CN103260239A - Method for locating mobile equipment based on WIFI - Google Patents
Method for locating mobile equipment based on WIFI Download PDFInfo
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- CN103260239A CN103260239A CN2013101370976A CN201310137097A CN103260239A CN 103260239 A CN103260239 A CN 103260239A CN 2013101370976 A CN2013101370976 A CN 2013101370976A CN 201310137097 A CN201310137097 A CN 201310137097A CN 103260239 A CN103260239 A CN 103260239A
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Abstract
The invention relates to method for locating mobile equipment based on WIFI. The method for locating the mobile equipment based on the WIFI comprises the following steps: (1) uniformly spreading assuming points in a range where the mobile equipment may move, and forming an assuming points set; (2) monitoring the mobile equipment periodically, obtaining a relative displacement distance vector of the equipment, and then updating the current position of each assuming point of the assuming point set and recording positional information of each assuming point accordingly after updating the strength of each received WIFI source signal every time; (3) With regard to each assuming point, fitting positional data on a recording track with the signal strength data of N first WIFI sources, forming a fitting function, obtaining N variances, obtaining unreliable numerical value of the assuming point accordingly, deleting the assuming point which has a small unreliable numerical value according to the threshold preset by a user, and repeatedly executing the step (3) till the requirements of the user are met. The method for locating the mobile equipment based on the WIFI can achieve effective location in an indoor environment, and can solve the practical problem that location of accurate equipment is hard to achieve under the current condition of large buildings and the like.
Description
Technical field
The present invention relates to a kind of positioning of mobile equipment technology, particularly a kind of positioning of mobile equipment method based on the WIFI signal.
Background technology
In gps system, passing of satelline short-wave signal makes receiver receive the position of satellite broadcasting, thereby determines the position of receiver.Because it is not enough to have used short wave communication means, GPS to exist in global location, namely short-wave signal is difficult to penetrate barrier, can't finish the location of covered court.
In order to overcome the shortcoming of gps system, people are seeking a kind of instrument that can finish indoor positioning, are used for replenishing global position system, improve global location.Since 1999, IEEE determined 802.11 standards so far, and WIFI has become one of the most most widely used wireless technology, devices communicating technology.In early days, WIFI user roughly locatees by the physical location of WIFI, in order to the advertisement head picture, the broadcast of directed program, in recent years, by the improvement to WIFI equipment, there is obvious relation between the WIFI signal strength signal intensity that researcher's discovery receives and the WIFI receiving equipment distance, this makes that accurately locating mobile device by WIFI becomes possibility.
The researcher finds after the large-scale data input by different WIFI source and mobile device are added up, exists following relation between WIFI signal strength signal intensity and the WIFI receiving equipment distance:
H=K+E*log
10(dis)
Wherein dis is distance, and H is signal strength signal intensity, and K and E are the nature value, its numerical value and WIFI signal source equipment, and mobile device, environment has close relation.Usually when WIFI source, mobile device, environment fixedly the time, the variation of KE value is fluctuateed not quite.Therefore after passing through a large amount of measurements right to H-dis, can determine the envirment factor KE in a WIFI source.
WIFI localization method based on off-line learning, be under fixed environment, WIFI source, equipment is carried out carrying out the measurement of signal strength signal intensity under full-length, after the signal strength signal intensity of having gathered a large amount of distances and correspondence thereof, it is carried out match, determine the envirment factor KE value in the formula 1.Subsequently, mobile device is put into circumstances not known, by signal strength signal intensity, determine the distance in equipment and WIFI source.The WIFI location is adopted the scheme of off-line learning mostly at present.
But the off-line learning scheme also exists problem.Relation between the signal strength signal intensity of WIFI and the distance is not unalterable, and its relation is subjected to the influence of mobile device performance, WIFI source state even ambient temperature, and it is in particular in distance-strength formula (H=K+E*log
10(dis)) on middle two envirment factors of K, E.Because the time of off-line learning and the time of actual location and inequality, after equipment has been finished off-line learning based on environment, probably because the variation that blanking time is long or other reasons produces equipment, thereby make the KE envirment factor produce the fluctuation that to estimate, as under this condition, proceed the later stage location, although strength information does not change, but also the distance value that can't obtain estimating produces mistake.
