingerprint collecting data, and simultaneously to from starting point A to terminal C's
The mark of 300 collection points is recorded.
The fingerprint collecting data being gathered in the present embodiment such as table 1：
Table 1：Fingerprint collecting data
Preferably, in the present embodiment, the record of collection point identification is recorded using time keeping instrument.
Preferably, in the present embodiment, the collection of direction angle-data is carried out to each collection point orientation angle using sensor
The collection of data.
Preferably, in the present embodiment, the collection of WiFi signal intensity data is carried out to each using signal inductor
The collection of collection point WiFi signal intensity data.
Step 302, the collection point identification corresponding to flex point is determined based on described collection point orientation angle data.
Determine the collection point identification corresponding to flex point in this step, namely be to determine corresponding to corner position in pickup area
Record corner position fingerprint collecting data collection point identification.
It is, in the embodiment of the present invention two, the collection point corresponding to flex point is determined based on collection point orientation angle data shown in Fig. 4
Mark schematic flow sheet.As shown in figure 4, the realization of this step includes：
Step 3021, according to acquired collection point orientation angle data, determine adjacent collection point orientation angle data difference.
It is the difference obtaining adjacent collection point orientation angle data in this step, that is to say by calculating the adjacent collection point of acquisition
The data of orientation angle difference.
Obtain collection point orientation angle data first, obtain collection point orientation angle data, that is to say each collection point of acquisition
Corresponding orientation angle data.Specifically, collection point orientation angle data can be obtained by wireless data transmission mode,
Collection point orientation angle data can be obtained by wired data transfer mode.By wireless data transmission mode in the present embodiment
Obtain collection point orientation angle data, for example, data is activation is carried out by wireless communication technologys such as CDMA, WiFi, bluetooths and connect
Receive, know that the orientation angle data of collection point 100 is 95, the orientation angle data of collection point 101 is 179, collection point 102 direction
The data of angle is 185.
Specifically, adjacent orientation angle data can be obtained by adjacent collection point is carried out with subtraction in this step
Difference.Using the difference that adjacent collection point is carried out with the subtraction adjacent orientation angle data of acquisition in the present embodiment.Collection point 100
Orientation angle data is 95, and the orientation angle data of collection point 101 is 179, and the data of collection point 102 orientation angle is 185；Logical
Crossing is subtracted from one another, and to calculate the difference of collection point 100 and collection point 101 be 82, and the difference of collection point 101 and collection point 102 is
6.
Step 3022, the collection point identification corresponding to flex point is determined based on adjacent collection point orientation angle data difference.
When the change of orientation angle data difference exceedes certain limit, then can determine the collection of orientation angle data variation
Point is corner position.
In the present embodiment, according to pickup area environmental aspect, determine when the difference of adjacent collection point is more than 20, then institute's prescription
It is corner position to the collection point position of angle-data change.Obtain collection point 100 and collection point 101 using step 3021
Difference is 82, and the difference of collection point 101 and collection point 102 is 6.According to predetermined difference size, know and adopt by comparing
The difference of collection point 100 and collection point 101 is 82；With this it may be determined that the collection point corresponding to flex point is designated 100.Need
Bright, in this example, set difference range is not limited to the present invention, and according to concrete pickup area situation, difference becomes
Changing scope can have different set.
Step 303, the distribution of the collection point on every line segment is determined based on the collection point identification corresponding to described flex point.
The collection point identification corresponding to flex point is determined, this step is using corresponding to flex point in above-mentioned steps 302
Collection point identification determines the distribution of every line segment collection point on programme path in advance.Wherein, on line segment, collection point distribution includes line
Collection point number and line segment end points collection point mark in section.
In the present embodiment, as shown in Fig. 2 programme path G includes line segment AB and line segment BC.Step 302 determines flex point institute
Corresponding collection point is designated 100, determines that starting point A collection point is designated 1 according to the fingerprint collecting data of collection further, terminal
C collection point is designated 300.Based on this it may be determined that the number of line segment AB collection point is 100, two end points of line segment AB are adopted
The mark of collection point, that is to say that collection point puts in order 1 and 100；The number of line segment BC collection point is 200, two of line segment BC
The mark of end points collection point, that is to say that collection point puts in order 101 and 300.
