CN105866729A - Method and apparatus for indoor positioning based on user behavior features - Google Patents
Method and apparatus for indoor positioning based on user behavior features Download PDFInfo
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- CN105866729A CN105866729A CN201610180013.0A CN201610180013A CN105866729A CN 105866729 A CN105866729 A CN 105866729A CN 201610180013 A CN201610180013 A CN 201610180013A CN 105866729 A CN105866729 A CN 105866729A
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- mobile terminal
- active user
- bluetooth
- user
- indoor
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Abstract
The invention discloses a method and an apparatus for indoor positioning based on user behavior features. The apparatus includes a bluetooth beacon and a mobile terminal. The method comprises the following steps: acquiring a positioning record of an indoor navigation system on the mobile terminal, based on the positioning record, determining whether a current user is positioned for the first time; if the current user is not positioned for the first time, through a gyroscope which is arranged inside the mobile terminal, detecting a detection value of the current user's motion, determining whether the detection value is not smaller than a preset turning calibration value; if the detection value is not smaller than the preset turning calibration value, calibrating the position of the current user. According to the invention, in cases of sparse deployment of bluetooth beacon nodes, greatly increases positioning precision so as to improve user experience and reduce deployment and maintenance cost.
Description
Technical field
The invention belongs to field of navigation technology, in particular to one based on user behavior feature
Indoor orientation method and device.
Background technology
Along with the development of modern city, such as large supermarket, shopping center etc is large-scale
Building constantly occurs.People can want to determine the position at oneself place in above-mentioned indoor environment,
And fast searching is to the destination of oneself.Universal along with smart mobile phone, and mobile Internet
Development, map and navigation type software will enter a new epoch-indoor navigation.The most common do
Method is to dispose bluetooth (iBeacon).And location mode of based on bluetooth (iBeacon), location
Precision is strongly depend on the deployment density of iBeacon node.Therefore in (iBeacon) low-density portion
In the case of administration, the accuracy of indoor positioning have received impact greatly.Receive the location side having simultaneously
Formula can not be in view of the user movement impact on location.
Summary of the invention
The technological deficiency of lower indoor position accuracy difference is disposed for solving existing low-density Bluetooth beacon, this
Invent the behavior characteristics by analyzing user, and combine indoor GIS information, in sensor recursion
During carry out position correction in good time, thus improve location under low-density Bluetooth beacon appointed condition
Precision and stability, thus promote user experience.
The invention provides a kind of indoor orientation method based on user behavior feature, believe including bluetooth
Mark, mobile terminal, comprise the steps:
Obtain the location record of indoor navigation system on described mobile terminal, according to described location record
Judge whether active user is to position first；
If active user is not to position first, the gyroscope built-in by described mobile terminal detects
The detected value of the motion of active user, it is judged that whether described detected value is not less than the turning calibration preset
Value；
If described detected value is not less than the turning calibration value preset, to active user's location
Calibrate.
The detected value of active user's motion that the built-in gyroscope of described mobile terminal detects refers to
The kinestate of active user, described kinestate includes turning and angle.User is when turning round
Its mobile phone is towards also changing therewith, and the integral result of gyroscope can reflect this mobile phone court
The number of degrees changed to (azimuth), thus also it has been known that user has turned how many degree, it is to the left also
It is to the right etc., in conjunction with indoor GIS information, it is possible to judge whether user is in crossing
Or it is in which crossing.
In indoor orientation method based on user behavior feature of the present invention, described method is also wrapped
Include
If active user is not the most to have positioned, the described bluetooth detected by described mobile terminal
The Bluetooth signal that beacon sends, it is judged that whether described Bluetooth signal reaches to preset bluetooth calibration value；
If described Bluetooth signal reaches to preset bluetooth calibration value, then to active user's location
Calibrate.
In indoor orientation method based on user behavior feature of the present invention, if active user
It not to position first also to include
The Bluetooth signal that the described Bluetooth beacon detected according to described mobile terminal sends, inquiry is pre-
If data base obtains the geographical position that described Bluetooth signal is corresponding, described presetting database includes bluetooth
Signal value and the incidence relation in geographical position
In indoor orientation method based on user behavior feature of the present invention, obtain described movement
Whether the location record of indoor navigation system in terminal, judge active user according to described location record
Also include for positioning first
Utilize described mobile terminal GIS positional information in indoor navigation system dispatcher's office.
In indoor orientation method based on user behavior feature of the present invention, described mobile terminal
It is that the detected value of the gyroscope built-in by it judges the behavior characteristics that active user moves, described row
It is characterized and includes turning action.