And the WIFI localization method that has the off-line learning step is difficult to be applied in the practical position process.The equipment that system is difficult to require each expectation to obtain geographical location information carries out the process of an off-line learning.Because this off-line learning needs the user to carry out manual intervention in certain location, this is to be difficult to realize.And the process of this off-line learning or manual intervention is again the unique process of once carrying out the affirmation of envirment factor KE value of this equipment.
Summary of the invention
The objective of the invention is at prior art problems, a kind of WIFI localization method is proposed, the environment of dynamic change is to the influence of WIFI positioning accuracy in the method that this method can weaken original " off-line location ", and solves the problem that " off-line location " method is difficult to use to a certain extent.
The present invention adopts following technical proposals to realize:
A kind of positioning of mobile equipment method based on WIFI may further comprise the steps:
One, in mobile device can mobile scope, evenly sows postulated point, form the postulated point set; In this scope, there be N WIFI source;
Two, in the time interval that arranges according to the user, mobile device is regularly monitored, each data of measuring comprise the speed of Measuring Time, equipment, each the WIFI source signal intensity that receives; After each the measurement, by device rate and Measuring Time, the relative movement distance vector of acquisition equipment upgrades the current location of each postulated point in the postulated point set accordingly, and records each each WIFI source signal intensity of upgrading back postulated point positional information and receiving;
Three, after record length is namely measured the length S that number of times reaches user preset, following steps are carried out in circulation, up to the scope that converges to user's permission:
1) to each postulated point, the signal strength data in WIFI source 1 carries out match during with each position data on the recording track and this position, forms fitting function, and obtains variance 1;
The signal strength data of WIFI source i carries out match during 2) with each position data on the postulated point recording track and this position, forms fitting function, and obtains variance i; I=1 wherein, 2 ..., N;
3) with variance 1, variance 2 ..., variance N addition obtains the unreliable numerical value of this postulated point;
4) calculate the unreliable numerical value of each postulated point, according to this unreliable numerical value each postulated point is sorted, delete the high postulated point of unreliable numerical value according to the threshold value of user preset;
5) postulated point to keeping records a up-to-date measurement data, and abandons a oldest measurement data.
As a kind of prioritization scheme of the present invention, after step 3 restrains a set, also comprise the step that a set is dispersed, centered by the simulation points that in step 3, keeps, can carry out nearly close spreading a little of dredging far away in the mobile scope at equipment, form new postulated point set, and to these set execution in step three described convergence processs, till satisfying system requirements.
Beneficial effect
This method can realize the effective location under the indoor environment, can remedy at current edifice, as being difficult to realize the practical difficulty of accurate equipment location under the environment such as sales field, gymnasium.
Description of drawings
Fig. 1 is the network environment figure based on three WIFI sources;
Fig. 2 is the localization method flow chart of embodiment;
Fig. 3 is track record form schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, specify preferred implementation of the present invention.
Present embodiment has made up a focus environment based on three WIFI sources, and wherein the relative position in three WIFI sources is known, and as shown in Figure 1, the hot spot networks of an isosceles right triangle is constructed in three WIFI sources, and wherein the right angle length of side is L.
The method of present embodiment may further comprise the steps as shown in Figure 2:
One, in mobile device can mobile scope, evenly sows postulated point, form the postulated point set;
The quality of postulated point set is one of key of this method convergence rate, if comprise certain just from the nearer postulated point of equipment actual position in the postulated point set, then the convergence of method can be finished in tens time cycles, if do not comprise the equipment actual position in the postulated point set, even whole postulated points almost all the true distance with equipment is far away, although the convergence of method still can be finished, its convergence rate will reduce greatly.The set of postulated point arranges very crucial for this reason.
