Indoor fingerprint positioning method and system based on geomagnetic sensor array

A geomagnetic sensor and fingerprint positioning technology, which is applied in the direction of instruments, ground navigation, and measuring devices, can solve problems that cannot meet indoor positioning requirements, regularly update fingerprint databases, and distance estimation errors, so as to improve work efficiency, stability, and positioning The effect of high precision and precise indoor positioning

Inactive Publication Date: 2019-01-01
SHANGHAI UNIV OF ENG SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The link of manual survey and construction of fingerprint database requires professionals to carry out repeated operations on the site with special equipment, which is costly and time-consuming
In addition, due to the complex and changeable indoor environment, the fingerprint database needs to be updated regularly, and manual surveys need to be performed repeatedly
C.Wu, Z.Yang and others proposed the WIFI-based WILL wireless fingerprint positioning method in 2012. The idea is to automatically complete the task of manual survey through many smart phone users, but the system needs to use wireless signal attenuation clustering Forming a logical floor plan into different virtual rooms can cause huge distance estimation errors
[0004] To sum up, the traditional indoor geomagnetic positioning system has certain limitations and can no longer meet the growing demand for indoor positioning. A more efficient and accurate technology is needed for positioning and navigation applications

Method used

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  • Indoor fingerprint positioning method and system based on geomagnetic sensor array
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  • Indoor fingerprint positioning method and system based on geomagnetic sensor array

Examples

Experimental program
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Effect test

Embodiment 1

[0037] An indoor fingerprint positioning method based on a geomagnetic sensor array, specifically comprising the following steps:

[0038] Step 1: According to the requirements of positioning accuracy, divide the area to be positioned into a grid. Generally, according to the positioning accuracy of 1 meter, the grid size is divided into a square grid with a side length of 2m, and the geographic location of the unit grid is stored in the fingerprint database.

[0039] Step 2: Collect fingerprints through the geomagnetic sensor array. The collection frequency of the four sensors is 5Hz. Collect 10 groups of fingerprints at each sampling point. Take the average value of the geomagnetic intensity of each sensor and save it in the fingerprint database. The position saved in the fingerprint database is The form of the fingerprint is: F={(||m1||, ||m2||, ||m3||, ||m4||, geographic location), ||mi|| is the geomagnetic field collected by the geomagnetic sensor Strong, and finally comp...

Embodiment 2

[0064] An indoor fingerprint positioning method based on a geomagnetic sensor array, specifically comprising the following steps:

[0065] Step 1: Carry out unit grid division for the positioning area, and perform corresponding grid division according to the requirements of different positioning accuracy. In an environment with low precision, divide a room and bathroom into a grid; A square divides a grid; the sampling points of the grid are reasonably selected.

[0066] Step 2: Collect fingerprint data at the sampling points of the grid through the geomagnetic sensor array, and collect 50 sets of data at each sampling point.

[0067] Step 3: Probabilistically model the geomagnetic vectors in each direction in a group of fingerprint records corresponding to each sampling position, and use the calculated probability parameters (such as parameters of the Gaussian model) as fingerprint records. The mean value and variance (μ, δ) of the signal strength of the geomagnetic sensor a...

Embodiment 3

[0073] An indoor fingerprint positioning method based on a geomagnetic sensor array, specifically comprising the following steps:

[0074] Step 1: According to the requirements of positioning accuracy, reasonably divide the grid size, generally take a square of 2 meters as a grid.

[0075] Step 2: Collect fingerprint data at the sampling points of the grid through the geomagnetic sensor array, and collect 10 sets of data at each sampling point.

[0076] Step 3: Input the sampled fingerprint database as a training set to the neural network model, learn the coefficients of the hidden units through the one-step tangent algorithm (OSS), and complete the construction of the neural network model.

[0077] Step 4: The point to be measured collects a set of geomagnetic information through the geomagnetic array, and brings it into the trained model to obtain the estimated coordinates corresponding to the geomagnetic information.

[0078] The feature of this embodiment is to utilize th...

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Abstract

The invention relates to an indoor fingerprint positioning method and system based on a geomagnetic sensor array. The positioning method comprises the following steps: 1, performing grid initialization; 2, collecting fingerprint data at sampling points in a grid through the geomagnetic sensor array; 3, storing fingerprint at save positions in a fingerprint database to complete the construction ofa geomagnetic reference map; 4, acquiring the geomagnetic information of a to-be-detected point by using the geomagnetic array, and sequentially calculating fingerprint similarity between the to-be-detected point and the probability characterization fingerprint of each sampling position in the fingerprint database; and 5, selecting optimal-matching fingerprint from the geomagnetic reference map soas to obtain an estimated position. Compared with the prior art, the indoor positioning method based on the mobile crowdsourcing of the invention does not require manual surveying, realizes real-time, robust and accurate indoor positioning in virtue of a large number of ordinary users, greatly improves the working efficiency and stability of the system, and is beneficial for promoting the effective application of an indoor positioning technology.

Description

technical field [0001] The invention relates to the technical field of wireless positioning, in particular to an indoor fingerprint positioning method and system based on a geomagnetic sensor array. Background technique [0002] With the popularization of wireless positioning technology, "Location Based Service" (Location Based Service, LBS for short) is showing us a broad market prospect. With the popularity of smartphones becoming more and more widespread, the computing power is getting stronger and stronger, and the types of sensors integrated on smartphones are becoming more and more abundant. A variety of physical environment features are used to achieve indoor positioning, including GSM, FM, sound and magnetic field, etc. Utilizing the influence of the geomagnetic field caused by the interference and distortion of indoor building structures and furniture, J.Chung, M.Donahoe and others designed a positioning method using geomagnetic field features in 2011. Not only the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/08G01C21/20
CPCG01C21/08G01C21/206
Inventor 章裕润吴飞
Owner SHANGHAI UNIV OF ENG SCI
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