CN106686720A - Wireless fingerprint positioning method and system based on time dimension - Google Patents
Wireless fingerprint positioning method and system based on time dimension Download PDFInfo
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- CN106686720A CN106686720A CN201611197109.4A CN201611197109A CN106686720A CN 106686720 A CN106686720 A CN 106686720A CN 201611197109 A CN201611197109 A CN 201611197109A CN 106686720 A CN106686720 A CN 106686720A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0278—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving statistical or probabilistic considerations
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- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a wireless fingerprint positioning method and system based on time dimension. The method includes the following steps that according to the requirement of location accuracy, unit grid division is conducted on a corresponding area in a room, and attributes of unit grids are stored in a location fingerprint database; multiple beacon nodes are set in each unit grid to ensure that the received signal strength in all unit grids has certain difference; multiple reference points are determined in the unit grids, and the signal strength of the beacon nodes received at the reference points during different time periods in the day serves as fingerprints to be stored in the location fingerprint database in the time periods; the signal strength of the beacon nodes received by a to-be-located terminal at the current time is matched with the location fingerprints of all unit grids in the location fingerprint database at the corresponding time period, and the location information of the to-be-located terminal is obtained.
Description
Technical field
The invention belongs to wireless router (WLAN：Wireless Local Areal Network) communication network field,
The use WLAN being particularly directed to carries out the method and its system of indoor positioning.
Background technology
With the high speed development of modern age mechanics of communication, in recent years so that wireless router (WLAN) has obtained great hair
Exhibition, and obtain large-scale popularization and application.Therefore, the existing hardware facility based on widely available WLAN, by increasing software
Module provides various indoor positioning service, and applies it in business, public safety and military field, and industry is existing various
Attempt.
For example, by WLAN deployment in industry spot, monitoring device ruuning situation；WLAN deployment is moved in warehouse tracking logistics
State；It is even interim that WLAN rapid deployments are given first aid into scene in fire, for fireman provides optimal route navigation.
Further, because RSS (Received signal strength index, received signal strength indicator) need not
Extra hardware unit, low cost can meet large-scale application requirement.At present, common indoor positioning is used and is based on mostly
The positioning method of RSSI.According to whether by physical means direct measurement euclidean distance between node pair, RSSI location technologies can be used for
Based on range finding and non-ranging two classes algorithm.
Wherein the algorithm based on range finding needs to obtain the distance between node, i.e., known transmission signal intensity, receiving node root
According to the signal intensity for receiving, loss of the signal in communication process is calculated, will be passed using the signal propagation model of theoretical or experience
Broadcast loss and be converted into distance.
But, because indoor environment is relative complex, weak output signal, and multipath, reflex are serious, ranging process is easy to
It is affected by it producing range error, and the position error thus brought easily causes accumulation, so as to influence positioning precision.
And for non-ranging mode, its be using based on location fingerprint matching come realize positioning.Based on location fingerprint matching
Indoor positioning, be broadly divided into two stages：Offline sample phase and tuning on-line stage.
The target of wherein offline sample phase is to build a position on relation between signal intensity and sampling point position
Fingerprint database.In order to generate the database, operating personnel need to determine some sampled points being positioned in environment；Then travel through
All sampled points, record the radio signal characteristics in the measurement of each sampled point, for example, the signal from all access points is strong
Degree；Finally they are stored in database in some way.
And the tuning on-line stage, it is when user moves to a certain position, according to the signal strength information for receiving in real time, profit
With location algorithm by its with location fingerprint database in information matches, calculate the position of the user.Based on location fingerprint
Positioning is without measurement distance, it is not required that consider range error problem, has significantly compared with the former in terms of cost and power consumption
Advantage.
But, the above-mentioned matching location algorithm based on sampled point does not consider time dimension.Calculated in WLAN indoor positionings
In method, one day 24 hours section, decay size when wireless signal is propagated in space is not a constant, and it can be with
The moment such as air-flow, the stream of people, weather condition occurs to change, and is a curve fluctuation.
Therefore, in offline sample phase, if only consider the wireless fingerprint data at deployment moment, and with this data representation one
The sampled data at all moment in it, it is clear that and it is unreasonable, and can also cause that the accuracy rate of matching is greatly reduced accordingly, it is fixed
Position precision is not naturally high.That is, existing wireless fingerprint positioning solution is in offline sample phase, simply by RSSI and
Coordinate does not consider influence of the time factor to sampled signal as vector dimension.
