Establishment method of indoor position fingerprint positioning radio Map based on tensor filling
A technology of fingerprint positioning and establishment method, which is applied in the field of indoor positioning and navigation, and can solve the problems of low positioning accuracy and small number of reference points covered by data packets.
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specific Embodiment approach 1
[0074] Specific implementation mode one: combine Figure 2 ~ Figure 6 The present embodiment is described. The tensor filling-based indoor position fingerprint positioning Radio Map establishment method provided in the present embodiment specifically includes the following steps:
[0075] Step 1. According to the indoor environment that needs to be positioned, select the coordinate origin P 0 (x 0 ,y 0 ), to establish a plane two-dimensional Cartesian coordinate system, such as figure 2 shown;
[0076] Step 2. According to the indoor environment, deploy wireless routers as access points. The deployment of access points in indoor environments is as follows: image 3 shown;
[0077] Step 3. According to the indoor environment, uniformly set the position of the reference point;
[0078] Step 4. Construct a two-dimensional Radio Map corresponding to each collection path;
[0079] Step 5, forming a 3-mode tensor from the two-dimensional Radio Maps corresponding to all the m...
specific Embodiment approach 2
[0081] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is that the specific process of step four includes:
[0082] Volunteers carry mobile phones to walk in the indoor environment that needs to be positioned and collect WiFi signals. The path that each collection passes is called a collection path, and each collection path corresponds to a two-dimensional Radio Map. The reference points covered by this path are called already Measurement reference point, the reference point not covered by the path is called unmeasured reference point ( figure 2 The reference point measurement situation corresponding to a collection path in the indoor environment shown is as follows: Figure 5 shown); in the two-dimensional Radio Map corresponding to each acquisition path, the WiFi signal strength value corresponding to each access point is stored at the measured reference point, and the WiFi signal strength value of each ...
specific Embodiment approach 3
[0092] Specific implementation mode three: the difference between this implementation mode and specific implementation mode one or two is that the specific process of step five is:
[0093] Constitute the two-dimensional Radio Map corresponding to all measurement paths into a 3-mode tensor
[0094]
[0095] Among them, I 3 = S, fold n ( ) function means unfold n The inverse operation of ( ), unfold n The ( ) function represents the expansion operation of the tensor along the nth module; expand to a matrix along the nth module
[0096] Other steps and parameters are the same as those in Embodiment 1 or 2.
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