Step 304, according to measured in advance the starting point coordinate of programme path, terminal point coordinate and flex point coordinate in advance
Distribution with the collection point on every line segment calculates the collection point coordinates on every line segment.
Above-mentioned steps 303 obtain the distribution of every line segment collection point, and then the programme path in advance according to measured in advance
On starting point coordinate, terminal point coordinate and flex point coordinate calculate collection point coordinates on every line segment.
In the present embodiment, starting point A coordinate is（A1、A2）, flex point B coordinate is（B1、B2）, terminal C coordinate is（C1、C2）.
The number of the line segment AB collection point that step 303 obtains is 100, and the mark of two end points collection points of line segment AB that is to say and adopts
Collection point puts in order as 1 and 100；The number of line segment BC collection point is 200, the mark of two end points collection points of line segment BC,
That is to say that collection point puts in order as 101 and 300.Each collection point coordinates on line segment is calculated based on this.
Preferably, adopt linear interpolation method in the present embodiment, using the starting point of programme path in advance described in measured in advance
The collection point that the distribution of the collection point on coordinate, terminal point coordinate and flex point coordinate and every line segment calculates on every line segment is sat
Mark, linear interpolation method refers to the Changing Pattern for Study Function, needs the functional value obtained not on table.Therefore, it can basis
Given function table does a characteristic that can reflect function f (x), is easy to simple function P (x) calculating again.With the approximate f of P (x)
(X).Generally select the simple function of a class as P (x), and make P (xi)=f (xi) to i=1,2 ... ..., n set up, under so determining
Come P (x) be exactly it is desirable that interpolating function.
According to linear interpolation method, then fall on line segment AB i-th（1<i<=100）Step coordinate be（A1+(B1-A1)*i/
100、A2+(B2-A1)*i/100）.For example, the coordinate of collection point 30 is（A1+(B1-A1)*30/100、A2+(B2-A1)*30/
100）.
Step 305, based on same collection point identification corresponding to collection point coordinates and collection point at WiFi signal intensity number
According to acquisition wireless location fingerprint.
Fingerprint be collection point coordinates and collection point at WiFi signal intensity data formed multiple<WiFi signal intensity number
According to collection point coordinates>.Based on WiFi signal intensity number in the fingerprint collecting data at collection point coordinates and collection point in this step
According to obtaining wireless location fingerprint, that is to say that acquisition is multiple<WiFi signal intensity data, gathers point coordinates>.In the present embodiment, step
Rapid 304 obtain each collection point coordinates, just can be formed multiple according to the WiFi signal intensity data that table 1 is recorded<WiFi signal
Intensity data, gathers point coordinates>, namely fingerprint.
The indoor wireless location fingerprint acquisition method providing in the present embodiment, gathers fingerprint collecting data at equal intervals successively,
By the data processing of fingerprint collecting data is determined with the distribution of every line segment collection point on route, and then determine that each collection point is sat
Mark, obtains fingerprint；With this, the fingerprint collecting method disclosed in the present embodiment, because during fingerprint collecting with collection carrying out
Determine collection point in real time along collection route, while determination in collection point, record fingerprint collecting data simultaneously, thus the present embodiment
Disclosed in fingerprint collecting method make fingerprint collecting have more motility, and further increase fingerprint collecting precision.
A kind of preferred implementation of the embodiment of the present invention two, the wireless signal of collection can be CDMA signal intensity number
According to, that is to say collection fingerprint collecting data procedures in gather cdma wireless signal data.
Another preferred implementation of the embodiment of the present invention two, wherein, is determined based on collection point orientation angle data and turns
The corresponding collection point of point can determine collection point corresponding to flex point by the orientation angle data complementation of adjacent collection point.Namely
It is, by the complementation computing of adjacent collection point, then determining the collection point corresponding to flex point according to complementation operation result.