Therefore, overcome in the prior art it is necessory to develop a kind of new wireless fingerprint positioning method and its system
Defect.
The content of the invention
It is an object of the invention to provide a kind of wireless fingerprint positioning method based on time dimension, it adds time dimension
Degree, correspondence different time sections form corresponding wireless fingerprint database, when user's handhold mobile terminal equipment is in a certain position,
Using location algorithm by the information matches in its location fingerprint database with the place time period, the position of the user is calculated,
So that the accuracy rate of matching is greatly improved, positioning precision is high.
To achieve these goals, the technical solution adopted by the present invention is as follows：
An embodiment of the invention provide a kind of wireless fingerprint positioning method based on time dimension, it include with
Lower step：
S1 steps：According to the predetermined demand of positioning precision, respective regions are carried out with unit grid division, and to the unit
Grid sets grid property, is stored in location fingerprint database；Wherein beaconing nodes are laid in each unit grid；And root
According to the grid cell shape, using each summit of the grid cell as the reference point of the grid cell；
S2 steps：Set according to actual needs, the time is divided into Ti time period, each ginseng of the unit grid
The signal from the beaconing nodes that examination point is received in different time periods, collection, the position as the unit grid refers to
Line storage to should the time period Di location fingerprint databases；
S3 steps：During positioning, the beaconing nodes signal intensity that terminal to be positioned is received in the Ti time periods is corresponding
Di location fingerprint databases in each corresponding reference point of grid matched, obtain the positional information of the terminal to be positioned.
Further, in different embodiments, wherein the respective regions are carried out with the mode bag of unit grid division
Include overall region dividing mode and at least one in region division mode is carried out according to preseting length unit.
Further, in different embodiments, wherein the attribute of the unit grid includes that itself numbering, floor are compiled
Number, grid barycentric coodinates, adjacent mesh numbering, boundary reference point numbering at least one.
Further, in different embodiments, wherein the beaconing nodes are the WLANs of known location coordinate
Access point AP (Access Point).
Further, in different embodiments, wherein the laying mode of the beaconing nodes is mark off same
Node to be positioned in unit grid can at least receive 3 stabilizations in -75dBm and the letter of the beaconing nodes of above signal intensity
Breath, and ensure that the signal intensity received in different units grid has different simultaneously.
Further, in different embodiments, wherein the acquisition mode of the signal intensity of reference point reception is to adopt
The in rotary moving of all directions is carried out during collection, and is continued for some time, the statistical method according to setting is carried out to received signal strength
Statistics, statistic is stored in location fingerprint database as the reference point locations fingerprint.
Further, in different embodiments, wherein the statistical method is the method based on average, it is to calculate every
Each reference point of individual unit grid within the Ti time periods, each beaconing nodes signal intensity received in a collection period
Average value, and be normalized, be stored in Di location fingerprint databases as this unit grid location fingerprint.
Further, in different embodiments, wherein the statistical method is the method based on probability, it is to calculate every
Each reference point of individual unit grid within the Ti time periods, each beaconing nodes signal intensity received in a collection period
Mean μ and variances sigma, (μ, σ) is stored in Di location fingerprint numbers as respective beacon node in the location fingerprint of the unit grid
According to storehouse.
Further, in different embodiments, wherein S3 steps are, during positioning, reference point according to unit grid
The location fingerprint of the signal intensity of the beaconing nodes that location fingerprint and terminal to be positioned are received, calculates described to be positioned
Location fingerprint and the Euclidean distance of the location fingerprint of each reference point that terminal is obtained when positioning the Ti time periods, the wherein position
The fingerprint docking collection of letters number is obtained after treatment；Then all reference points in each unit grid and end to be positioned are calculated
The Euclidean distance of the location fingerprint at end is added, and selects the grid cell of the minimum setting quantity of additive value；Read this distance most
The attribute of the unit grid of small above-mentioned predetermined number, summation is weighted according to Euclidean distance, obtains the terminal to be positioned
Coordinate position.
