技术领域technical field
本发明涉及无线定位技术领域，尤其涉及一种室内无线定位方法及装置。The present invention relates to the technical field of wireless positioning, in particular to an indoor wireless positioning method and device.
背景技术Background technique
随着物联网应用的不断扩大和深入，位置感知计算(LAC，Location-awareComputing)、基于位置的服务(LBS，Location-basedServices)显得越来越重要，离开位置信息，感知数据也失去了应用价值。With the continuous expansion and deepening of IoT applications, location-aware computing (LAC, Location-aware Computing) and location-based services (LBS, Location-based Services) are becoming more and more important. Without location information, perception data also loses its application value.
目前广泛应用的卫星导航定位技术的产生及发展，使人们拥有了在全球广阔的室外空间中获取事物空间位置属性的技术方法，并已在军事、交通、资源环境、农牧渔业、测绘等领域以及人们日常生活中得到了广泛的应用。但是在实际的应用中，室外空间虽然广阔，大部分时间里，人们的活动主要在室内进行。目前的技术条件下，由于GPS的标准误差相对于较小的室内环境来说比较大，同时由于室内环境信号受到遮蔽，定位精度将受到更大的影响，卫星导航定位技术还难以满足室内环境下进行精确定位的要求。The emergence and development of satellite navigation and positioning technology, which is widely used at present, has enabled people to have a technical method to obtain the spatial location attributes of things in the vast outdoor space around the world, and has been used in military, transportation, resource environment, agriculture, animal husbandry, fishery, surveying and mapping and other fields. And it has been widely used in people's daily life. But in actual application, although the outdoor space is vast, most of the time, people's activities are mainly carried out indoors. Under the current technical conditions, because the standard error of GPS is relatively large compared with the small indoor environment, and because the indoor environment signal is shielded, the positioning accuracy will be greatly affected, and the satellite navigation and positioning technology is still difficult to meet the indoor environment. requirements for precise positioning.
由于接收信号强度指示(RSSI，Receivedsignalstrengthindex)无需额外的硬件装置，成本低，能满足大规模应用要求。目前，室内定位大多采用基于RSSI的定位方式。根据是否需要通过物理手段直接测量节点间距离，RSSI定位技术可用于基于测距和非测距两类算法。基于测距的算法需要获取节点间的距离，即已知发射信号强度，接收节点根据收到的信号强度，计算信号在传播过程中的损耗，使用理论或经验的信号传播模型将传播损耗转化为距离。非测距方式采用基于位置指纹匹配实现定位。基于位置指纹匹配的室内定位大致分为离线采样阶段和在线定位两个阶段。离线采样阶段的目标是构建一个关于信号强度与采样点位置间关系的位置指纹数据库。为了生成该数据库，操作人员需要在被定位环境里确定若干采样点，然后遍历所有采样点，记录下在每个采样点测量的无线信号特征，即来自所有接入点的信号强度，最后将它们以某种方式保存在数据库中。在线定位阶段时，当用户运动到某一位置时，根据实时收到的信号强度信息，利用定位算法将其与位置指纹数据库中的信息匹配，计算出该用户的位置。Since the Received Signal Strength Indication (RSSI, Receivedsignalstrengthindex) does not require additional hardware devices, the cost is low, and it can meet the requirements of large-scale applications. At present, indoor positioning mostly adopts a positioning method based on RSSI. According to whether it is necessary to directly measure the distance between nodes by physical means, RSSI positioning technology can be used in two types of algorithms based on ranging and non-ranging. The algorithm based on ranging needs to obtain the distance between nodes, that is, the strength of the transmitted signal is known. The receiving node calculates the loss of the signal during the propagation process according to the strength of the received signal, and uses the theoretical or empirical signal propagation model to convert the propagation loss into distance. The non-ranging method uses location-based fingerprint matching to achieve positioning. Indoor positioning based on location fingerprint matching can be roughly divided into two stages: offline sampling stage and online positioning stage. The goal of the offline sampling phase is to build a location fingerprint database about the relationship between signal strength and the location of sampling points. In order to generate the database, the operator needs to determine several sampling points in the location environment, then traverse all the sampling points, record the wireless signal characteristics measured at each sampling point, that is, the signal strength from all access points, and finally combine them saved in the database somehow. In the online positioning stage, when the user moves to a certain location, according to the received signal strength information in real time, the positioning algorithm is used to match it with the information in the location fingerprint database to calculate the user's location.
室内环境相对复杂，信号微弱，且多径、反射现象严重，测距过程很容易受其影响产生测距误差，并且，由此带来的定位误差容易造成累积，影响定位精度。目前，基于位置指纹的定位方式因其无需测量距离，也不需要考虑测距误差问题，在成本和功耗方面与前者相比具有显著优势，在现有的室内定位系统中研究较多。The indoor environment is relatively complex, the signal is weak, and the multipath and reflection phenomena are serious. The ranging process is easily affected by the ranging error, and the resulting positioning error is easy to cause accumulation and affect the positioning accuracy. At present, the positioning method based on location fingerprint has significant advantages in terms of cost and power consumption compared with the former because it does not need to measure the distance and does not need to consider the problem of ranging error, so it has been studied more in the existing indoor positioning system.
无论基于测距的定位方式还是非测距的定位方式，都需要硬件终端具备无线采集模块。目前用于室内定位的无线网络主要是802.11无线局域网(WLAN，wirelesslocalareanetworks)和无线传感器网络(WSN，wirelesssensornetwork)。Regardless of the ranging-based positioning method or the non-ranging positioning method, the hardware terminal is required to have a wireless acquisition module. Currently, the wireless networks used for indoor positioning are mainly 802.11 wireless local area networks (WLAN, wireless local area networks) and wireless sensor networks (WSN, wireless sensor network).
