Fingerprint updating method and wireless positioning system suitable for wireless positioning process

Abstract

The present invention relates to the field of wireless positioning technology, and specifically to a fingerprint update method and a wireless positioning system suitable for a wireless positioning process, comprising: S1: collecting the signal reception strength of each positioning gateway to a positioning beacon, and generating a first signal strength vector; S2: generating a second signal strength vector and a collection time during the movement of the positioning tag; S3: judging whether the positioning tag moves in a specific manner between two adjacent positioning beacons; if so, turning to S4; S4: updating each fingerprint point according to a plurality of second signal strength vectors. The beneficial effect of the present invention is that the fingerprint point is combined with the movement path of the positioning tag in space during actual use. The positioning tags that meet the conditions are screened out, and the signal reception strength of the fingerprint point is updated according to the second signal strength generated by the positioning tag during the movement, thereby avoiding the tediousness of manual maintenance of the fingerprint point, so that the wireless positioning system can be effectively used in complex scenarios.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning technology, and in particular to a fingerprint updating method and a wireless positioning system suitable for a wireless positioning process. Background Art

[0002] Wireless positioning system refers to a system that measures the characteristic parameters of received radio waves in a wireless mobile communication network, uses the measured wireless signal data, and adopts a specific algorithm to estimate the geographical location of the mobile terminal, providing the prepared terminal location information and services. Common wireless positioning technologies include time measurement, angle measurement, and field strength measurement. Among them, field strength measurement includes signal propagation model method, fingerprint matching method, etc.

[0003] In the prior art, there are related technologies for positioning mobile terminals based on fingerprint feature value matching. Generally speaking, this type of technology mainly relies on pre-setting multiple collection points in a specific scene, and after deploying the gateway positioning system, collecting the RSSI (Received Signal Strength Indication) of each collection point as the fingerprint feature value of the place, and then matching it with the RSSI of the mobile terminal during actual positioning through corresponding comparison algorithms, such as KNN algorithm, random forest, support vector machine, Bayesian algorithm, etc., to achieve the positioning process.

[0004] However, in the actual implementation process, the inventors found that the positioning system in the prior art, when deployed in a specific environment, such as indoors, is prone to the problem of poor indoor positioning accuracy through RSSI due to the characteristics of multipath and non-line-of-sight transmission of indoor signal propagation. At the same time, with the passage of time, the environment in the positioning area may change to a certain extent, such as the modification of large-scale furnishings, changes in the wireless network environment, etc., which makes the original fingerprint feature value unable to be effectively used in positioning, resulting in poor positioning accuracy. In this way, fingerprint collection must be carried out again, and labor and time costs are invested again. Summary of the invention

[0005] In view of the above problems existing in the prior art, a fingerprint updating method and a wireless positioning system suitable for a wireless positioning process are provided.

[0006] The specific technical solutions are as follows:

[0007] A fingerprint updating method applicable to a wireless positioning process, wherein at least one positioning route is pre-set in a positioning area, each positioning route is provided with at least one positioning beacon and a plurality of fingerprint points, and a plurality of fingerprint points between every two adjacent positioning beacons constitute a fingerprint point set;

[0008] A plurality of positioning gateways are also provided in the positioning area, for acquiring the positioning signal emitted by the positioning beacon or a positioning tag provided on the moving object and generating a signal receiving strength;

[0009] A plurality of the signal reception strengths form a fingerprint database;

[0010] The positioning gateway implements the wireless positioning process according to the fingerprint database;

[0011] Then the fingerprint updating method comprises:

[0012] Step S1: respectively collecting the signal reception strength corresponding to the positioning beacon received by each positioning gateway, and generating a first signal strength vector corresponding to each positioning beacon;

[0013] Step S2: During the movement of the positioning tag, continuously collect the signal reception strength corresponding to the positioning tag received by each positioning gateway, generate multiple second signal strength vectors corresponding to the current moment, and use the current moment as the collection time of the second signal strength;

[0014] Step S3: determining whether the positioning tag moves between two adjacent positioning beacons in a specific manner according to the first signal strength vector and the second signal strength vector;

[0015] If yes, go to step S4;

[0016] If not, return to step S2;

[0017] Step S4: acquiring a plurality of fingerprint points passed by the positioning tag according to the fingerprint point set corresponding to the positioning beacon, and updating the signal reception strength corresponding to each fingerprint point according to a plurality of the second signal strength vectors, thereby updating the fingerprint database.