Further, in different embodiments, wherein the reference point based on unit grid is to terminal to be positioned
The computing formula of Euclidean distance is：
Wherein, x is point to be determined received signal strength matrix, and N is grid GiReference count out, Cj be j-th reference
Point, d is attribute dimensions.(whether the parameter p in PLSCONFM formula needs to explain)
Further, further embodiment of the invention, there is provided one kind is for implementing a kind of base of the present invention
In the alignment system of the wireless fingerprint positioning method of time dimension, it includes that unit grid divides device, beacon installation aiding device, ginseng
Examination point determining device, signal intensity harvester, location fingerprint database and terminal location determining device.
Wherein described unit grid divides device, for according to positioning precision demand, the respective regions to needing positioning to enter
Row unit grid is divided, and is that the unit grid sets a property, and the attribute of the unit grid is stored in into location fingerprint data
Storehouse.The beacon installation aiding device, for laying 3 or more the beaconing nodes of quantity, it is ensured that letter is received in unit grid
Number intensity has different.
The reference point determining device, for determining 3 or more the reference points of quantity in the unit grid.It is described
Signal intensity harvester, the signal for gathering the beaconing nodes received at the reference point in the Ti time periods is strong
Degree, and be stored in its corresponding Di location fingerprints database as location fingerprint information.
The location fingerprint database, attribute, time tag and location fingerprint information for storing the unit grid.
The terminal location determining device, for by the signal intensity of the beaconing nodes received by terminal current time to be positioned
Location fingerprint with each grid in the location fingerprint database of the time period is matched, and obtains the position of terminal to be positioned
Information.
Further, in different embodiments, wherein terminal location determining device includes data preprocessing module and end
End position determining module, wherein the data preprocessing module is used for the matching process according to setting, at terminal positioning to be measured
The online signal strength data for measuring is processed accordingly.The terminal location determining module, for according to each unit grid
The location fingerprint that constitutes of the actually measured signal intensity of location fingerprint and current slot, calculate it and be based on unit grid reference
The Euclidean distance of point, according to threshold value set in advance, selects the unit grid of the minimum predetermined number of value, is obtained after weighting undetermined
Position terminal location.
Further, in different embodiments, wherein the alignment system also includes CCU, for coordinating
Work in system between each part so that the alignment system smooth can be run.
Further, in different embodiments, wherein the alignment system also includes display and input/output unit,
Receive external command for the system, and show or export the data processed result of the alignment system.It specifically may be used
With including input keyboard, mouse, display, printer etc..
Relative to prior art, the beneficial effects of the invention are as follows：It is of the present invention a kind of based on the wireless of time dimension
Fingerprint positioning method and its system, it adds time dimension in offline sample phase, to the wireless signal strength of different time sections
Relation forms wireless fingerprint database between sampling point position.In the tuning on-line stage, user's handhold mobile terminal equipment is a certain
During position, according to the signal strength information and current time information that receive in real time, using location algorithm by itself and current time
Information matches in location fingerprint database, calculate the position of the user.So so that the accuracy rate of matching is greatly improved,
Improve and improve positioning precision.
Brief description of the drawings
Fig. 1 is a kind of patrolling for wireless fingerprint positioning system based on time dimension that an embodiment of the invention is provided
Collect structure chart.
Specific embodiment
Below with reference to drawings and Examples, to a kind of wireless fingerprint positioning side based on time dimension of the present invention
The technical scheme of method and its system is described in further detail.
An embodiment of the invention provide a kind of wireless fingerprint positioning method based on time dimension, it include with
Lower step：
S1 steps：According to the predetermined demand of positioning precision, respective regions are carried out with unit grid division, and to the unit
Grid sets grid property, is stored in location fingerprint database；Wherein Reasonable Arrangement beaconing nodes in each unit grid,
Ensure that each unit grid can receive the information of beaconing nodes of more than 3；And according to the grid cell shape, with described
Each summit of grid cell as the grid cell reference point.
Wherein, for the respective regions, by taking building as an example, it can will have location requirement in the building
Region is defined as respective regions, unit grid division is carried out to it, and be respectively these network settings grid properties.
Specifically, needing the region of positioning in the building, it may include but be not limited to：Operating room, lobby, health
Between, the stair region between hall, corridor and floor.For positioning precision, it can be unfixed, can be according to not
Same positioning precision demand, carries out corresponding unit grid division.