无线局域网和无线传感器网络都工作在2.4G频段。2.4G波长较短，绕射能力不强，容易被纤维和水分子吸收，人体大部分是水制造的，所以人对波长较短的电磁波有较大的影响。实验证明，人体正对接入点(AP，AccessPoint)和背对AP，信号强度相差5至20dbm，而现有的无线手持终端能够探测到的电磁波信号一般在-10dbm至-90dbm之间。可见由于运动方向不同，造成同一点信号强度差异非常明显，定位结果因为人运动方向的不同而出现很大的误差。Both wireless local area network and wireless sensor network work in the 2.4G frequency band. 2.4G has a short wavelength, weak diffraction ability, and is easily absorbed by fibers and water molecules. Most of the human body is made of water, so humans have a greater impact on electromagnetic waves with shorter wavelengths. Experiments have shown that the signal strength difference between the human body facing the access point (AP, AccessPoint) and the AP facing away is 5 to 20dbm, while the electromagnetic wave signal that the existing wireless handheld terminal can detect is generally between -10dbm and -90dbm. It can be seen that due to the different movement directions, the difference in signal strength at the same point is very obvious, and the positioning results have a large error due to the different movement directions of people.
另一方面，在用户运动过程中，系统要达到实时的目的，一般要在较短时间内计算出用户当前的位置。因此，实时跟踪时无线网卡读取的信号强度样本较小，直接使用静态的定位算法计算用户位置时，用户位置变化方差较大，位置显示跳动明显，严重影响用户的体验。On the other hand, during the user's movement, the system generally needs to calculate the user's current position in a relatively short period of time in order to achieve real-time purposes. Therefore, the signal strength samples read by the wireless network card during real-time tracking are small, and when the static positioning algorithm is directly used to calculate the user's location, the variance of the user's location change is large, and the location display jumps obviously, which seriously affects the user's experience.
发明内容Contents of the invention
本发明实施例提供一种室内无线定位方法及装置，用以解决现有技术中无法高精度低误差进行用户定位的问题。Embodiments of the present invention provide an indoor wireless positioning method and device to solve the problem in the prior art that user positioning cannot be performed with high precision and low error.
一种室内无线定位方法，该方法包括：An indoor wireless positioning method, the method comprising:
在电子地图上标定坐标及方向，记录各信标节点的位置；Mark the coordinates and direction on the electronic map, and record the position of each beacon node;
根据无线定位终端当前时刻通过电子罗盘采集到的方位值，结合上一时刻定位结果，确定所述无线定位终端当前时刻的位置坐标；According to the orientation value collected by the wireless positioning terminal through the electronic compass at the current moment, combined with the positioning result at the previous moment, determine the position coordinates of the wireless positioning terminal at the current moment;
根据所述位置坐标，结合各信标节点的位置，对采集得到的无线信号进行补偿；Compensating the collected wireless signals according to the position coordinates and in combination with the positions of each beacon node;
根据补偿后的无线信号的值，计算得到定位结果。According to the value of the wireless signal after compensation, a positioning result is obtained through calculation.
较佳地，该方法进一步包括：Preferably, the method further comprises:
根据上一时刻所述无线定位终端采集到的各信标节点发射的无线信号，结合所述过电子罗盘采集到的方位值，确定下一时刻所述无线定位终端的位置搜索范围。According to the wireless signal transmitted by each beacon node collected by the wireless positioning terminal at the last moment, combined with the azimuth value collected by the electronic compass, determine the location search range of the wireless positioning terminal at the next moment.
较佳地，该方法进一步包括：Preferably, the method further comprises:
采集定位区域的位置指纹数据，存放在位置指纹数据库中；Collect the location fingerprint data of the positioning area and store it in the location fingerprint database;
所述根据补偿后的无线信号的值，计算得到定位结果包括：The positioning result calculated according to the value of the compensated wireless signal includes:
将补偿后的无线信号的值，分别匹配所述位置指纹数据库中位置指纹数据，匹配最接近的位置指纹数据对应的位置即为定位结果。The values of the compensated wireless signals are respectively matched with the location fingerprint data in the location fingerprint database, and the location corresponding to the closest matching location fingerprint data is the positioning result.
较佳地，所述根据无线定位终端当前时刻通过电子罗盘采集到的方位值，结合上一时刻定位结果，确定所述无线定位终端当前时刻的位置坐标，包括：Preferably, the determination of the position coordinates of the wireless positioning terminal at the current moment according to the orientation value collected by the wireless positioning terminal through the electronic compass at the current moment, combined with the positioning result at the previous moment, includes:
通过电子罗盘获取当前所述无线定位终端的方位值，结合所述电子地图计算相对于上一时刻所述无线定位终端的定位结果符合上述方位值的区域，在符合上述方位值的区域中确定所述无线定位终端在所述电子地图上的位置坐标。Obtain the current orientation value of the wireless positioning terminal through the electronic compass, combine the electronic map to calculate the area that meets the above orientation value relative to the positioning result of the wireless positioning terminal at the previous moment, and determine the location in the area that meets the above orientation value. The location coordinates of the wireless positioning terminal on the electronic map.
较佳地，所述根据所述位置坐标，结合各信标节点的位置，对采集得到的无线信号进行补偿，包括：Preferably, according to the position coordinates, combined with the position of each beacon node, the wireless signal collected is compensated, including:
根据所述无线定位终端的位置坐标，结合各信标节点的位置，得到各信标节点相对于所述无线定位终端的方向和距离，分别对采集的到的无线信号进行相应的补偿。According to the position coordinates of the wireless positioning terminal, combined with the positions of each beacon node, the direction and distance of each beacon node relative to the wireless positioning terminal are obtained, and the collected wireless signals are compensated accordingly.
较佳地，该方法还包括：Preferably, the method also includes:
利用传感器获取所述持有人的特征，根据所述特征确定所述无线定位终端与持有人的相对位置；Using a sensor to acquire the characteristics of the holder, and determining the relative position between the wireless positioning terminal and the holder according to the characteristics;
根据所述相对位置，修正所述无线定位终端的方位值。Correcting the orientation value of the wireless positioning terminal according to the relative position.