At initial phase, in order to make the postulated point energy collecting enough not concentrate on certain zone, not omit certain zone, mode is a little evenly spread in employing usually.At first determine right angle, place length of side length L according to ambient conditions, determine the quantity D of unit length mid point then as required.
According to some actual needs, equipment is bigger at some local probability that occurs, and can suitably increase this regional postulated point quantity, to be put the convergence of set faster.
In the present embodiment, the prime area is set to the square that the length of side is L, and three WIFI sources lay respectively on foursquare three summits.Postulated point quantity is more many in the unit length, and computation complexity is more high, but the result is more accurate.In the present embodiment, at less experimental situation, according to the distance of 1cm postulated point is set.
Two, in the time interval that arranges according to the user, mobile device is regularly monitored, each data of measuring comprise the speed of Measuring Time, equipment, each the WIFI source signal intensity that receives; After each the measurement, by device rate and Measuring Time, the relative movement distance vector of acquisition equipment upgrades the current location of each postulated point in the postulated point set accordingly, and records each each WIFI source signal intensity of upgrading back postulated point positional information and receiving.
In the present embodiment, each measurement data all needs to send to be calculated in real time on the server and handles, and therefore the time interval is set to mobile device (mobile phone) and the synchronous minimum time of computer.
The gyroscope that the speed of mobile device carries by mobile device, accelerometer and compass obtain.Equipment extensive uses on mobile phone and other equipment such as three-axis gyroscope, triaxial accelerometer, digital compass, the mobile device that all has this equipment at present comprises the above i Phone of Iphone4, Galaxy Note etc.The method that obtains speed by equipment such as gyroscope, accelerometers is a lot, and complexity and precision are not quite similar.The method that adopts in the present embodiment is:
1, make equipment static;
2, when the equipment setting in motion, utilize accelerometer to obtain the some time and be engraved in acceleration on all directions;
3, utilize gravity numerical value judgment device attitude in the accelerometer (as the rotation of generation equipment, then utilize simultaneously gyroscope auxiliary), the equipment acceleration is projected on the horizontal direction based on equipment;
4, utilize the finger north effect of digital compass, will project into the horizontal acceleration based on direct north based on the acceleration of the horizontal direction of equipment;
5, continue to note the acceleration information in a moment;
6, the acceleration with certain period carries out integration, obtains the device rate (speed of equipment and direction) at place, time end.
Device rate and timestamp by obtaining can obtain the relative movement distance vector.According to the relative movement distance vector, upgrade the current location of each postulated point in the postulated point set, and this current location and each the WIFI source strength that receives are carried out record.
Along with constantly passing back of mobile terminal data, server will be according to each back postulated point positional information and the signal strength signal intensity upgraded of said method record.Record form on the server as shown in Figure 3, wherein the direction of arrow is represented the content that comprises.
Three, after record length is namely measured the length S that number of times reaches user preset, all postulated points in the set are carried out following steps:
The intensity in WIFI source 1 is carried out match during 1, with each position of postulated point track and with this position, forms fitting function, and obtains variance 1;
The intensity in WIFI source 2 is carried out match during 2, with each position of postulated point track and with this position, forms fitting function, and obtains variance 2;
The intensity in WIFI source 3 is carried out match during 3, with each position of postulated point track and with this position, forms fitting function, and obtains variance 3;
4, variance 1, variance 2, variance 3 are enlarged and addition, obtain the unreliable numerical value of this postulated point;
5, according to this numerical value each postulated point is sorted, and get rid of the higher postulated point of those unreliable numerical value.
Above step repeats once after whenever carrying out one-shot measurement, up to the scope that converges to user's permission.
Simultaneously, for the burst change of the factor K E that can conform, being recorded in when dynamically updating of track tackle old track and reject, so length of record S should remain unchanged.The setting of record length should be able to be satisfied the accuracy requirement of the environment curve being carried out match.After record length reaches S, need when recording new measurement data, forget old measurement data.