Embodiment three
It is indoor positioning fingerprint acquisition system apparatus module schematic diagram in the present embodiment three as shown in Figure 5.As shown in figure 5,
In the present embodiment, fingerprint acquisition system includes：Acquisition module 401, determination gather point module 402, determine distribution module 403, calculate
Module 404 and acquisition module 405.
Acquisition module 401, for according to the programme path in advance including at least two lines section, obtaining fingerprint at equal intervals successively
Gathered data；Described programme path in advance has starting point, flex point and terminal；Described fingerprint collecting data include collection point mark,
Wireless signal strength data at collection point orientation angle data and collection point.
Determine collection point module 402, for the collection corresponding to flex point is determined based on described collection point orientation angle data
Point identification.
Determine that collection point module includes 402：First determines collection point submodule 4021, for according to acquired collection point
Orientation angle data, determines adjacent collection point orientation angle data difference；Second determines collection point submodule 4022, for based on phase
Adjacent collection point orientation angle data difference determines the collection point identification corresponding to flex point.
Determine distribution module 403, for adopting on every line segment is determined based on the collection point identification corresponding to described flex point
The distribution of collection point.
Computing module 404, for according to measured in advance in advance the starting point coordinate of programme path, terminal point coordinate and
The distribution of the collection point on flex point coordinate and every line segment calculates the collection point coordinates on every line segment.
Computing module 404 includes calculating sub module 4041, and for adopting linear interpolation method, the starting point using measured in advance is sat
The distribution of mark, terminal point coordinate and flex point coordinate and every line segment collection point calculates each collection point coordinates on every line segment.
Acquisition module 405, for based on wireless communication at the collection point coordinates corresponding to same collection point identification and collection point
Number intensity data obtains wireless location fingerprint.
The indoor wireless location fingerprint acquisition system providing in the present embodiment, gathers fingerprint collecting data at equal intervals successively,
Determine the distribution of every line segment collection point on route by data processing, and then determine each collection point coordinates, obtain fingerprint；With
This, the fingerprint acquisition system disclosed in the present embodiment, because during fingerprint collecting, the carrying out with collection is real-time along collection route
Determine collection point, record fingerprint collecting data while determination in collection point simultaneously, thus the fingerprint disclosed in the present embodiment is adopted
Collecting system makes fingerprint collecting have more motility, and further increases fingerprint collecting precision.
Example IV
It is indoor positioning fingerprint acquisition system concrete application schematic diagram in the embodiment of the present invention four as shown in Figure 6.As Fig. 6 institute
Show, wherein, harvester 501 and processing meanss 502.
In the present embodiment, harvester 501 and processing meanss 502 are assembled on different devices.That is to say gatherer process
Realize on different devices with to the process of fingerprint collecting data.
Harvester 501 carries out fingerprint collecting data acquisition in pickup area, then by the fingerprint collecting data note of collection
Record is in corresponding memorizer；Wherein, fingerprint collecting data includes collection point mark, collection point orientation angle data and collection point
Place's wireless signal strength data.
Acquisition module 401, for according to the programme path in advance including at least two lines section, obtaining fingerprint at equal intervals successively
Gathered data；Described programme path in advance has starting point, flex point and terminal；Described fingerprint collecting data include collection point mark,
Wireless signal strength data at collection point orientation angle data and collection point.
Processing meanss 502 by wireless data transmission mode or wired data transfer mode, for example, pass through USB
（Universal Serial Bus, USB (universal serial bus)）Obtain the fingerprint collecting data of harvester 501 collection, then to obtaining
The fingerprint collecting data taking is processed, and obtains fingerprint.