[0018] Preferably, step S3 comprises:

[0019] Step S31: determining whether the positioning tag is adjacent to the positioning beacon according to the first signal strength vector and the second signal strength vector;

[0020] If yes, go to step S32;

[0021] If not, return to step S2;

[0022] Step S32: recording the positioning beacon that the positioning tag is currently adjacent to, and determining whether the last positioning beacon that the positioning tag passed by is an adjacent positioning beacon;

[0023] If yes, go to step S33;

[0024] If not, return to step S2;

[0025] Step S33: obtaining the time difference between the positioning tag and the adjacent positioning beacons, and judging whether the positioning tag moves in a specific manner between two adjacent positioning beacons according to the time difference;

[0026] If yes, go to step S4;

[0027] If not, return to step S2.

[0028] Preferably, the step S31 includes:

[0029] A Euclidean distance between the positioning tag and the positioning beacon is generated according to the first signal strength vector and the second signal strength vector, and whether the positioning tag is adjacent to the positioning beacon is determined according to the Euclidean distance.

[0030] Preferably, the first signal strength vector is:

[0031] R1=[RSSI A1 , RSSI A2 ,…,RSSI An ], where R1 is the first signal strength vector, RSSI An The signal reception strength corresponding to the positioning beacon received by the nth positioning gateway;

[0032] The second signal strength vector is R2=[RSSI B1 , RSSI B2 ,…,RSSI Bn ], where R2 is the second signal strength vector, RSSI Bn is the signal reception strength corresponding to the positioning tag received by the nth positioning gateway;

[0033] Then the method for generating the Euclidean distance includes:

[0034] Preferably, the step S33 comprises:

[0035] Step S331: respectively obtaining the acquisition time corresponding to each second signal strength, and then generating the time difference value according to the acquisition time;

[0036] Step S332: obtaining the positioning route where the adjacent positioning beacons are located, and generating an average moving speed of the positioning tag between the adjacent positioning beacons according to the positioning route, the positioning beacons and the time difference;

[0037] Step S333: determining whether the positioning tag moves in the specific manner between two adjacent positioning beacons according to a moving speed interval;

[0038] If yes, go to step S4;

[0039] If not, return to step S2.

[0040] Preferably, the step S4 comprises:

[0041] Step S41: acquiring the fingerprint point set between the adjacent positioning beacons and the positioning route between the positioning beacons;

[0042] Step S42: generating the passing time of each fingerprint point according to the positioning route, the time difference, and the fingerprint point set;

[0043] Step S43: acquiring the corresponding second signal reception strength according to the transit time as the new signal reception strength corresponding to each fingerprint point, thereby updating the fingerprint database.

[0044] Preferably, the method for generating the transit time includes: in, is the passing time corresponding to the jth fingerprint point, j∈(1,2,…,n), n is the number of fingerprint points in the fingerprint point set, T1 is the acquisition time of the first positioning beacon, is the average elapsed time for each of the fingerprint points;

[0045] The generation method is: in, is the average elapsed time, n is the number of the fingerprint points in the fingerprint point set, T1 is the acquisition time of the first positioning beacon, and T2 is the acquisition time of the second positioning beacon.

[0046] Preferably, at least one of the positioning gateways is selected as the positioning beacon;

[0047] Then the step S31 includes: obtaining the second signal strength, and determining whether the positioning tag is adjacent to the positioning beacon according to a signal strength threshold.

[0048] Preferably, the positioning beacon is arranged at an end point or an intersection of the positioning route.

[0049] A wireless positioning system, comprising:

[0050] A plurality of positioning gateways, wherein the positioning gateways are deployed in a positioning area, and a plurality of positioning routes are pre-set in the positioning area;

[0051] A positioning beacon, wherein the positioning beacon is arranged on the positioning route;

[0052] A positioning tag, wherein the positioning tag is set on a moving object, and the moving object moves in the positioning area along the positioning route;

[0053] The positioning gateway receives positioning signals sent by the positioning gateway and the positioning tag;

[0054] A back-end server, the back-end server is connected to the positioning gateway, and the back-end server locates the positioning tag according to the positioning signal and pre-stored fingerprint points, and the fingerprint points are distributed on the positioning route;

[0055] The backend server includes a memory and a processor. The memory stores computer instructions. The processor is connected to the memory. When the processor runs the computer instructions, the fingerprint updating method is executed to update the fingerprint points.