Match can be used any general approximating method, and this example adopts least square method to carry out match.The threshold value of deletion postulated point according to the actual conditions setting, for example can be set to a concrete unreliable numerical value by the user, just abandons postulated point when being higher than this numerical value.Be set to percentage data 20% in the present embodiment, all abandon 20% the highest postulated point of unreliable numerical value at every turn, use this threshold value can realize convergence simply fast.
The termination condition of convergence step also can be by the user according to the actual conditions setting.For example, for the system that has, require the variance of match can not be higher than a preset threshold value.In the present embodiment, the condition that finishes as convergence with the quantity of the point that keeps, when remaining o'clock less than 10, finish convergence process.
When a set was converged in the certain limit, the fitting result of some set might keep concussion within the specific limits, this mainly be because we in the process of postulated point, initial postulated point density can't be mated actual point preferably.
In order to improve locating accuracy on this basis, present embodiment is further dispersed a set.Dispersing mainly is to increase simulation points quantity again in current postulated point scope, the auxiliary point set.At first select those more outstanding simulation points for use, put around these points then and replenish, replenishing of point should do not carried out according to the scheme that evenly dispenses, because in the process of initial point set, we also do not know a little general location, in order not omit, so evenly spread a little.But this moment, we have known the general location of point, and namely around these outstanding simulation points, so we will carry out nearly close spreading a little of dredging far away centered by these simulation points.In the present embodiment, adopt the method for Gauss number, centered by the simulation points of these reservations, in the possible scope of activities of equipment, dispense postulated point.The simulation points that these are newly-built adds the some set, continues to carry out the convergence of point and disperse process, till its variance satisfies system requirements again.
This method can realize the effective location under the indoor environment, can remedy at current edifice, as being difficult to realize the practical difficulty of accurate equipment location under the environment such as sales field, gymnasium.
Whether as Eurasian sales field, Chinese Changchun 520,000 square metres indoor area of business is arranged, it is on duty very difficult to want to understand the employee.The location model that adopts this method to make up can effectively be determined the employee position, increases employee's the rate of attendance indirectly, improves enterprise profit.
It should be understood that present embodiment is instantiation of the invention process, should not be the restriction of protection range of the present invention.Under the situation that does not break away from spirit of the present invention and scope, modification or the change of foregoing being carried out equivalence all should be included within the present invention's scope required for protection.
Claims (4)
1. the positioning of mobile equipment method based on WIFI is characterized in that, may further comprise the steps:
One, in mobile device can mobile scope, evenly sows postulated point, form the postulated point set; In this scope, there be N WIFI source;
Two, in the time interval that arranges according to the user, mobile device is regularly monitored, each data of measuring comprise the speed of Measuring Time, equipment, each the WIFI source signal intensity that receives; After each the measurement, by device rate and Measuring Time, the relative movement distance vector of acquisition equipment upgrades the current location of each postulated point in the postulated point set accordingly, and records each each WIFI source signal intensity of upgrading back postulated point positional information and receiving;
Three, after record length is namely measured the length S that number of times reaches user preset, following steps are carried out in circulation, up to the scope that converges to user's permission:
1) to each postulated point, the signal strength data in WIFI source 1 carries out match during with each position data on the recording track and this position, forms fitting function, and obtains variance 1;
The signal strength data of WIFI source i carries out match during 2) with each position data on the postulated point recording track and this position, forms fitting function, and obtains variance i; I=1 wherein, 2 ..., N;
3) with variance 1, variance 2 ..., variance N addition obtains the unreliable numerical value of this postulated point;
4) calculate the unreliable numerical value of each postulated point, according to this unreliable numerical value each postulated point is sorted, delete the high postulated point of unreliable numerical value according to the threshold value of user preset;
5) postulated point to keeping records a up-to-date measurement data, and abandons a oldest measurement data.