Processing meanss 502 include：Acquisition module, for the programme path in advance according to inclusion at least two lines section, between waiting
Every obtaining fingerprint collecting data successively；Described programme path in advance has starting point, flex point and terminal；Described fingerprint collecting packet
Include wireless signal strength data at collection point identification, collection point orientation angle data and collection point；Determine collection point module, be used for
Collection point identification corresponding to flex point is determined based on described collection point orientation angle data；Determine distribution module, for based on institute
State the distribution that the collection point identification corresponding to flex point determines the collection point on every line segment；Computing module, surveys in advance for basis
The distribution of the collection point on the fixed starting point coordinate of described programme path in advance, terminal point coordinate and flex point coordinate and every line segment
Calculate the collection point coordinates on every line segment；Acquisition module, for based on the collection point coordinates corresponding to same collection point identification
Obtain wireless location fingerprint with wireless signal strength data at collection point.
The treated device of fingerprint collecting data forms fingerprint after processing, and fingerprint is put in storage, that is to say and sets up fingerprint base.Being built
Vertical fingerprint base is stored in server or terminal unit, the wireless communication being gathered in respective chambers region using server or terminal unit
Number intensity data, just can carry out real-time positioning.
One of the embodiment of the present invention four preferred implementation, harvester and processing meanss are assemblied in same equipment
On.Now, harvester collection fingerprint collecting data, while gathering fingerprint collecting data, harvester is in real time by collection
To processing meanss, processing meanss are processed fingerprint collecting data transfer to fingerprint collecting data, form fingerprint.
The concrete application of the indoor wireless location fingerprint acquisition system providing in the present embodiment, acquisition module is at equal intervals successively
Collection fingerprint collecting data, determines that distribution module determines the distribution of every line segment collection point on route, and computing module determines respectively to be adopted
Collection point coordinates, and then acquisition module obtains fingerprint；With this, in the concrete application of fingerprint acquisition system disclosed in embodiment, fingerprint is adopted
Collection has more motility, and further increases fingerprint collecting precision.
Obviously, it will be understood by those skilled in the art that each module of the above-mentioned present invention or each step can be with general
Realizing, they can concentrate on single computing device computing device, or is distributed in the net that multiple computing devices are formed
On network, alternatively, they can be realized with the executable program code of computer installation, such that it is able to be stored in depositing
To be executed by computing device in storage device, or they are fabricated to each integrated circuit modules respectively, or by them
Multiple modules or step are fabricated to single integrated circuit module to realize.So, the present invention is not restricted to any specific hardware
Combination with software.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For, the present invention can have various change and change.All any modifications made within spirit and principles of the present invention, equivalent
Replace, improve etc., should be included within the scope of the present invention.
Claims (6)
1. a kind of indoor wireless location fingerprint acquisition method is it is characterised in that include：
According to the programme path in advance including at least two lines section, obtain fingerprint collecting data at equal intervals successively；Described advise in advance
Draw route and there is starting point, flex point and terminal；Described fingerprint collecting data include collection point mark, collection point orientation angle data and
Wireless signal strength data at collection point, wherein, described collection point is designated the sequence number of collection point acquisition order；
Collection point identification corresponding to flex point is determined based on described collection point orientation angle data；And
Determine the distribution of the collection point on every line segment, adopting on described line segment based on the collection point identification corresponding to described flex point
Collection point is distributed the collection point identification of the collection point number including on line segment and line segment end points；
According to measured in advance in advance on the starting point coordinate of programme path, terminal point coordinate and flex point coordinate and every line segment
The distribution of collection point calculate the collection point coordinates on every line segment；
It is wirelessly fixed to be obtained based on wireless signal strength data at the collection point coordinates corresponding to same collection point identification and collection point
Position fingerprint.
2. indoor wireless location fingerprint acquisition method as claimed in claim 1 it is characterised in that described based on collection point direction
Angle-data determines flex point corresponding collection point identification, including：
According to acquired collection point orientation angle data, determine adjacent collection point orientation angle data difference；
Collection point identification corresponding to flex point is determined based on adjacent collection point orientation angle data difference.
