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An indoor positioning method based on Bluetooth location fingerprint

An indoor positioning and fingerprint technology, applied in the field of positioning, to achieve the effect of reducing the burden of database construction, stabilizing random variables, and reducing workload

Active Publication Date: 2019-02-05
济南东朔微电子有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The invention solves the influence of the environment change on the indoor positioning in the traditional positioning method, and improves the positioning accuracy

Method used

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  • An indoor positioning method based on Bluetooth location fingerprint
  • An indoor positioning method based on Bluetooth location fingerprint
  • An indoor positioning method based on Bluetooth location fingerprint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] A kind of indoor positioning method based on bluetooth position fingerprint, comprises steps as follows:

[0038] 1) The first offline database building:

[0039] Establish a multidimensional spatial spectral fingerprint library, the multidimensional spatial spectral fingerprint library includes positioning received signal strength RSSI, indoor channel state information CSI, the value of the autocorrelation function at non-zero, the frequency of the received signal through fast Fourier transform Domain amplitude and phase, power spectral density and link quality value LQ; Described autocorrelation function refers to: describe the degree of correlation that a random process takes values ​​at two different moments separated by t time;

[0040] The principle component analysis method is adopted, that is, through the idea of ​​dimensionality reduction, the positioning received signal strength RSSI, indoor channel state information CSI, the value of the autocorrelation funct...

Embodiment 2

[0048] A kind of indoor positioning method based on bluetooth position fingerprint as described in embodiment 1, its difference is, the establishment method of described robust fingerprint storehouse, comprises steps as follows:

[0049] (1) Collect n reference point sample information:

[0050] Each sample has p index variables, forming an n×p data matrix X=(x ij ) n×p ,Right now

[0051]

[0052] (2) The reference point sample information of step (1), namely X=(x ij ) n×p Standardize to get the normalized matrix Z ij :

[0053]

[0054] In formula (I)

[0055] (3) normalization matrix Z described in calculation step (2) ij The sample correlation coefficient matrix of

[0056] in

[0057] (4) Solve the characteristic equation of the sample correlation coefficient matrix R to get P characteristic roots λ 1 ≥λ 2 ≥…λ p , find the characteristic contribution rate And find the corresponding unit eigenvector for each eigenvalue

[0058] (5) Determine th...

Embodiment 3

[0062] A kind of indoor positioning method based on bluetooth position fingerprint as described in embodiment 1, its difference is, the specific steps of the estimation of position information given in described step 2) include:

[0063] First, calculate the distance between the collection point fingerprint and the reference point fingerprint in the multidimensional spatial spectral fingerprint database: assuming that there are m reference point fingerprint data in the multidimensional spatial spectral fingerprint database, the collected fingerprint data contains n fingerprints from different Bluetooth anchor nodes, Each fingerprint data is denoted as s j , j=1...n, select the Bluetooth anchor node corresponding to the maximum value in the fingerprint data as the target anchor node s k , m reference point fingerprint data corresponding to n bluetooth anchor node fingerprints denoted as s ij , i=1...m, j=1...n, select the reference point fingerprint s to receive the signal of ...

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Abstract

The invention relates to an indoor positioning method based on bluetooth position fingerprints. High-dimensional spatial spectral information and environmental information related to channel information are utilized, and steady spatial spectral fingerprints are extracted by utilizing principal component analysis and other means. The effect of resisting indoor multipath interference is enhanced in matching positioning, and positioning precision is enhanced. The fingerprints have better effect of resisting multipath interference under the indoor multipath environment, and the random variable is more stable. Fingerprint database updating is completed by periodic training data positioning error judgment. If the error is greater than a preset threshold value, dimension reduction processing is performed from an existing multidimensional spatial spectral fingerprint database and a few randomly acquired positioning fingerprints of the present moment by utilizing the principal component analysis method or a manifold learning method so that a fingerprint database of the present moment is obtained; and if the error is smaller than the preset threshold value, positioning is performed by using the previous fingerprint database. Therefore, repeated database establishment does not need to be performed at the positioning moment, and thus the burden of database establishment can be reduced to a great extent.

Description

technical field [0001] The invention relates to an indoor positioning method based on a Bluetooth position fingerprint, belonging to the technical field of positioning. Background technique [0002] In recent years, with the rapid development of the economy, more and more large-scale buildings and underground shopping malls have been constructed in large and medium-sized cities. People spend most of their time living and working in indoor environments such as buildings, shopping malls, and restaurants. High-precision indoor positioning technology can effectively improve work efficiency and quality of life, and the demand for indoor positioning services is increasing. As a short-distance wireless communication technology, Bluetooth is mature, cheap, and cost-effective, and has become a standard configuration on mobile devices. Among many indoor positioning technologies, the indoor positioning technology based on location fingerprint can achieve relatively ideal positioning a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/02
CPCG01S5/0252
Inventor 阎跃鹏齐晓光张浩杜占坤车玉洁
Owner 济南东朔微电子有限公司