[0056] The above technical solution has the following advantages or beneficial effects: by presetting the corresponding positioning route, the fingerprint points are classified, so that the fingerprint points are combined with the movement path of the positioning tag in space during actual use. And through a specific algorithm, the qualified positioning tags are screened out, and the signal reception strength of the fingerprint point is updated according to the second signal strength generated by the positioning tag during the movement, avoiding the tedious manual maintenance of fingerprint points in the prior art, so that the wireless positioning system can be effectively used in complex scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The embodiments of the present invention will be described more fully with reference to the attached drawings, which are provided for illustration and description only and are not intended to limit the scope of the present invention.

[0058] Figure 1 A schematic diagram of a positioning beacon according to an embodiment of the present invention;

[0059] Figure 2 A schematic diagram of a fingerprint updating method in an embodiment of the present invention;

[0060] Figure 3 A schematic diagram of a positioning route in an embodiment of the present invention;

[0061] Figure 4 Schematic diagram of a fingerprint point set in an embodiment of the present invention;

[0062] Figure 5 This is a schematic diagram of sub-steps of step S3 in an embodiment of the present invention;

[0063] Figure 6This is a schematic diagram of sub-steps of step S33 in an embodiment of the present invention;

[0064] Figure 7 This is a schematic diagram of sub-steps of step S4 in an embodiment of the present invention;

[0065] Figure 8 Schematic diagram of a wireless positioning system in an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0068] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0069] The present invention comprises:

[0070] A fingerprint updating method suitable for wireless positioning process, such as Figure 1 As shown, at least one positioning route A1 is pre-set in a positioning area, at least one positioning beacon A2 and a plurality of fingerprint points A3 are set on each positioning route A1, and a plurality of fingerprint points A3 between every two adjacent positioning beacons A2 form a fingerprint point set;

[0071] A plurality of positioning gateways are also provided in the positioning area, for acquiring the positioning signal emitted by the positioning beacon A2 or a positioning tag provided on the moving object and generating the signal receiving strength;

[0072] A plurality of the signal reception strengths form a fingerprint database;

[0073] The positioning gateway implements the wireless positioning process based on the fingerprint database;

[0074] If Figure 2 As shown, the fingerprint update method includes:

[0075] Step S1: respectively collecting the signal reception strength corresponding to the positioning beacon A2 received by each positioning gateway, and generating a first signal strength vector corresponding to each positioning beacon A2;

[0076] Step S2: During the movement of the positioning tag, continuously collect the signal reception strength corresponding to the positioning tag received by each positioning gateway, generate multiple second signal strength vectors corresponding to the current time, and use the current time as the collection time of the second signal strength;

[0077] Step S3: determining whether the positioning tag moves in a specific manner between two adjacent positioning beacons A2 according to the first signal strength vector and the second signal strength vector;

[0078] If yes, go to step S4;

[0079] If not, return to step S2;

[0080] Step S4: acquiring multiple fingerprint points A3 that the positioning tag passes through according to the fingerprint point set corresponding to the positioning beacon A2, and updating the signal reception strength corresponding to each fingerprint point A3 according to multiple second signal strength vectors to update the fingerprint database.

[0081] Specifically, in the prior art, wireless positioning systems usually choose to use the grid division method to set fingerprint points in the positioning area, which often generates unnecessary fingerprint points in unnecessary locations, such as suspended areas, closed structures, etc., thereby increasing the amount of calculation in the positioning process. In this embodiment, a map of the positioning area is obtained in advance, and the locations that the user can actually reach are generated in the positioning area and formed as follows. Figure 3 The positioning route A1 shown reduces the number of generated fingerprint points A3, saving the computing resources and processing time required for the positioning process.

[0082] Furthermore, in order to address the problem in the prior art that as the scene objects in the positioning area change, it is necessary to rely on manual re-collection of the received signal strength of the fingerprint points, this embodiment effectively filters out relevant data that can be used to update the received signal strength of the fingerprint points from the positioning data generated by the user on a daily basis by judging whether the positioning tag moves in a specific manner on the positioning route, thereby avoiding the additional steps of manual correction and re-collection and achieving lower maintenance costs.