一种室内无线定位装置，该装置包括电子地图单元、电子罗盘单元、无线采集单元和计算单元，其中，An indoor wireless positioning device, the device includes an electronic map unit, an electronic compass unit, a wireless collection unit and a computing unit, wherein,
所述电子地图单元，用于存储电子地图，并标定坐标及方向，记录各信标节点的位置；The electronic map unit is used to store the electronic map, and to calibrate coordinates and directions, and to record the positions of each beacon node;
所述电子罗盘单元，用于获取所述无线定位装置的方位值并发送所述计算单元；The electronic compass unit is used to obtain the azimuth value of the wireless positioning device and send it to the calculation unit;
所述无线采集单元，用于采集各信标节点的无线信号，发送所述计算单元；The wireless collection unit is used to collect wireless signals of each beacon node and send the calculation unit;
所述计算单元，用于根据所述无线信号以及所述无线定位装置的方位值，确定所述无线定位装置的位置坐标；并根据所述位置坐标，结合各信标节点的位置，对采集得到的无线信号进行补偿；计算定位结果。The calculation unit is configured to determine the position coordinates of the wireless positioning device according to the wireless signal and the orientation value of the wireless positioning device; and according to the position coordinates, combined with the positions of each beacon node, obtain the acquired The wireless signal is compensated; the positioning result is calculated.
较佳地，所述计算单元包括运动方位子单元、补偿子单元和计算子单元，其中，Preferably, the calculation unit includes a motion orientation subunit, a compensation subunit and a calculation subunit, wherein,
所述运动方位子单元，用于根据所述无线信号以及所述无线定位装置的方位值，确定所述无线定位装置的位置坐标；The motion orientation subunit is configured to determine the position coordinates of the wireless positioning device according to the wireless signal and the orientation value of the wireless positioning device;
所述补偿子单元，用于根据所述位置坐标，结合各信标节点的位置，对采集得到的无线信号进行补偿；The compensation subunit is configured to compensate the collected wireless signals according to the position coordinates and in combination with the positions of each beacon node;
所述计算子单元，用于根据补偿后的无线信号的值，计算定位结果。The calculation subunit is used to calculate the positioning result according to the value of the wireless signal after compensation.
较佳地，该装置还包括搜索单元，用于根据上一时刻所述无线定位装置采集到的各信标节点发射的无线信号，结合所述无线定位装置的方位值，确定下一时刻所述无线定位装置的位置搜索范围。Preferably, the device further includes a search unit, which is used to determine the location value of the wireless positioning device at the next time according to the wireless signal transmitted by each beacon node collected by the wireless positioning device at the previous moment and combined with the orientation value of the wireless positioning device. The location search range of the Wireless Location Device.
较佳地，该装置还包括位置识别单元，用于获取所述无线定位装置与持有人的相对位置，并发送所述计算单元；Preferably, the device further includes a position identification unit, configured to obtain the relative position of the wireless positioning device and the holder, and send the calculation unit;
所述计算单元根据所述相对位置，结合所述位置坐标与各信标节点的位置，对采集得到的无线信号进行补偿。The calculation unit compensates the collected wireless signal according to the relative position, combining the position coordinates and the positions of each beacon node.
本发明实施例提出了一种室内无线定位方法与装置，在用户实际运动定位过程中，通过判定用户的移动方位值，有选择的对采集到的不同方向的无线信号进行补偿，利用补偿后的无线信号值计算定位结果，使定位结果对用户运动的方向性敏感度降低，能够有效的减小定位误差，提高定位精度。同时，本发明实施例提供的方案，能够减小定位匹配范围，缩短定位时间，提高用户体验，并进一步提高运动状况下动态实时跟踪的平滑性。The embodiment of the present invention proposes an indoor wireless positioning method and device. In the actual motion positioning process of the user, by determining the user's moving position value, the collected wireless signals in different directions are selectively compensated, and the compensated The wireless signal value calculates the positioning result, so that the positioning result is less sensitive to the directionality of the user's movement, which can effectively reduce the positioning error and improve the positioning accuracy. At the same time, the solutions provided by the embodiments of the present invention can reduce the positioning matching range, shorten the positioning time, improve user experience, and further improve the smoothness of dynamic real-time tracking under motion conditions.
附图说明Description of drawings
图1为本发明实施例的主要实现原理流程图；Fig. 1 is the flow chart of main realization principle of the embodiment of the present invention;
图2为本发明实施例提供的一个实例的定位示意图；Fig. 2 is a schematic positioning diagram of an example provided by an embodiment of the present invention;
图3为本发明实施例提供的一个实例的定位搜索示意图；FIG. 3 is a schematic diagram of a positioning search example provided by an embodiment of the present invention;
图4为本发明实施例提供装置1的结构示意图；FIG. 4 is a schematic structural diagram of a device 1 provided by an embodiment of the present invention;
图5为本发明实施例提供装置2的结构示意图；FIG. 5 is a schematic structural diagram of a device 2 provided by an embodiment of the present invention;
图6为本发明实施例提供装置3的结构示意图；FIG. 6 is a schematic structural diagram of a device 3 provided in an embodiment of the present invention;
图7为本发明实施例提供装置中计算单元的结果示意图。Fig. 7 is a schematic diagram of the result of the calculation unit in the device provided by the embodiment of the present invention.
具体实施方式detailed description
由于现有的室内定位技术无法对用户的人体或其他障碍物对无线信号的阻挡衰减进行有效的补偿计算，因而定位精度不高，本发明实施例通过结合电子地图与无线信号的比对，判断用户的运动方位，通过对用户与无线定位终端的相对位置的判断，有针对性的对不同方向的信标节点的无线信号进行补偿，因而能够有效的解决用户的人体或其他障碍物对无线信号的阻挡衰减的问题，提高定位精度。Since the existing indoor positioning technology cannot effectively compensate for the attenuation of the wireless signal blocked by the user's human body or other obstacles, the positioning accuracy is not high. The embodiment of the present invention judges by comparing the electronic map with the wireless signal. The user's movement orientation, through the judgment of the relative position of the user and the wireless positioning terminal, can compensate the wireless signals of the beacon nodes in different directions in a targeted manner, so that it can effectively solve the problem of the user's human body or other obstacles affecting the wireless signal. The problem of blocking attenuation can improve the positioning accuracy.