Present invention also offers a kind of indoor positioning device based on user behavior feature, including judging
Module, the first acquisition module, the first locating module, wherein,
Described judge module, for obtaining the location record of indoor navigation system on described mobile terminal,
Judge whether active user is to position first according to described location record；
Described first acquisition module, if active user is not to position first, by described mobile whole
Hold the detected value of the motion of built-in gyroscope detection active user, it is judged that described detected value is the most not
Less than the turning calibration value preset；
Described first locating module, if described detected value is not less than the turning calibration value preset, right
Active user's location is calibrated.
In indoor positioning device based on user behavior feature of the present invention, described device also wraps
Include
Second acquisition module, if not being the most to have positioned for active user, by described movement
The Bluetooth signal that the described Bluetooth beacon of terminal detection sends, it is judged that whether described Bluetooth signal reaches
Preset bluetooth calibration value；
Second locating module, if reaching to preset bluetooth calibration value for described Bluetooth signal, the most right
Active user's location is calibrated.
In indoor positioning device based on user behavior feature of the present invention, described device also wraps
Include
3rd locating module, if not being to position first for active user, according to described mobile whole
The Bluetooth signal that the described Bluetooth beacon that end detects sends, inquiry presetting database obtains described indigo plant
The geographical position that tooth signal is corresponding, described presetting database includes Bluetooth signal value and geographical position
Incidence relation.
In indoor positioning device based on user behavior feature of the present invention, described judge module
Also include receiving submodule,
Described reception submodule, is used for utilizing described mobile terminal in indoor navigation system dispatcher's office
GIS positional information.
In indoor positioning device based on user behavior feature of the present invention, described mobile terminal
It is to judge the behavior characteristics that active user moves, described behavior by the detected value of its built-in gyroscope
Feature includes turning action.
To sum up, after the present invention first passes through described mobile terminal detection user's human body behavior characteristics, then
According to Bluetooth beacon, this customer location is carried out calibration and realize the indoor low density condition of Bluetooth beacon
Under, improve the degree of accuracy of indoor positioning.
Accompanying drawing explanation
Fig. 1 is one embodiment of indoor orientation method based on user behavior feature of the present invention
Schematic flow sheet；
Fig. 2 is another enforcement of indoor orientation method based on user behavior feature of the present invention
The schematic flow sheet of example；
Fig. 3 is to apply one reality of indoor positioning device based on user behavior feature of the present invention
Execute the structural representation of example；
Fig. 4 be apply indoor positioning device based on user behavior feature of the present invention another
The structural representation of embodiment.
Detailed description of the invention
Below by specific embodiment and combine accompanying drawing the present invention is described in further detail.
The present invention can be substantially improved positioning precision in the case of the sparse deployment of iBeacon node,
Thus promote Consumer's Experience, reduce and dispose and maintenance cost.
The invention provides a kind of indoor orientation method based on user behavior feature.Described based on
The indoor orientation method of family behavior characteristics, including Bluetooth beacon, mobile terminal, as it is shown in figure 1,
Comprise the steps:
S101, obtain the location record of indoor navigation system on described mobile terminal, according to described fixed
Position record judges whether active user is to position first.
When being embodied as, by location log request, described mobile terminal is optional judges that whether user is
Position first.It should be noted that the location first that the present invention is herein refers to preset time range
Whether interior user is transmitted across positioning log Location Request, i.e. judges that user sent log location last time and asks
Whether the time asked is at preset time range.Such as, optionally by set of time 24h, if last
Log Location Request is in 24h, then user is not to position first, otherwise for position first.
Along with the development of science and technology, mobile terminal (such as smart mobile phone) is all built-in with sensor (example
Such as gyroscope or acceleration transducer), mobile terminal detects user movement state by gyroscope.
Along with the motion of user, the value of mobile phone gyroscope detection changes in real time, and user is occurring turning action
Time, its detected value can occur the most significantly to change, and therefore its record detected value is the most, its location
Accuracy also can gradually step up.It should be noted that heretofore described mobile terminal is not only
Only include smart mobile phone, also include other smart machines, such as iPad etc., numerous to list herein.
If S102 active user is not to position first, by the gyro that described mobile terminal is built-in
The detected value of the motion of instrument detection active user, it is judged that whether described detected value is not less than turning of presetting
Curved calibration value.
Described mobile terminal is that the detected value of the gyroscope built-in by it judges what active user moved
Behavior characteristics, described behavior characteristics includes turning action.
The judgement of user's turning behavior can turned by the output of Continuous Observation gyroscope
During action, its detected value can occur the most significantly to change.Described mobile terminal is by gyroscope
Detected value (specially rotational angle) judges that user turns.
If the described detected value of S103 is not less than the turning calibration value preset, to residing for active user
Position calibrate.