[0083] As an optional implementation, the above updating method is executed once according to a preset updating cycle when each positioning tag moves in the positioning area;

[0084] Alternatively, it is manually determined whether the scene has changed, and the above update method is manually enabled when the scene has changed, and the method is stopped after all fingerprint points have been updated;

[0085] Alternatively, it is automatically determined whether a major change has occurred to an object in the scene based on the first signal strength vector generated by the positioning beacon, and the above-mentioned updating method is activated in the entire positioning area or a part of the positioning area when the change occurs.

[0086] During the implementation process, the positioning route is generated based on the actual scene of the positioning area. Figure 3 The route shown is generated based on the actual scene of the positioning area, where the user with the positioning tag will go. Fingerprint points are multiple points evenly distributed on the positioning route for collecting received signal strength (RSSI, Received Signal Strength Indication). According to actual needs, in specific areas, such as halls, meeting rooms, etc. Figure 3 As shown, this part of the area is filled by an additional route running through the entire space. The positioning gateway, positioning tag and positioning beacon are all devices that implement the communication process based on the same wireless communication protocol, such as WLAN, Bluetooth, UWB, ZigBee, etc. Taking the Bluetooth communication protocol as an example, the positioning gateway is a Bluetooth positioning gateway, which searches for specific Bluetooth emission sources in the surrounding environment based on the Bluetooth protocol, such as positioning tags and positioning beacons. The positioning tag (Tag) is an active Bluetooth broadcasting device that is fixed on a moving object and continuously sends a Bluetooth signal to the surrounding environment. The Bluetooth signal includes information such as identity, device type and identification code. In other embodiments, the positioning tag can also be implemented by relying on a computer program set in a device with a corresponding communication function. For example, a mobile phone with a Bluetooth positioning function and a specific application installed. The positioning beacon (Beacon) is an auxiliary positioning device set in a fixed place. It does not directly communicate with the positioning tag or positioning gateway, but continuously sends periodic signals to the surrounding environment so that the positioning gateway can perform auxiliary positioning based on the signal. In one embodiment, some or all of the positioning gateways can be selected as positioning beacons. At this time, the positioning gateway sends periodic signals to the surrounding environment and receives Bluetooth signals from positioning tags and other positioning gateways or positioning beacons. However, the positioning gateway itself does not communicate with the above devices through Bluetooth signals. The fingerprint database stores the signal strength set of all fingerprint points and positioning gateways:

[0087] Among them, RSSI is the signal strength set, is the signal receiving strength of the jth fingerprint point received by the i-th positioning gateway,

[0088] At the same time, before starting positioning, multiple fingerprint points A3 are divided into multiple intervals according to their positions on the positioning route A1 and the positions of the positioning beacons A2. Figure 4For example, in the positioning area, four positioning beacons b1~b4 are set at each intersection on the positioning route. Then, for every two adjacent positioning beacons, there are a total of 5 positioning route intervals: b1 and b2, b2 and b3, b1 and b3, b3 and b4, b2 and b4. It should be noted that the above intervals are only used to indicate the adjacent relationship of multiple positioning beacons in a spatial sense, which has nothing to do with the moving direction of the positioning tag in the actual process. For example, going from b1 to b2 and from b2 to b1 are regarded as the same interval here. Based on the above intervals, the corresponding fingerprint points in each interval are obtained, and then the corresponding five sets of fingerprint point sets can be generated, including:

[0089] (1)b1~b2:[f0,f1,f2,f3,f4,f5,f6,f7];

[0090] (2)b1~b3:[f0,f1,f2,f3,f14,f15,f16];

[0091] (3)b2~b3:[f7,f6,f5,f4,f3,f14,f15,f16];

[0092] (4)b2~b4:[f8,f9,f10,f11,f12,f13,f24];

[0093] (5)b3~b4:[f16,f17,f18,f19,f20,f21,f22,f23,f24].

[0094] Based on the above method, the positioning route can be processed in sections, and then each section can be analyzed separately to screen out qualified positioning tag data that can be used to update the signal reception strength of the fingerprint points in the section, thereby improving the real-time performance of the fingerprint update.