本发明实施例提供的方案，不仅限于室内定位技术的应用，在室外或其他场合同样可以应用本发明实施例提供的方案，以下以室内定位方法为例，说明本发明实施例的技术方案。The solutions provided by the embodiments of the present invention are not limited to the application of indoor positioning technology, and the solutions provided by the embodiments of the present invention can also be applied outdoors or in other occasions. The following uses an indoor positioning method as an example to illustrate the technical solutions of the embodiments of the present invention.
下面结合各个附图对本发明实施例技术方案的主要实现原理、具体实施方式及其对应能够达到的有益效果进行详细的阐述。The main realization principles, specific implementation modes and corresponding beneficial effects that can be achieved of the technical solutions of the embodiments of the present invention will be described in detail below in conjunction with each accompanying drawing.
如图1所示，本发明实施例的主要实现原理流程如下：As shown in Figure 1, the main implementation principle flow of the embodiment of the present invention is as follows:
步骤10，在电子地图上标定坐标及方向，记录各信标节点的位置。Step 10, marking the coordinates and directions on the electronic map, and recording the positions of each beacon node.
本发明实施例中，在具体的定位过程之前，需要进行离线阶段的准备，具体来说，就是需要制作定位区域的电子地图，并在电子地图上标定坐标以及方向。其中，电子地图的坐标根据需要的精度设定，方向主要是南北方向，也可以设定根据南北方向的夹角得到的角坐标方向。一般的，该方向可以采用8个方向：东，东南，南，西南，西，西北，北，东北，或直接用角度表示。In the embodiment of the present invention, prior to the specific positioning process, offline stage preparations are required, specifically, an electronic map of the positioning area needs to be made, and coordinates and directions are marked on the electronic map. Wherein, the coordinates of the electronic map are set according to the required accuracy, and the direction is mainly the north-south direction, and the angular coordinate direction obtained according to the included angle of the north-south direction can also be set. Generally, the direction can adopt 8 directions: east, southeast, south, southwest, west, northwest, north, northeast, or directly expressed by angle.
一般的，可以根据所使用的具体的定位算法或者其他需要将定位区域划分成合适大小形状的网格，通过丈量或数字地图开发工具标定网格重心坐标。基于位置指纹匹配的室内定位大致分为离线采样和在线定位两个阶段。离线采样的目标是构建一个关于信号强度与采样点位置间关系的位置指纹数据库。为了生成该数据库，操作人员需要在被定位环境里确定若干采样点，然后遍历所有网格所对应的采样点，记录下在每个采样点测量的无线信号特征，即来自所有接入点的信号强度，最后将它们以某种方式保存在数据库中。在线定位阶段时，当用户移动到某一位置时，根据实时收到的信号强度信息，利用定位算法将其与位置指纹数据库中的信息匹配，计算出该用户的位置。Generally, the positioning area can be divided into grids of appropriate size and shape according to the specific positioning algorithm used or other needs, and the coordinates of the center of gravity of the grid can be calibrated by measurement or digital map development tools. Indoor positioning based on location fingerprint matching can be roughly divided into two stages: offline sampling and online positioning. The goal of offline sampling is to build a location fingerprint database about the relationship between signal strength and the location of sampling points. In order to generate the database, the operator needs to determine several sampling points in the positioned environment, then traverse all the sampling points corresponding to the grid, and record the wireless signal characteristics measured at each sampling point, that is, the signals from all access points intensities, and finally save them somehow in the database. In the online positioning stage, when the user moves to a certain location, according to the real-time received signal strength information, the positioning algorithm is used to match it with the information in the location fingerprint database to calculate the user's location.
信标节点的位置不是位置指纹数据库必须的但是本实施例中，因为涉及利用方向对信标节点信号进行补偿，所以信标节点的位置也需要记录下来。后续的计算，均需要从位置指纹数据库中获取相应的信息，例如，获取各信标节点的位置信息、各网格重心坐标等，这些信息都是位置指纹的重要参数，因而每一步的计算过程均需要从位置指纹数据库获取相关的位置指纹数据，此后不再赘述。The location of the beacon node is not necessary for the location fingerprint database, but in this embodiment, because it involves using the direction to compensate the signal of the beacon node, the location of the beacon node also needs to be recorded. Subsequent calculations need to obtain corresponding information from the location fingerprint database, for example, to obtain the location information of each beacon node, the coordinates of the center of gravity of each grid, etc. These information are important parameters of location fingerprints, so the calculation process of each step Both need to obtain relevant location fingerprint data from the location fingerprint database, which will not be repeated hereafter.
这里的信标节点，包括AP、无线传感器网络节点(WSN，WirelessSensorNetworks)等任何无线信号源，只要可以用来做无线定位，均可以作为本实施例的信标节点。The beacon node here includes any wireless signal source such as an AP, a wireless sensor network node (WSN, WirelessSensorNetworks), as long as it can be used for wireless positioning, it can be used as a beacon node in this embodiment.
步骤20，根据无线定位终端当前时刻通过电子罗盘采集到的方位值，结合上一时刻定位结果，确定无线定位终端当前时刻的位置坐标。Step 20, according to the azimuth value collected by the wireless positioning terminal through the electronic compass at the current moment, combined with the positioning result at the previous moment, determine the position coordinates of the wireless positioning terminal at the current moment.
当定位过程开始后，首先需要对定位精度进行校准，校准的方法有多种，例如人工校准，或通过可靠信标(如通信距离较短的无线收发节点)确定当前的位置。校准的目的在于对定位结果的校验，以修正定位算法，提高定位精度。When the positioning process starts, the positioning accuracy needs to be calibrated first. There are many calibration methods, such as manual calibration, or determining the current position through reliable beacons (such as wireless transceiver nodes with short communication distances). The purpose of calibration is to verify the positioning results, so as to correct the positioning algorithm and improve the positioning accuracy.