Rssi represents the intensity of signal in the wireless network, and it is decayed with the increase of distance, usually
Negative value, this value is the highest closer to zero explanation signal intensity.The difference represented according to location fingerprint, based on
The indoor positioning technologies of WLAN and location fingerprint can be divided into two big classes.The first kind determines that
Localization method.Its feature is the average of the location fingerprint signal intensity from each access point
Value represents, then uses deterministic reasoning algorithm to estimate the position of user.The multipath of signal passes
Broadcast and environment is had dependency, present the strongest particularity, for each position, should
The multidiameter configuration of the channel on position is unique, and the radio wave of terminal transmission is through reflection and folding
Penetrate, produce the multipath signal with the closely-related AD HOC of surrounding, such multipath characteristics
May be considered " fingerprint " of this position.
Indoor orientation method mainly utilizes WiFi location node or bluetooth location node to position, main
Received signal strength positioning mode to be included, the positioning mode time of advent, receive signal angle positioning mode,
Reference point positioning mode.When being embodied as, the corresponding different position of different signal intensitys.This
Bright by the geographical position residing for the different location active users of signal intensity.Such as, WiFi location
Technology uses the mode that experience test and signal propagation model combine.WiFi wireless signal has relatively
Strong time-varying radio signal propagation attenuation model is difficult to the and well characterizes between distance and signal intensity
Mapping relations, use based on radio-frequency fingerprint matching locating method, and it has the robust of preferably location
Property.So-called fingerprint matching location algorithm is set up on the basis of delay data, mainly includes off-line training
With two stages of tuning on-line.Wherein, the task of off-line training step is to set up RF signal strength
One-to-one relationship between vector sum client location, forms a fingerprint base, and positioning stage is then
The signal intensity vector using Real-time Collection removes to mate the fingerprint base of training stage structure, thus obtains
The location estimation of target.Location algorithm based on location fingerprint mainly includes deterministic type and probabilistic type,
The former computational efficiency is higher, and the setting accuracy of the latter is higher.
This algorithm mainly comprises the steps: 1, determines sample distribution figure；2, each location joint is gathered
The signal intensity of point (such as WiFi location node or bluetooth location node), MAC Address etc.；3, deposit
The position coordinates of storage RSSI；4, the signal positioning node implementing to gather is estimated by matching algorithm
Calculate the position of user.The present invention illustrates in the present invention as a example by the location fingerprint location algorithm of deterministic type
WiFi and/or the mode of bluetooth localization method location.
Such as, shown in the fingerprint base storage optional table of data 1.
Table 1
In table 1, the thing AP that sampled point representsnPosition (i.e. coordinate), APnRepresent is that WiFi is fixed
The numbering of position node, RSSI is expressed as on this position the fingerprint (i.e. signal intensity) collected.
And location matches algorithm includes arest neighbors method, probabilistic method, neural net method, SVM etc.
Method.When being embodied as, any method of optional utilization calculates, due to such algorithm
Being knowable to those skilled in the art, it will not be described at this for the present invention.
It is illustrated in figure 2 the another of indoor orientation method based on user behavior feature of the present invention
The schematic flow sheet of one embodiment.
S201, obtain the location record of indoor navigation system on described mobile terminal, according to described fixed
Position record judges whether active user is to position first.
Wherein, S201 also includes utilizing described mobile terminal GIS position in indoor navigation system dispatcher's office
Confidence ceases.
When being embodied as, by the geographical position that described mobile terminal location obtains is shown to GIS
On position, prompt the user with the position being presently in intuitively.
If S202 active user is not the most to have positioned, the institute detected by described mobile terminal
State the Bluetooth signal that Bluetooth beacon sends, it is judged that whether described Bluetooth signal reaches to preset bluetooth calibration
Value；
If the described Bluetooth signal of S203 reaches to preset bluetooth calibration value, then to residing for active user
Position calibrate.
S204, the Bluetooth signal of the described Bluetooth beacon transmission detected according to described mobile terminal,
Inquiry presetting database obtains the geographical position that described Bluetooth signal is corresponding, described presetting database bag
Include the incidence relation of Bluetooth signal value and geographical position.
As it is shown on figure 3, present invention also offers a kind of indoor positioning based on user behavior feature dress
Put, including judge module the 10, first acquisition module the 20, first locating module 30.
Wherein,
Described judge module 10, for obtaining the location note of indoor navigation system on described mobile terminal
According to described location record, record, judges whether active user is to position first.
Described judge module also includes receiving submodule 101,
Described reception submodule 101, is used for utilizing described mobile terminal to indoor navigation system dispatcher's office
Interior GIS positional information.
Described first acquisition module 20, if active user is not to position first, by described movement
The detected value of the motion of the gyroscope detection active user of terminal built-in, it is judged that whether described detected value
Not less than the turning calibration value preset.
Described mobile terminal is that the detected value of the gyroscope built-in by it judges what active user moved
Behavior characteristics, described behavior characteristics includes turning action.