[0095] Furthermore, in order to update the signal reception strength of the fingerprint point according to the second signal strength vector generated by the positioning tag during the movement, the average moving speed on the positioning route and the distance length of each interval are obtained in advance through experiments for the positioning route, which is used to calculate the actual moving speed of the positioning tag in each interval according to the time of the second signal strength vector actually collected, and whether the actual moving speed is close to the average moving speed in the experiment. The average moving speed in the experiment refers to the unidirectional movement at a constant speed between two adjacent beacons during the preliminary experiment, and this moving speed facilitates the positioning gateway to collect the received signal strength, and the received signal strength will not be offset due to the positioning tag moving too fast.

[0096] In a preferred embodiment, Figure 5 As shown, step S3 includes:

[0097] Step S31: judging whether the positioning tag is close to the positioning beacon according to the first signal strength vector and the second signal strength vector;

[0098] If yes, go to step S32;

[0099] If not, return to step S2;

[0100] Step S32: record the current adjacent positioning beacon of the positioning tag, and determine whether the last positioning beacon passed by the positioning tag is an adjacent positioning beacon;

[0101] If yes, go to step S33;

[0102] If not, return to step S2;

[0103] Step S33: obtaining the time difference of the positioning tag passing through adjacent positioning beacons, and judging whether the positioning tag moves in a specific manner between two adjacent positioning beacons according to the time difference;

[0104] If yes, go to step S4;

[0105] If not, return to step S2.

[0106] Specifically, in order to address the problem in the prior art that it is impossible to extract received signal strength that can be used to update fingerprint points from user data generated by daily operations, in this embodiment, by introducing the concepts of adjacent positioning beacons and specific movement methods, the movement process of the positioning tag in the positioning area is divided into intervals and screened, thereby screening out the positioning tags that move in a specific manner in a specific interval from the huge amount of data, and then using this part of data to realize the update of the received signal strength of the fingerprint point, while ensuring the accuracy of the updated data.

[0107] During the implementation process, this embodiment mainly records the positioning beacons in the path of the positioning tag, and makes judgments based on the pre-recorded adjacent positioning beacon information, thereby achieving the acquisition of the positioning tag moving in a specific interval. That is, in the process of moving and positioning the positioning tag, the positioning beacon in the path of the positioning tag is judged and recorded according to the first signal strength vector and the second signal strength vector, and then when the positioning tag passes the next positioning beacon, it is judged whether the positioning beacon is an adjacent positioning beacon, thereby screening out the positioning tags that can be used to update the fingerprint point set in the interval. Subsequently, based on the acquisition time of the second signal strength vector and the pre-acquired interval length, it can be further judged whether the positioning tag moves in a specific way, thereby filtering out invalid data and avoiding the problem of staying in a specific area for too long, resulting in the inability to accurately update the received signal strength of the fingerprint points in the interval.

[0108] In a preferred embodiment, step S31 includes:

[0109] The Euclidean distance between the positioning tag and the positioning beacon is generated according to the first signal strength vector and the second signal strength vector, and it is determined whether the positioning tag is adjacent to the positioning beacon according to the Euclidean distance.

[0110] Specifically, in order to achieve better screening results for positioning tags adjacent to positioning beacons, in this embodiment, the Euclidean distance between the positioning tag and the positioning beacon is calculated, and then a preset distance threshold is used to determine whether the positioning beacon and the positioning tag are adjacent, thereby achieving better data screening effects.

[0111] In a preferred embodiment, the first signal strength vector is:

[0112] R1=[RSSI A1 , RSSI A2 ,…,RSSI An ], where R1 is the first signal strength vector, RSSI An The signal reception strength corresponding to the positioning beacon received by the nth positioning gateway;

[0113] The second signal strength vector is R2=[RSSI B1 , RSSI B2 ,…,RSSI Bn ], where R2 is the second signal strength vector, RSSI Bn is the signal reception strength corresponding to the positioning tag received by the nth positioning gateway;

[0114] Then the methods for generating Euclidean distance include:

[0115] Specifically, in order to achieve better screening results for positioning tags that are adjacent to positioning beacons, in this embodiment, by calculating the Euclidean distance of the signal reception strengths corresponding to positioning beacons and positioning tags respectively received by multiple positioning gateways, effective judgment of whether the positioning tag is adjacent to the positioning beacon is achieved.