持有无线定位终端的用户(持有人)在携带无线定位终端进行定位的时候，需要充分考虑无线定位终端与持有人的相对位置，因而，需要确定无线定位终端与持有人的相对位置。判断的方法有多种，例如，可以采用传感器来获取持有人的特征，根据这些特征来确定无线定位终端与持有人的相对位置。这里的相对位置，不仅包括无线定位终端与持有人的相对方向、高度、距离等，还包括无线定位终端本身的姿态，例如，无线定位终端是竖直向上还是横向，正面面对持有人还是背面，这都是相对位置的内容。特别的，无线定位终端的姿态直接影响着无线定位终端中电子罗盘等工作的数值读取，可能影响到无线定位终端的方位值，在计算无线定位终端的方位值中非常有用，可以用来修正无线定位终端的方位值。而且，在计算不同方向的无线信号补偿是也有很大的作用。本发明实施例中，我们以无线定位终端位于持有人正前方为例。The user (holder) who holds the wireless positioning terminal needs to fully consider the relative position between the wireless positioning terminal and the holder when carrying the wireless positioning terminal for positioning. Therefore, it is necessary to determine the relative position between the wireless positioning terminal and the holder. . There are many methods for judging. For example, sensors can be used to obtain the characteristics of the holder, and the relative positions of the wireless positioning terminal and the holder can be determined according to these characteristics. The relative position here includes not only the relative direction, height, distance, etc. between the wireless positioning terminal and the holder, but also the posture of the wireless positioning terminal itself, for example, whether the wireless positioning terminal is vertically upward or horizontal, facing the holder Or the back, this is the content of the relative position. In particular, the attitude of the wireless positioning terminal directly affects the numerical reading of the electronic compass in the wireless positioning terminal, which may affect the azimuth value of the wireless positioning terminal. It is very useful in calculating the azimuth value of the wireless positioning terminal and can be used to correct The orientation value of the wireless positioning terminal. Moreover, it also plays a great role in calculating the compensation of wireless signals in different directions. In the embodiment of the present invention, we take the wireless positioning terminal located directly in front of the holder as an example.
无线定位终端获取各信标节点发射的无线信号，并通过电子罗盘获取当前无线定位终端的方位值。这里的方位值，是相对于无线定位终端的姿态的，不同的姿态，可能造成不同的方位值，因而实际中需要根据无线定位终端的姿态，也就是无线定位终端与持有人的相对位置对得到的方位值做修正。例如，我们假定无线定位终端位于使用者正前方，并面对着使用者的面部，这样，无线定位终端就自然的会有方位上的区分，这个区分就会形成无线定位终端在不同位置不同的方位值。The wireless positioning terminal obtains the wireless signals transmitted by each beacon node, and obtains the current orientation value of the wireless positioning terminal through the electronic compass. The azimuth value here is relative to the attitude of the wireless positioning terminal. Different attitudes may result in different azimuth values. Therefore, in practice, it needs to be based on the attitude of the wireless positioning terminal, that is, the relative position of the wireless positioning terminal and the holder. The obtained orientation value is corrected. For example, we assume that the wireless positioning terminal is located directly in front of the user and faces the user's face. In this way, the wireless positioning terminal will naturally have a distinction in orientation. Azimuth value.
通过电子罗盘获取当前无线定位终端的方位值，结合电子地图计算相对于上一时刻无线定位终端的定位结果符合上述方位值的网格的编号，在符合上述方位值的网格中采用合适的匹配算法确定所述无线定位终端在电子地图上的位置坐标。Obtain the azimuth value of the current wireless positioning terminal through the electronic compass, combine the electronic map to calculate the number of the grid that meets the above azimuth value with respect to the positioning result of the wireless positioning terminal at the previous moment, and use a suitable matching method in the grid that meets the above azimuth value The algorithm determines the position coordinates of the wireless positioning terminal on the electronic map.
这里的电子罗盘，是现有技术中常用的确定方位的工具，其工作与技术原理，是现有技术领域公知常识，此处不再赘述。The electronic compass here is a commonly used tool for determining the orientation in the prior art, and its working and technical principles are common knowledge in the prior art field, and will not be repeated here.
结合无线定位终端的方位值，比对这个方位值相对于上一时刻定位结果之间的位移，可以知道当前位置上无线定位终端的位置坐标。例如，假定每秒钟定位一次，在第k秒用户的位置在(xk，yk)。k+1秒用户的位置就可以通过k+1秒的方位值和k秒的坐标(xk，yk)求得，具体的求解是通过匹配算法，也就是通过位置指纹数据的匹配得到。如果k+1秒的方位测得是南偏东5°，那么就只需要在地图上(xk，yk)这个点南偏东5°范围内的网格即可。。对于电子地图来说，因为是矢量图每个点都有自己的位置坐标，因而这里得到的位置就是位置坐标。Combined with the azimuth value of the wireless positioning terminal, comparing the displacement between the azimuth value and the positioning result at the previous moment, the position coordinates of the wireless positioning terminal at the current position can be known. For example, assuming that the positioning is performed once every second, the user's position is at (xk, yk) at the kth second. The location of the user in k+1 seconds can be obtained through the orientation value of k+1 seconds and the coordinates (xk, yk) of k seconds. The specific solution is obtained through matching algorithms, that is, through the matching of location fingerprint data. If the azimuth measured at k+1 seconds is 5° east by south, then only the grid within 5° east by south of this point (xk, yk) on the map is required. . For the electronic map, because it is a vector map, each point has its own position coordinates, so the position obtained here is the position coordinates.
步骤30、根据位置坐标，结合各信标节点的位置，对采集得到的无线信号进行补偿。Step 30: Compensate the collected wireless signals according to the location coordinates and in combination with the location of each beacon node.
根据无线定位终端的位置坐标，结合各个信标节点的位置，可以知道各信标节点相对于无线定位终端的方向和距离，这里的方向和距离都会带来不同信号衰减，因而，补偿的时候，需要充分的考虑各个方向上的信标节点的无线信号的大小，并参考无线定位终端与信标节点的距离，计算各个方向上收到的信标节点的无线信号补偿的值。According to the position coordinates of the wireless positioning terminal, combined with the position of each beacon node, the direction and distance of each beacon node relative to the wireless positioning terminal can be known. The direction and distance here will bring different signal attenuation. Therefore, when compensating, It is necessary to fully consider the size of the wireless signal of the beacon node in each direction, and refer to the distance between the wireless positioning terminal and the beacon node to calculate the wireless signal compensation value of the beacon node received in each direction.