For example, when positioning precision demand is relatively low, the region division of globality can be carried out, for example, operating room, lobby, defending
Between life etc., whole room area can be divided into a unit grid.And the region higher to requiring positioning precision, such as 3 meters
Within, positioning region can be divided multiple meter level (in units of rice) unit grids；And in special area, such as concave plane
With floor gap region, can suitably the length and width of adjustment unit grid or increase redundancy grid be completely covered with reaching.
Further, the attribute of the unit grid for marking off, for example, may include but be not limited to：Itself numbering,
Floor number, grid barycentric coodinates, adjacent mesh numbering, boundary reference point numbering etc., and be stored in as grid property shown
Location fingerprint database.
The beaconing nodes, it can be the access point AP (Access of the WLAN of known location coordinate
Point).The beaconing nodes have unique ID, and send broadcast message, at the same the signal intensity of the beaconing nodes and
The unique ID of beaconing nodes can be to be read by hardware unit, for example, signal intensity harvester.
Further, in an implementation method, the laying mode of the beaconing nodes, such as quantity, position etc. parameter,
Following principle can be followed：The node to be positioned in same described unit grid for marking off can at least receive 3 stabilizations-
The information of the beaconing nodes of 75dBm and above signal intensity, and ensure that the signal received in the different unit grids is strong simultaneously
Degree has different.
S2 steps：Set according to actual needs, the time is divided into Ti time period, such as be with minimum time section
As a example by one hour, be divided into 24 time periods altogether, i.e. T1, T2 ..., T24；Wherein T1, T2 ..., T24 totally 24 time periods
It is interior, in the signal from beaconing nodes that each reference point collection of the unit grid is received, as the position of the unit grid
Put fingerprint storage to Di location fingerprint databases；If 24 time period T1, T2 ..., T24, then be also accordingly 24 positions
Fingerprint database D1, D2 ..., D24.
The acquisition mode of the signal intensity for wherein being received for the reference point, can be in each reference point rotating acquisition.
That is, collection when it is in rotary moving in all directions, continue for some time, according to setting statistical method received signal strength is united
Meter, statistic is stored in location fingerprint database as the reference point locations fingerprint.By the way of rotating acquisition, it is ensured that
The omni-directional of gatherer process；And certain time gathers a number of data, it is ensured that the validity of data.
Wherein described statistical method can be the method based on average or the method based on probability.For based on average
Method, its be calculate each unit grid each reference point within the Ti time periods, received in a collection period each
The average value of beaconing nodes signal intensity, and be normalized, being stored in Di positions as this unit grid location fingerprint refers to
Line database.
For the method based on probability, its be each reference point for calculating each unit grid within the Ti time periods, one
The mean μ and variances sigma of each beaconing nodes signal intensity received in collection period, by (μ, σ) as respective beacon node
Di location fingerprint databases are stored in the location fingerprint of the unit grid.
S3 steps：During positioning, the beaconing nodes signal intensity that terminal to be positioned is received in the Ti time periods is corresponding
Di location fingerprint databases in each corresponding reference point of grid matched, obtain the positional information of terminal to be positioned.
The process that it is implemented is as follows：
By the terminal to be positioned signal intensity that certain point is received within the Ti time periods and beaconing nodes numbering, refer to according to position
The statistical method of line is unified.Wherein in the present embodiment, it uses the matching process based on average, then at certain when positioning
The signal intensity measured at point also must first try to achieve average value and be normalized again；
The location fingerprint of each unit grid multiple reference point, calculates the end to be positioned in traversal Di location fingerprint databases
Location fingerprint and the Euclidean distance of the location fingerprint of each reference point that end obtains when positioning the Ti time periods, the wherein position refers to
The line docking collection of letters number is obtained after treatment；Then all reference points and terminal to be positioned in each unit grid are calculated
The Euclidean distance of location fingerprint be added, select the grid cell of the minimum setting quantity of additive value；
The computing formula of Euclidean distance of the reference point based on unit grid being directed to terminal to be positioned is：
Wherein, x is point to be determined received signal strength matrix, and N is unit grid GiReference count out, Cj is j-th
Reference point, d is attribute dimensions.
The attribute of the unit grid of the minimum above-mentioned predetermined number of this distance is read, for example, numbering, grid barycentric coodinates
Information etc., summation is weighted according to Euclidean distance, obtains the coordinate position of the terminal to be positioned.Wherein Euclidean distance is got over
Small, the weight of imparting is bigger.