[0116] In a preferred embodiment, Figure 6 As shown, step S33 includes:

[0117] Step S331: respectively obtaining the acquisition time corresponding to each second signal strength vector, and then generating a time difference value according to the acquisition time;

[0118] Step S332: Obtain the positioning routes of adjacent positioning beacons, and generate the average moving speed of the positioning tag between the adjacent positioning beacons according to the positioning routes, positioning beacons and time differences;

[0119] Step S333: determining whether the positioning tag moves in a specific manner between two adjacent positioning beacons according to a moving speed interval;

[0120] If yes, go to step S4;

[0121] If not, return to step S2.

[0122] Specifically, in order to address the problem in the prior art that it is impossible to filter out data that can be used to update fingerprint points from data generated during the user positioning process, in this embodiment, a time difference is generated by obtaining the acquisition time of two second signal strength vectors when the positioning tag passes through the positioning beacon, thereby characterizing the time taken for the positioning tag to pass through the two adjacent positioning beacons. The average speed of the positioning tag can be calculated based on the length of the interval in the pre-stored positioning route, thereby achieving the screening of specific positioning tags, and then the relevant data for updating the fingerprint points can be obtained from the data generated during the user positioning, avoiding the tedious manual update.

[0123] During the implementation process, the moving speed interval is obtained based on relevant experiments conducted in advance, which is used to simulate the speed of the moving object to be detected when it passes through two adjacent positioning beacons at a normal speed. For example, in the scenario of locating consumers in a shopping mall, the speed of consumers walking through two adjacent positioning beacons is 2 meters per second, and according to statistical results, the moving speed of most consumers is in the range of ±20%. The moving speed interval in this scenario is set to [1.6, 2.4]. If the average moving speed is lower than the lower limit of the interval, it indicates that the consumer has stayed in this interval and did not pass through the adjacent positioning beacons at a uniform speed. In order to ensure the accuracy of the data, this part of the data should be eliminated. In another embodiment, due to the problem of signal propagation in a closed space, it is found through experiments that when the moving speed is greater than a specific value, such as 2.2 meters per second, it is easy to cause the positioning gateway to receive the positioning signal of the positioning tag. The received signal strength is offset due to factors such as positioning cycle and signal propagation. In this embodiment, the moving speed interval is readjusted to [1.6, 2.2) to avoid this problem.

[0124] In a preferred embodiment, Figure 7 As shown, step S4 includes:

[0125] Step S41: obtaining a fingerprint point set between adjacent positioning beacons and a positioning route between the positioning beacons;

[0126] Step S42: Generate the passing time of each fingerprint point according to the positioning route, time difference, and fingerprint point set;

[0127] Step S43: acquiring the corresponding second signal reception strength according to the transit time as the new signal reception strength corresponding to each fingerprint point, so as to update the fingerprint database.

[0128] Specifically, in order to address the problem in the prior art that it is impossible to use the data generated during user positioning to update the received signal strength of the fingerprint point, in this embodiment, a set of fingerprint points between adjacent positioning beacons is obtained, and the time difference of the positioning tag passing through the adjacent positioning beacons is combined to calculate the passing time of each fingerprint point evenly distributed on the positioning route. Subsequently, the corresponding second signal strength vector can be obtained based on the passing time, thereby updating the fingerprint point and avoiding the tedious manual update.

[0129] In a preferred embodiment, the method for generating the transit time includes: in, is the passing time corresponding to the jth fingerprint point, j∈(1,2,…,n), n is the number of fingerprint points in the fingerprint point set, T1 is the acquisition time of the first positioning beacon, is the average elapsed time for each fingerprint point;

[0130] The generation method is: in, is the average elapsed time, n is the number of fingerprint points in the fingerprint point set, T1 is the acquisition time of the first positioning beacon, and T2 is the acquisition time of the second positioning beacon.

[0131] Specifically, in order to solve the problem that the data generated by the user during positioning cannot be used in the prior art to update the received signal strength of the fingerprint point, this embodiment obtains the fingerprint point set between adjacent positioning beacons and combines the time difference of the positioning tag passing through the adjacent positioning beacons to obtain the average passing time of each fingerprint point. Since the fingerprint points are evenly distributed on the positioning route, the specific passing time of each fingerprint point can be obtained by successive accumulation, and then the second signal strength vector corresponding to the passing time can be accurately obtained to realize the automatic update of the fingerprint point.

[0132] In a preferred embodiment, at least one positioning gateway is selected as a positioning beacon;

[0133] Then step S31 includes: obtaining a second signal strength, and determining whether the positioning tag is adjacent to the positioning beacon according to a signal strength threshold.