这里，对无线信号的补偿，可能需要用到无线定位终端与持有人的相对位置，如上所述，这个相对位置可以利用传感器获取持有人的特征，根据这些特征确定无线定位终端与持有人的相对位置。Here, the compensation for the wireless signal may need to use the relative position between the wireless positioning terminal and the holder. the relative position of the person.
在获得了无线定位终端的位置坐标和与持有人的相对位置后，通过一般的计算可以得到各个方向上无线信号的衰减值。由于可以根据经验获得人体以及其他可能造成无线信号衰减的物体对于无线信号的衰减值，因而，结合无线定位终端和持有人的相对位置，有针对性的对不同方向信标节点的无线信号进行补偿，以修正由于人体或其他可能的障碍物对无线信号的阻挡引起的定位结果的误差。After obtaining the position coordinates of the wireless positioning terminal and the relative position with the holder, the attenuation value of the wireless signal in each direction can be obtained through general calculation. Since the attenuation value of the wireless signal by the human body and other objects that may cause wireless signal attenuation can be obtained based on experience, combined with the relative position of the wireless positioning terminal and the holder, the wireless signals of the beacon nodes in different directions are targeted. Compensation to correct the error of the positioning result caused by the human body or other possible obstacles blocking the wireless signal.
这里，补偿的方法就是根据不同方向的信标节点信号的值，加上已知的该方向上的无线信号衰减值，得到补偿后的无线信号的值，因为这个值修正了可能的障碍物造成的信号衰减，因而可以修正由于人体的阻挡而造成的定位误差，可以提高定位的精度。Here, the compensation method is based on the value of the beacon node signal in different directions, plus the known attenuation value of the wireless signal in this direction, to obtain the value of the compensated wireless signal, because this value corrects the value caused by possible obstacles. The signal attenuation of the signal can correct the positioning error caused by the obstruction of the human body and improve the positioning accuracy.
步骤40，根据补偿后的无线信号的值，计算得到定位结果。Step 40, calculate and obtain a positioning result according to the value of the wireless signal after compensation.
在对各无线信号进行补偿之后，由于有效的消除了人体或其它障碍物的影响，因而，通过一般的定位计算就可以得到比较准确的定位结果，这个定位结果可以输出为实际的定位结果。After compensating each wireless signal, because the influence of the human body or other obstacles is effectively eliminated, a relatively accurate positioning result can be obtained through general positioning calculation, and this positioning result can be output as the actual positioning result.
这里的定位算法，就是将补偿后的无线定位终端采集的各信标节点的无线信号，跟位置指纹数据库中的位置指纹数据分别进行匹配，得到最接近的位置指纹数据，该位置指纹数据对应的位置就是定位的结果。The positioning algorithm here is to match the wireless signals of each beacon node collected by the wireless positioning terminal after compensation with the location fingerprint data in the location fingerprint database to obtain the closest location fingerprint data, which corresponds to Position is the result of positioning.
特别的，上述实施例的方案中，为了提高定位的效率，在确定了一个时刻定位结果后，进行下一时刻定位时，可以根据上一时刻无线定位终端采集到的各信标节点发射的无线信号，结合无线定位终端的方位值，确定下一时刻无线定位终端的位置搜索范围。因为有了方位值作参考，实际应用中，定位用户也就是持有人运动改变不会很剧烈，因而应用方位值的计算结果，可以对下一时刻持有人的位置做比较精确的预计，这个预计可以是一个范围，在这个范围内搜索下一时刻无线定位终端的位置，准确率比较高，这样就不需要在下一时刻定位时搜索所有可能的方向，从而节约了计算资源，提高定位效率。In particular, in the solutions of the above-mentioned embodiments, in order to improve the efficiency of positioning, after determining the positioning result at one time, when positioning at the next time, it can be based on the radio signals transmitted by each beacon node collected by the wireless positioning terminal at the previous time. The signal, combined with the orientation value of the wireless positioning terminal, determines the location search range of the wireless positioning terminal at the next moment. Because the orientation value is used as a reference, in practical applications, the position of the positioning user, that is, the movement of the holder will not change drastically. Therefore, the application of the calculation results of the orientation value can make a more accurate prediction of the holder's position at the next moment. This estimate can be a range. In this range, the accuracy rate of searching the position of the wireless positioning terminal at the next moment is relatively high, so that there is no need to search for all possible directions at the next moment of positioning, thereby saving computing resources and improving positioning efficiency. .
特别的，如图2所示，为本发明实施例提供的一个具体的定位应用实例，其中，所示为一典型室内办公环境，中间区域为走道，其它区域为办公室。根据位置指纹定位原理和网格定位方法，将待定位区域划分成合适大小形状的网格，通过丈量或数字地图开发工具得到网格重心坐标；并标定每个信标节点的位置坐标。图2中，每个小的方框为一个网格，网格正中心的“☆”为网格重心，101～111为各个办公室的房间号，1～5所示的“·”为信标节点的位置。In particular, as shown in FIG. 2 , it is a specific positioning application example provided by the embodiment of the present invention, wherein a typical indoor office environment is shown, the middle area is the aisle, and other areas are offices. According to the position fingerprint positioning principle and the grid positioning method, the area to be located is divided into grids of appropriate size and shape, and the coordinates of the center of gravity of the grid are obtained through measurement or digital map development tools; and the position coordinates of each beacon node are calibrated. In Figure 2, each small box is a grid, the "☆" in the center of the grid is the center of gravity of the grid, 101-111 are the room numbers of each office, and the "·" shown in 1-5 are beacons The position of the node.
当用户持无线定位终端进行定位时，初次定位进行校准，校准的方法如上述实施例所述。通过获得用户运动方位值，对比信标节点坐标位置，可以获得用户面对或背对所采集得到的信标节点无线信号，若背对信标节点，则对该信标节点无线信号予以补偿，补偿值由经验得到。例如，若上一时刻位置为中心网格，运动方向为正东(图中以上北下南左西右东表示方向)，可知用户此时背对信标节点1，需要对信标节点1处测到的信号进行补偿，从而减少由于人身体遮挡造成的信号衰减。When the user performs positioning with the wireless positioning terminal, calibration is performed for the initial positioning, and the calibration method is as described in the above-mentioned embodiments. By obtaining the user's motion orientation value and comparing the coordinate position of the beacon node, the wireless signal of the beacon node collected by the user facing or facing away can be obtained. If the user is facing away from the beacon node, the wireless signal of the beacon node will be compensated. Compensation values are obtained empirically. For example, if the position at the last moment is the center grid, and the direction of movement is due east (in the figure above, north, down, south, left, west, right, and east represent directions), it can be known that the user is facing away from beacon node 1 at this time, and needs to check the location of beacon node 1. The measured signal is compensated to reduce the signal attenuation caused by the occlusion of the human body.