3. indoor wireless location fingerprint acquisition method as claimed in claim 1 it is characterised in that described according to measured in advance
The distribution of the collection point on the starting point coordinate of described programme path in advance, terminal point coordinate and flex point coordinate and every line segment calculates
Collection point coordinates on every line segment, including：
Using linear interpolation method, using the starting point coordinate of programme path, terminal point coordinate and flex point in advance described in measured in advance
The distribution of the collection point on coordinate and every line segment calculates the collection point coordinates on every line segment.
4. a kind of indoor wireless location fingerprint acquisition system is it is characterised in that include：
Acquisition module, for according to the programme path in advance including at least two lines section, obtaining fingerprint collecting number at equal intervals successively
According to；Described programme path in advance has starting point, flex point and terminal；Described fingerprint collecting data includes collection point mark, collection point
Wireless signal strength data at orientation angle data and collection point, wherein, described collection point is designated collection point acquisition order
Sequence number；
Determine collection point module, for the collection point identification corresponding to flex point is determined based on described collection point orientation angle data；
Determine distribution module, for dividing of the collection point on every line segment is determined based on the collection point identification corresponding to described flex point
Cloth, the collection point on described line segment is distributed the collection point identification of the collection point number including on line segment and line segment end points；
Computing module, for according to measured in advance, the starting point coordinate of programme path, terminal point coordinate and flex point are sat in advance
The distribution of the collection point on mark and every line segment calculates the collection point coordinates on every line segment；
Acquisition module, for based on wireless signal strength number at the collection point coordinates corresponding to same collection point identification and collection point
According to acquisition wireless location fingerprint.
5. indoor wireless location fingerprint acquisition system as claimed in claim 4 is it is characterised in that described determination gathers point module
Including：
First determines collection point submodule, for according to acquired collection point orientation angle data, determining adjacent collection point side
Poor to angle-data；
Second determines collection point submodule, for determining the collection corresponding to flex point based on adjacent collection point orientation angle data difference
Point identification.
6. indoor wireless location fingerprint acquisition system as claimed in claim 4 is it is characterised in that described computing module includes：
Calculating sub module, for adopting linear interpolation method, using the starting point coordinate of programme path, end in advance described in measured in advance
The distribution of the collection point on point coordinates and flex point coordinate and every line segment calculates the collection point coordinates on every line segment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310398090.XA CN103455811B (en) | 2013-09-04 | 2013-09-04 | Indoor wireless locating fingerprint collection method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310398090.XA CN103455811B (en) | 2013-09-04 | 2013-09-04 | Indoor wireless locating fingerprint collection method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103455811A CN103455811A (en) | 2013-12-18 |
| CN103455811B true CN103455811B (en) | 2017-02-22 |
Family
ID=49738154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310398090.XA Active CN103455811B (en) | 2013-09-04 | 2013-09-04 | Indoor wireless locating fingerprint collection method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103455811B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104581628A (en) * | 2014-12-11 | 2015-04-29 | 北京智慧图科技有限责任公司 | Method and device for establishing corresponding relationship list of positions and characteristic signals |
| CN104618869A (en) * | 2015-02-16 | 2015-05-13 | 百度在线网络技术（北京）有限公司 | Indoor positioning method and device |
| TWI580988B (en) * | 2015-07-24 | 2017-05-01 | P-Square Inc | Location Information Establishment Method and Spatial Location Method |