Described first locating module 30, if described detected value is not less than the turning calibration value preset,
Active user's location is calibrated.
It is illustrated in figure 4 the another of indoor positioning device based on user behavior feature of the present invention
The structural representation of one embodiment.
Further, described device also includes
Second acquisition module, if not being the most to have positioned for active user, by described movement
The Bluetooth signal that the described Bluetooth beacon of terminal detection sends, it is judged that whether described Bluetooth signal reaches
Preset bluetooth calibration value；
Second locating module, if reaching to preset bluetooth calibration value for described Bluetooth signal, the most right
Active user's location is calibrated.
Further, described device also includes
3rd locating module 40, if being to position first for active user, then according to described bluetooth
The Bluetooth signal power of beacon determines the geographical position of active user.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, right
For those skilled in the art, the present invention can have various modifications and variations.All in the present invention
Spirit and principle within, any modification, equivalent substitution and improvement etc. made, should be included in
Within protection scope of the present invention.
Claims (8)
1. an indoor orientation method based on user behavior feature, including Bluetooth beacon, mobile terminal, it is characterised in that comprise the steps:
Obtain the location record of indoor navigation system on described mobile terminal, judge whether active user is to position first according to described location record；
If active user is not to position first, detected the detected value of the motion of active user by the gyroscope that described mobile terminal is built-in, it is judged that whether described detected value is not less than the turning calibration value preset；
If described detected value is not less than the turning calibration value preset, active user's location is calibrated.
Indoor orientation method based on user behavior feature the most according to claim 1, it is characterised in that described method also includes
If active user is not the most to have positioned, the Bluetooth signal that the described Bluetooth beacon detected by described mobile terminal is sent, it is judged that whether described Bluetooth signal reaches to preset bluetooth calibration value；
If described Bluetooth signal reaches to preset bluetooth calibration value, then active user's location is calibrated.
Indoor orientation method based on user behavior feature the most according to claim 1, it is characterised in that if active user is not to position first also to include
The Bluetooth signal that the described Bluetooth beacon detected according to described mobile terminal sends, inquiry presetting database obtains the geographical position that described Bluetooth signal is corresponding, and described presetting database includes the incidence relation of Bluetooth signal value and geographical position.
According to described location record, indoor orientation method based on user behavior feature the most according to claim 1, it is characterised in that obtain the location record of indoor navigation system on described mobile terminal, judges whether active user is to position first also to include
Utilize described mobile terminal GIS positional information in indoor navigation system dispatcher's office.
5. an indoor positioning device based on user behavior feature, it is characterised in that include judge module, the first acquisition module, the first locating module, wherein,
According to described location record, described judge module, for obtaining the location record of indoor navigation system on described mobile terminal, judges whether active user is to position first；
Described first acquisition module, if active user is not to position first, detects the detected value of the motion of active user, it is judged that whether described detected value is not less than the turning calibration value preset by the gyroscope that described mobile terminal is built-in；
Described first locating module, if described detected value is not less than the turning calibration value preset, calibrates active user's location.
Indoor positioning device based on user behavior feature the most according to claim 5, it is characterised in that described device also includes
Second acquisition module, if not being the most to have positioned for active user, the Bluetooth signal that the described Bluetooth beacon detected by described mobile terminal is sent, it is judged that whether described Bluetooth signal reaches to preset bluetooth calibration value；
Second locating module, if reaching to preset bluetooth calibration value for described Bluetooth signal, then calibrates active user's location.
Indoor positioning device based on user behavior feature the most according to claim 5, it is characterised in that described device also includes
3rd locating module, if not being to position first for active user, the Bluetooth signal that the described Bluetooth beacon detected according to described mobile terminal sends, inquiry presetting database obtains the geographical position that described Bluetooth signal is corresponding, and described presetting database includes the incidence relation of Bluetooth signal value and geographical position.
Indoor positioning device based on user behavior feature the most according to claim 5, it is characterised in that described judge module also includes receiving submodule,
Described reception submodule, is used for utilizing described mobile terminal GIS positional information in indoor navigation system dispatcher's office.
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| CN107484241A (en) * | 2017-08-29 | 2017-12-15 | 北京邮电大学 | Method and apparatus based on geographical fingerprint location under a kind of millimeter wave channel |
| CN108375376A (en) * | 2018-03-08 | 2018-08-07 | 浙江师范大学 | Angle detection method and device |
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| CN107339992B (en) * | 2017-08-24 | 2020-01-24 | 武汉大学 | Indoor positioning and landmark semantic identification method based on behaviors |
| CN107484241A (en) * | 2017-08-29 | 2017-12-15 | 北京邮电大学 | Method and apparatus based on geographical fingerprint location under a kind of millimeter wave channel |
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| CN105866729B (en) | 2019-03-01 |
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