进一步的，进行位置指纹比对时，可根据用户运动方位值，确定下一时刻用户运动搜索范围。如图3所示，为截取图2的中心部分，其中，标定了各个网格的坐标为Ci，j、Ci，j+1、Ci，j-1、Ci-1，j和Ci+1，j。若用户也即无线定位终端上一时刻位置为Ci，j网格，并且根据电子罗盘得到此刻无线定位终端行进方向为正东(图中以上北下南左西右东表示方向)，那么在进行位置指纹比对过程中可以缩小比对范围，即Ci-1，j、Ci，j+1和Ci，j-1这些网格即可不参与比对，从而减少了比对范围，缩短了比对的时间，也不会造成实时定位时定位结果来回跳动的情况。Further, when performing position fingerprint comparison, the user's motion search range at the next moment can be determined according to the user's motion orientation value. As shown in Figure 3, the central part of Figure 2 is intercepted, wherein the coordinates of each grid are marked as Ci, j , Ci, j+1 , Ci, j-1 , Ci-1, j and Ci+1, j . If the user, i.e., the wireless positioning terminal, is at the Ci, j grid at the last moment, and the traveling direction of the wireless positioning terminal at the moment is due east according to the electronic compass. During the position fingerprint comparison process, the comparison range can be narrowed, that is, the grids of Ci-1, j , Ci, j+1 and Ci, j-1 can not participate in the comparison, thereby reducing the comparison range, The comparison time is shortened, and the positioning results will not jump back and forth during real-time positioning.
相应地，本发明实施例还提供了一种室内无线定位装置，如图4所示，该装置包括电子地图单元100、电子罗盘单元200、无线采集单元300和计算单元400，具体如下：Correspondingly, an embodiment of the present invention also provides an indoor wireless positioning device. As shown in FIG. 4, the device includes an electronic map unit 100, an electronic compass unit 200, a wireless acquisition unit 300, and a calculation unit 400, specifically as follows:
电子地图单元100，用于存储电子地图，并标定坐标及方向，记录各信标节点的位置。The electronic map unit 100 is used for storing the electronic map, marking coordinates and directions, and recording the positions of each beacon node.
电子地图单元100用于制作和存储待定位区域的电子地图，并在电子地图上标定坐标以及方向。其中，电子地图的坐标根据需要的精度设定，方向主要是南北方向，也可以设定根据南北方向的夹角得到的角坐标方向。一般的，该方向可以采用8个方向：东，东南，南，西南，西，西北，北，东北，或直接用角度表示。The electronic map unit 100 is used for making and storing an electronic map of the area to be located, and marking coordinates and directions on the electronic map. Wherein, the coordinates of the electronic map are set according to the required accuracy, and the direction is mainly the north-south direction, and the angular coordinate direction obtained according to the included angle of the north-south direction can also be set. Generally, the direction can adopt 8 directions: east, southeast, south, southwest, west, northwest, north, northeast, or directly expressed by angle.
可以根据所使用得具体的定位算法或者其他需要将定位区域划分成合适大小形状的网格，通过丈量或数字地图开发工具标定网格重心坐标，并标定实际中每个信标节点的位置坐标。The positioning area can be divided into grids of appropriate size and shape according to the specific positioning algorithm used or other needs, and the coordinates of the center of gravity of the grid can be calibrated by measurement or digital map development tools, and the actual position coordinates of each beacon node can be calibrated.
电子罗盘单元200，用于获取无线定位装置的方位值并发送计算单元400。The electronic compass unit 200 is used to obtain the orientation value of the wireless positioning device and send it to the calculation unit 400 .
电子罗盘单元200用以获取无线定位装置的方位值。这里的方位值是相对于地球南北极的，可以是如上所述的东，东南，南，西南，西，西北，北，东北8个方位，或直接用角度表示。。The electronic compass unit 200 is used to obtain the orientation value of the wireless positioning device. The azimuth value here is relative to the north and south poles of the earth, and can be the above-mentioned 8 azimuths of east, southeast, south, southwest, west, northwest, north, and northeast, or directly expressed in angles. .
无线采集单元300，用于采集各信标节点的无线信号，发送计算单元400。The wireless collection unit 300 is used to collect the wireless signals of each beacon node and send it to the calculation unit 400 .
无线采集单元300用以采集各个信标节点发射的无线信号，由于定位过程中，每个时刻无线采集单元300均可以收到多个信标节点发射的无线信号，而定位算法的设置，也必须根据多个信标节点的无线信号来综合计算，得到定位结果，因而，这里的无线采集单元300可以同时采集多个信标节点的无线信号，并发送计算单元400。The wireless acquisition unit 300 is used to collect the wireless signals transmitted by each beacon node. During the positioning process, the wireless acquisition unit 300 can receive wireless signals transmitted by multiple beacon nodes at each moment, and the setting of the positioning algorithm must also be The positioning result is obtained by comprehensive calculation based on wireless signals of multiple beacon nodes. Therefore, the wireless collection unit 300 here can simultaneously collect wireless signals of multiple beacon nodes and send the results to the calculation unit 400 .
计算单元400，用于根据无线信号以及无线定位装置的方位值，确定无线定位装置的位置坐标；并根据位置坐标，结合各信标节点的位置，对采集得到的无线信号进行补偿；计算定位结果。The calculation unit 400 is used to determine the position coordinates of the wireless positioning device according to the wireless signal and the orientation value of the wireless positioning device; and according to the position coordinates, combined with the position of each beacon node, compensate the collected wireless signal; calculate the positioning result .