| CN105208217B (en) * | 2015-10-23 | 2019-02-12 | Oppo广东移动通信有限公司 | A kind of event-prompting method and device |
| CN106961671B (en) * | 2016-01-08 | 2020-03-03 | 高德软件有限公司 | Method and device for collecting indoor positioning data |
| CN107135482B (en) * | 2016-02-26 | 2019-12-03 | 高德软件有限公司 | Update the method and device of fingerprint base |
| CN105974357A (en) * | 2016-04-29 | 2016-09-28 | 北京小米移动软件有限公司 | Method and device for positioning terminal |
| CN105974361A (en) * | 2016-05-06 | 2016-09-28 | 南开大学 | Indoor positioning method based on fingerprint section indexes and WiFi-FM fusion fingerprints |
| CN108770061A (en) * | 2018-06-01 | 2018-11-06 | 广州星海通信息文化服务有限公司 | The acquisition method and device of Indoor Location Information |
| CN114995418B (en) * | 2022-05-31 | 2023-10-20 | 郑州北斗七星通讯科技有限公司 | Route planning method for water robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102131290A (en) * | 2011-04-26 | 2011-07-20 | 哈尔滨工业大学 | Indoor Proximity Matching Localization Method for WLAN Based on Autocorrelation Filtering |
| CN102752851A (en) * | 2012-06-29 | 2012-10-24 | 中国科学院深圳先进技术研究院 | Method and system for collecting fingerprint information of indoor positioning fingerprint library |
| CN103152823A (en) * | 2013-02-26 | 2013-06-12 | 清华大学 | Wireless indoor positioning method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101028675B1 (en) * | 2006-01-17 | 2011-04-12 | 퀄컴 인코포레이티드 | Method and apparatus for setting boundaries of virtual operations |
-
2013
- 2013-09-04 CN CN201310398090.XA patent/CN103455811B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102131290A (en) * | 2011-04-26 | 2011-07-20 | 哈尔滨工业大学 | Indoor Proximity Matching Localization Method for WLAN Based on Autocorrelation Filtering |
| CN102752851A (en) * | 2012-06-29 | 2012-10-24 | 中国科学院深圳先进技术研究院 | Method and system for collecting fingerprint information of indoor positioning fingerprint library |
| CN103152823A (en) * | 2013-02-26 | 2013-06-12 | 清华大学 | Wireless indoor positioning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103455811A (en) | 2013-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103455811B (en) | Indoor wireless locating fingerprint collection method and system | |
| KR102116824B1 (en) | Positioning system based on deep learnin and construction method thereof | |
| CN112147573A (en) | A passive positioning method based on CSI amplitude and phase information | |
| CN106199500B (en) | Fingerprint characteristic localization method and device | |
| CN104853435B (en) | A kind of indoor orientation method based on probability and device | |
| CN107621263B (en) | Geomagnetic positioning method based on road magnetic field characteristics | |
| CN105792356A (en) | A location fingerprint positioning method based on wifi | |
| CN110351658B (en) | An indoor localization method based on convolutional neural network | |
| CN105137390A (en) | Indoor positioning method based on AP with adjustable transmitted power | |
| CN104053129A (en) | Wireless sensor network indoor positioning method and device based on sparse RF fingerprint interpolations | |
| CN103197280A (en) | Access point (AP) location estimation method based on radio-frequency signal strength | |
| CN103596267A (en) | Fingerprint map matching method based on Euclidean distances | |
| CN103929719B (en) | The optimization method and optimization device of location information | |
| CN104462281A (en) | Distributed type parallel surveying system for fingerprint positioning | |
| CN106658704A (en) | Positioning method and system of starting point of indoor positioning | |
| CN104038901A (en) | Indoor positioning method for reducing fingerprint data acquisition workload | |
| CN105652235A (en) | Linear regression algorithm-based WLAN indoor positioning multi-user RSS (Received Signal Strength) fusion method | |
| CN105589801A (en) | Mobile phone cluster test method and system | |
| CN109738863A (en) | A WiFi Fingerprint Indoor Localization Algorithm and System Based on Confidence | |
| CN103888979B (en) | Indoor positioning method based on wireless local area network | |
| CN109257714B (en) | Indoor positioning and auxiliary navigation method, device and system based on iBeacon | |
| JP7114113B2 (en) | A positioning system and method for continuously updating the location value of a wireless LAN AP to an accurate value | |
| CN109640251B (en) | Indoor positioning method and device | |
| CN107135483B (en) | Method for determining relative distance change trend, indoor positioning method and device thereof | |
| CN103905994A (en) | Indoor Wi-Fi fingerprint positioning method based on fault-tolerant idea |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |