Combined filtering indoor single-target tracking method and device based on RSS map and medium

Abstract

The invention relates to an RSS map-based joint filtering indoor single-target tracking method and device, and a medium, and the technical scheme comprises the steps: setting and measuring the RSSI information of a small number of reference points according to a certain mode, replacing the RSSI information of each AP corresponding to a reference point with the mean value and variance of a Gaussianprocess; RSSI fingerprints of all global reference points are obtained in a model calculation mode through an RSSI probability model based on a standard Gaussian process, and an RSS map is generated.In a narrow space area, an unscented Kalman filter algorithm is used for target tracking, and in an open space area, a particle filter algorithm is used for tracking. The method has the advantages that the problems that an RSSI fingerprint database of a large indoor place is difficult to generate and large in workload are solved, and the situation that the tracking rate is low due to the fact that the calculated amount of global particle filtering is too large is avoided; and meanwhile, the problem of low tracking precision of the unscented Kalman filter when the target does non-linear motionis solved.

Description

technical field [0001] The invention relates to the field of computers, in particular to a method, device and medium for indoor single-target tracking based on RSS map joint filtering. Background technique [0002] With the rapid development of indoor positioning technology and object tracking technology in different fields, indoor object tracking technology has also been developed. The result of target positioning is crucial to the realization of target tracking. Wi-Fi-based indoor positioning technology has strong adaptability to the surrounding environment, the transmission distance can reach the order of 100 meters, and it is low-cost, easy to expand, and can be automatically updated. Advantages such as data are applied to more practical situations and achieve scale. [0003] There are two main methods of indoor positioning based on Wi-Fi: [0004] The first method uses the "nearest neighbor method" to judge the location of the target, that is, the closest to the hotsp...

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Problems solved by technology

[0007] The purpose of the present invention is to at least solve one of the technical problems existing in the prior art, and provide a joint filtering indoor single target tracking method, device and medium based on RSS maps, which solves the difficulties and heavy workload of RSSI fingerprint database generation in large indoor places , to avoid the low tracking rate caused by the excessive calculation of the global particle filter; at the same time, it solves the problem of low tracking accuracy of the unscented Kalman filter when the target is moving nonlinearly

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