[0134] Specifically, in order to achieve greater flexibility in the deployment of the positioning system, in this embodiment, the positioning gateway is adjusted so that the positioning gateway can continuously send periodic positioning signals to the surrounding environment in the working mode of the positioning beacon while receiving the positioning signal, and then replace the positioning beacon in specific scenarios, such as when the positioning gateway is set at the end point or intersection of the positioning route, thereby reducing the deployment cost.

[0135] In a preferred embodiment, the positioning beacon is set at the end point or intersection of the positioning route.

[0136] Specifically, in order to achieve a better division effect for multiple fingerprint points on the positioning route, in this embodiment, by setting the positioning beacon at the end point or intersection of the positioning route, a higher user path rate is achieved, thereby increasing the amount of data that can be used to update the fingerprint points, thereby improving the efficiency of fingerprint updates in the positioning area.

[0137] A wireless positioning system, such as Figure 8 As shown, including:

[0138] A plurality of positioning gateways B4, the positioning gateways B4 are deployed in a positioning area, and a plurality of positioning routes are pre-set in the positioning area;

[0139] Positioning beacon B1, the positioning beacon B1 is set on the positioning route;

[0140] A positioning tag B2, the positioning tag B2 is set on a moving object, and the moving object moves in the positioning area along the positioning route;

[0141] The positioning gateway B4 receives the positioning signals sent by the positioning beacon B1 and the positioning tag B2;

[0142] The back-end server B3 is connected to the positioning gateway B4. The back-end server B3 locates the positioning tag according to the positioning signal and the pre-stored fingerprint points. The fingerprint points are distributed on the positioning route.

[0143] The backend server B3 includes a memory B31 and a processor B32. The memory B31 stores computer instructions. The processor B32 is connected to the memory B31. When the processor B32 runs the computer instructions, it executes the above-mentioned fingerprint updating method to update the fingerprint points.

[0144] Specifically, in response to the problem that the wireless positioning system in the prior art needs to be manually updated when the scene objects in the positioning area change, this embodiment introduces the above-mentioned fingerprint update method into the wireless positioning system to achieve dynamic updating of fingerprint points during daily positioning, thereby improving the accuracy of the wireless positioning system, eliminating the process of manual updating of fingerprint points, and reducing the overall maintenance cost of the system.

[0145] The beneficial effect of the present invention is that: by presetting the corresponding positioning route, the fingerprint points are classified, so that the fingerprint points are combined with the movement path of the positioning tag in the space during actual use. And the positioning tags that meet the conditions are screened out through a specific algorithm, and the signal reception strength of the fingerprint point is updated according to the second signal strength generated by the positioning tag during the movement, avoiding the tedious manual maintenance of fingerprint points in the prior art, so that the wireless positioning system can be effectively used in complex scenarios.

[0146] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A fingerprint updating method suitable for a wireless positioning process, characterized in that: At least one positioning route is pre-set in a positioning area, at least one positioning beacon and a plurality of fingerprint points are set on each positioning route, and a plurality of fingerprint points between every two adjacent positioning beacons constitute a fingerprint point set; A plurality of positioning gateways are also provided in the positioning area, for acquiring the positioning signal emitted by the positioning beacon or a positioning tag provided on the moving object and generating a signal receiving strength; A plurality of the signal reception strengths form a fingerprint database; The positioning gateway implements the wireless positioning process according to the fingerprint database; Then the fingerprint updating method comprises: Step S1: respectively collecting the signal reception strength corresponding to the positioning beacon received by each positioning gateway, and generating a first signal strength vector corresponding to each positioning beacon; Step S2: During the movement of the positioning tag, continuously collect the signal reception strength corresponding to the positioning tag received by each positioning gateway, generate multiple second signal strength vectors corresponding to the current moment, and use the current moment as the collection time of the second signal strength; Step S3: judging whether the positioning tag is moving unidirectionally at a constant speed between two adjacent positioning beacons according to the first signal strength vector and the second signal strength vector; If yes, go to step S4; If not, return to step S2; Step S4: acquiring a plurality of fingerprint points passed by the positioning tag according to the fingerprint point set corresponding to the positioning beacon, and updating the signal reception strength corresponding to each fingerprint point according to a plurality of the second signal strength vectors, thereby updating the fingerprint database.