在整个无线定位装置中，计算单元400承担主要的计算任务。首先，需要根据无线信号以及无线定位装置的方位值，确定无线定位装置的位置坐标。具体的，需要当前时刻的方位值，结合上一时刻的定位结果，计算出无线定位装置的位置坐标。In the whole wireless positioning device, the calculation unit 400 undertakes the main calculation task. First, it is necessary to determine the location coordinates of the wireless positioning device according to the wireless signal and the orientation value of the wireless positioning device. Specifically, the orientation value at the current moment is needed, combined with the positioning result at the previous moment, to calculate the position coordinates of the wireless positioning device.
其次，计算单元400需要根据位置坐标，结合各信标节点的位置，对采集得到的无线信号进行补偿。具体的，需要考虑诸如无线定位装置与持有人的相对位置、持有人人体对于无线信号的衰减等。在获得了无线定位装置的位置坐标和与持有人的相对位置后，通过一般的计算可以得到各个方向上无线信号的衰减值。由于可以根据经验获得人体以及其他可能造成无线信号衰减的物体对于无线信号的衰减值，因而，结合无线定位装置和持有人的相对位置，有针对性的对不同方向信标节点的无线信号进行补偿，以修正由于人体或其他可能的障碍物对无线信号的阻挡引起的定位结果的误差。Secondly, the calculation unit 400 needs to compensate the collected wireless signals according to the position coordinates and in combination with the positions of each beacon node. Specifically, things such as the relative position of the wireless positioning device and the holder, the attenuation of the wireless signal by the holder's body, etc. need to be considered. After obtaining the position coordinates of the wireless positioning device and the relative position to the holder, the attenuation value of the wireless signal in each direction can be obtained through general calculation. Since the attenuation value of the wireless signal by the human body and other objects that may cause wireless signal attenuation can be obtained based on experience, combined with the relative position of the wireless positioning device and the holder, the wireless signals of the beacon nodes in different directions are targeted. Compensation to correct the error of the positioning result caused by the human body or other possible obstacles blocking the wireless signal.
最后，计算单元400用于根据所有数据，计算定位结果。在对各无线信号进行补偿之后，由于有效的消除了人体或其它障碍物的影响，因而，通过一般的定位计算就可以得到比较准确的定位结果，这个定位结果可以输出为实际的定位结果。Finally, the calculation unit 400 is used to calculate a positioning result based on all the data. After compensating each wireless signal, because the influence of the human body or other obstacles is effectively eliminated, a relatively accurate positioning result can be obtained through general positioning calculation, and this positioning result can be output as the actual positioning result.
较佳地，如图5所示，上述实施例提供的无线定位装置还包括搜索单元500，用于根据上一时刻无线定位装置采集到的各信标节点发射的无线信号，结合无线定位装置的方位值，确定下一时刻无线定位装置的位置搜索范围。Preferably, as shown in FIG. 5 , the wireless positioning device provided in the above embodiment further includes a search unit 500, configured to combine the wireless positioning device's wireless signal transmission with the wireless signal transmitted by each beacon node collected by the wireless positioning device at the last moment. The orientation value determines the location search range of the wireless positioning device at the next moment.
较佳地，如图6所示，上述实施例提供的无线定位装置还包括位置识别单元600，用于获取无线定位装置与持有人的相对位置，并发送计算单元400；Preferably, as shown in FIG. 6 , the wireless positioning device provided by the above embodiment further includes a position identification unit 600, which is used to obtain the relative position of the wireless positioning device and the holder, and send the calculation unit 400;
计算单元400根据相对位置，结合位置坐标与各信标节点的位置，对采集得到的无线信号进行补偿。The calculation unit 400 compensates the collected wireless signals according to the relative position, combining the position coordinates and the positions of each beacon node.
特别的，如图7所示，上述实施例提供的无线定位装置中的计算单元400进一步包括运动方位子单元401、补偿子单元402和计算子单元403，具体如下：In particular, as shown in FIG. 7, the calculation unit 400 in the wireless positioning device provided in the above embodiment further includes a motion orientation subunit 401, a compensation subunit 402, and a calculation subunit 403, specifically as follows:
运动方位子单元401，用于根据无线信号以及无线定位装置的方位值，确定无线定位装置的位置坐标。The motion orientation subunit 401 is configured to determine the position coordinates of the wireless positioning device according to the wireless signal and the orientation value of the wireless positioning device.
补偿子单元402，用于根据位置坐标，结合各信标节点的位置，对采集得到的无线信号进行补偿。The compensation subunit 402 is configured to compensate the collected wireless signals according to the location coordinates and in combination with the location of each beacon node.
计算子单元403，用于根据补偿后的无线信号的值，计算定位结果。The calculation subunit 403 is configured to calculate a positioning result according to the value of the compensated wireless signal.
较佳地，基于图4所示的装置，图5至图7中附加的辅助单元可以相互结合，得到功能更为全面的无线定位装置。Preferably, based on the device shown in FIG. 4 , the additional auxiliary units shown in FIG. 5 to FIG. 7 can be combined with each other to obtain a wireless positioning device with more comprehensive functions.
综上所述，本发明实施例提供的基于方向辅助的无线定位方法与装置，在用户实际运动定位过程中，利用电子罗盘获取方位值，结合电子地图，对采集到的无线信号进行分段补偿和滤波，使定位结果对用户运动的方向性敏感度降低，能够有效的减小定位误差，提高定位精度。同时，本发明实施例提供的方案，能够减小定位匹配范围，缩短定位时间，提高用户体验，并进一步提高运动状况下动态实时跟踪的平滑性。In summary, the direction-assisted wireless positioning method and device provided by the embodiments of the present invention use the electronic compass to obtain the azimuth value during the actual motion positioning process of the user, and combine the electronic map to perform segmental compensation for the collected wireless signals. and filtering, so that the positioning result is less sensitive to the directionality of the user's motion, which can effectively reduce the positioning error and improve the positioning accuracy. At the same time, the solutions provided by the embodiments of the present invention can reduce the positioning matching range, shorten the positioning time, improve user experience, and further improve the smoothness of dynamic real-time tracking under motion conditions.
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.
| Application Number | Priority Date | Filing Date | Title |
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