2. a kind of positioning of mobile equipment method based on WIFI according to claim 1, it is characterized in that, after step 3 restrains a set, also comprise the step that a set is dispersed, centered by the simulation points that in step 3, keeps, can carry out nearly close spreading a little of dredging far away in the mobile scope at equipment, form new postulated point set, and to these set execution in step three described convergence processs, till satisfying system requirements.
3. a kind of positioning of mobile equipment method based on WIFI according to claim 1 and 2 is characterized in that, the gyroscope that the speed of mobile device carries by mobile device, accelerometer and compass obtain, and method is:
1) make equipment static;
2) when the equipment setting in motion, utilize accelerometer to obtain the some time and be engraved in acceleration on all directions;
3) utilize the gravity numerical value judgment device attitude in the accelerometer that the equipment acceleration is projected on the horizontal direction based on equipment;
4) utilize the finger north effect of digital compass, will project into the horizontal acceleration based on direct north based on the acceleration of the horizontal direction of equipment;
5) continue to note constantly an acceleration information;
6) acceleration with certain period carries out integration, obtains the device rate at place, time end.
4. a kind of positioning of mobile equipment method based on WIFI according to claim 1 and 2 is characterized in that the threshold value in the step 3 is set to percentage data 20%, all abandons 20% the highest postulated point of unreliable numerical value at every turn.
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Cited By (7)
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| CN104981011A (en) * | 2014-04-14 | 2015-10-14 | 李巍岳 | WiFi (Wireless Fidelity) hotspot data acquisition and updating method based on sequential processing |
| CN105825555A (en) * | 2016-03-14 | 2016-08-03 | 谷振宇 | WiFi positioning based attendance management method and system |
| CN105898074A (en) * | 2016-06-13 | 2016-08-24 | 广东小天才科技有限公司 | Moving state detection method and system |
| TWI554136B (en) * | 2014-09-24 | 2016-10-11 | 緯創資通股份有限公司 | Methods for indoor positioning and apparatuses using the same |
| CN106028353A (en) * | 2016-05-13 | 2016-10-12 | 北京小米移动软件有限公司 | Method and device for detecting position of WIFI signal amplifier |
| CN106971601A (en) * | 2017-03-28 | 2017-07-21 | 刘星宇 | A kind of intelligent parking based on WiFi and the System and method for given for change |
| CN108375168A (en) * | 2014-09-26 | 2018-08-07 | 海信集团有限公司 | A method of adjusting the apparatus of air conditioning |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104981011A (en) * | 2014-04-14 | 2015-10-14 | 李巍岳 | WiFi (Wireless Fidelity) hotspot data acquisition and updating method based on sequential processing |
| CN104981011B (en) * | 2014-04-14 | 2019-11-29 | 李巍岳 | The acquisition of Wi-Fi hotspot data and update method based on Sequential processing |
| TWI554136B (en) * | 2014-09-24 | 2016-10-11 | 緯創資通股份有限公司 | Methods for indoor positioning and apparatuses using the same |
| CN108375168A (en) * | 2014-09-26 | 2018-08-07 | 海信集团有限公司 | A method of adjusting the apparatus of air conditioning |
| CN105825555A (en) * | 2016-03-14 | 2016-08-03 | 谷振宇 | WiFi positioning based attendance management method and system |
| CN106028353A (en) * | 2016-05-13 | 2016-10-12 | 北京小米移动软件有限公司 | Method and device for detecting position of WIFI signal amplifier |
| CN106028353B (en) * | 2016-05-13 | 2019-11-15 | 北京小米移动软件有限公司 | WIFI signal amplifier location detection method and device |
| CN105898074A (en) * | 2016-06-13 | 2016-08-24 | 广东小天才科技有限公司 | Moving state detection method and system |
| CN106971601A (en) * | 2017-03-28 | 2017-07-21 | 刘星宇 | A kind of intelligent parking based on WiFi and the System and method for given for change |
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