2. The fingerprint updating method according to claim 1, characterized in that: The step S3 comprises: Step S31: determining whether the positioning tag is adjacent to the positioning beacon according to the first signal strength vector and the second signal strength vector; If yes, go to step S32; If not, return to step S2; Step S32: recording the positioning beacon that the positioning tag is currently adjacent to, and determining whether the last positioning beacon that the positioning tag passed by is the adjacent positioning beacon; If yes, go to step S33; If not, return to step S2; Step S33: obtaining the time difference between the positioning tag and the adjacent positioning beacons, and judging whether the positioning tag moves in a specific manner between two adjacent positioning beacons according to the time difference; If yes, go to step S4; If not, return to step S2.

3. The fingerprint updating method according to claim 2, characterized in that: The step S31 comprises: A Euclidean distance between the positioning tag and the positioning beacon is generated according to the first signal strength vector and the second signal strength vector, and whether the positioning tag is adjacent to the positioning beacon is determined according to the Euclidean distance.

4. The fingerprint updating method according to claim 3, characterized in that: The first signal strength vector is: R1=[RSSI A1 , RSSI A2 ,…,RSSI An ], where R1 is the first signal strength vector, RSSI An The signal reception strength corresponding to the positioning beacon received by the nth positioning gateway; The second signal strength vector is R2=[RSSI B1 , RSSI B2 ,…,RSSI Bn ], where R2 is the second signal strength vector, RSSI Bn The signal reception strength corresponding to the positioning tag received by the nth positioning gateway; Then the method for generating the Euclidean distance includes: i∈(1, 2, ..., n).

5. The fingerprint updating method according to claim 2, characterized in that: The step S33 comprises: Step S331: respectively obtaining the acquisition time corresponding to each second signal strength vector, and then generating the time difference value according to the acquisition time; Step S332: obtaining the positioning route where the adjacent positioning beacons are located, and generating an average moving speed of the positioning tag between the adjacent positioning beacons according to the positioning route, the positioning beacons and the time difference; Step S333: determining whether the positioning tag moves in the specific manner between two adjacent positioning beacons according to a moving speed interval; If yes, go to step S4; If not, return to step S2.

6. The fingerprint updating method according to claim 5, characterized in that: The step S4 comprises: Step S41: acquiring the fingerprint point set between the adjacent positioning beacons and the positioning route between the positioning beacons; Step S42: generating the passing time of each fingerprint point according to the positioning route, the time difference, and the fingerprint point set; Step S43: acquiring the corresponding second signal reception strength according to the transit time as the new signal reception strength corresponding to each fingerprint point, thereby updating the fingerprint database.

7. The fingerprint updating method according to claim 6, characterized in that: The method for generating the transit time includes: in, is the passing time corresponding to the jth fingerprint point, j∈(1, 2, ..., n), n is the number of fingerprint points in the fingerprint point set, T1 is the acquisition time of the first positioning beacon, is the average elapsed time for each of the fingerprint points; The generation method is: in, is the average elapsed time, n is the number of the fingerprint points in the fingerprint point set, T1 is the acquisition time of the first positioning beacon, and T2 is the acquisition time of the second positioning beacon.

8. The fingerprint updating method according to claim 2, characterized in that: Selecting at least one of the positioning gateways as the positioning beacon; Then the step S31 includes: obtaining the second signal strength, and determining whether the positioning tag is adjacent to the positioning beacon according to a signal strength threshold.

9. The fingerprint updating method according to claim 2, characterized in that: The positioning beacon is arranged at an end point or an intersection of the positioning route.

10. A wireless positioning system, characterized in that: include: A plurality of positioning gateways, wherein the positioning gateways are deployed in a positioning area, and a plurality of positioning routes are pre-set in the positioning area; A positioning beacon, wherein the positioning beacon is arranged on the positioning route; A positioning tag, wherein the positioning tag is set on a moving object, and the moving object moves in the positioning area along the positioning route; The positioning gateway receives positioning signals sent by the positioning gateway and the positioning tag; A back-end server, the back-end server is connected to the positioning gateway, and the back-end server locates the positioning tag according to the positioning signal and pre-stored fingerprint points, and the fingerprint points are distributed on the positioning route; The backend server includes a memory and a processor, the memory stores computer instructions, the processor is connected to the memory, and when the processor runs the computer instructions, it executes the fingerprint updating method according to any one of claims 1 to 9 to update the fingerprint point.

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