Further, further embodiment of the invention, there is provided one kind is for implementing a kind of base of the present invention
In the alignment system of the wireless fingerprint positioning method of time dimension, it includes that unit grid divides device, beacon installation aiding device, ginseng
Examination point determining device, signal intensity harvester, location fingerprint database, terminal location determining device, show and be input into defeated
Go out output device and CCU.
Wherein described unit grid divides device, for according to positioning precision demand, the respective regions to needing positioning to enter
Row unit grid is divided, and is that the unit grid sets a property, and the attribute of the unit grid is stored in into location fingerprint data
Storehouse.The beacon installation aiding device, for laying multiple beaconing nodes, it is ensured that received signal strength has certain poor in each grid
It is different.
The reference point determining device, for determining multiple reference points in the unit grid.The signal intensity is adopted
Acquisition means, for gathering the signal intensity of the beaconing nodes received at the reference point in the Ti time periods, and are made
For location fingerprint information is stored in its corresponding Di location fingerprints database.
The location fingerprint database, attribute, time tag and location fingerprint information for storing the unit grid.
The terminal location determining device, for by the signal intensity of the beaconing nodes received by terminal current time to be positioned
Location fingerprint with each grid in the location fingerprint database of the time period is matched, and obtains the position of terminal to be positioned
Information.
Wherein terminal location determining device includes data preprocessing module and terminal location determining module, wherein the data
Pretreatment module is used for the matching process according to setting, and phase is carried out to the online signal strength data for measuring at terminal positioning to be measured
The treatment answered.The terminal location determining module, surveys for the location fingerprint according to each unit grid and current slot to be actual
The location fingerprint that the signal intensity for obtaining is constituted, calculates its Euclidean distance for being based on unit grid reference point, according to set in advance
Threshold value, selects the unit grid of the minimum predetermined number of value, and terminal location to be positioned is obtained after weighting.
Wherein described display and input/output unit, receive external command, and show or defeated for the system
Go out the data processed result of the alignment system；It can specifically include input keyboard, mouse, display, printer etc..Institute
CCU is stated, for coordinating the work in system between each part so that the alignment system smooth can be transported
OK.
A kind of wireless fingerprint positioning method and its system based on time dimension of the present invention, it is in offline sampling rank
Section adds time dimension, and wireless fingerprint data are formed to relation between the wireless signal strength and sampling point position of different time sections
Storehouse.The tuning on-line stage, user's handhold mobile terminal equipment at a certain position, according to the signal strength information that receives in real time and
Current time information, using location algorithm by the information matches in its location fingerprint database with current time, calculates this
The position of user.So so that the accuracy rate of matching is greatly improved, improve and improve positioning precision.
Technical scope of the invention is not limited solely to the content in described above, and those skilled in the art can not take off
On the premise of the technology of the present invention thought, many variations and modifications are carried out to above-described embodiment, and these deformations and modification all should
When being within the scope of the present invention.
Claims (10)
1. a kind of wireless fingerprint positioning method based on time dimension；Characterized in that, it is comprised the following steps：
S1 steps：According to the predetermined demand of positioning precision, respective regions are carried out with unit grid division, and to the unit grid
Grid property is set, location fingerprint database is stored in；Wherein beaconing nodes are laid in each unit grid；And according to institute
Unit grid shape is stated, using each summit of the unit grid as the reference point of the unit grid；
S2 steps：Set according to actual needs, the time is divided into Ti time period, each reference point of the unit grid
In the signal from the beaconing nodes that different time periods, collection are received, deposited as the location fingerprint of the unit grid
Store up to should the time period Di location fingerprint databases；
S3 steps：During positioning, the corresponding Di of beaconing nodes signal intensity that terminal to be positioned is received in the Ti time periods
The corresponding reference point of each unit grid is matched in location fingerprint database, obtains the positional information of the terminal to be positioned.
2. a kind of wireless fingerprint positioning method based on time dimension according to claim 1；Characterized in that, wherein right
The mode that the respective regions carry out unit grid division includes overall region dividing mode and is carried out according to preseting length unit
At least one in region division mode.
3. a kind of wireless fingerprint positioning method based on time dimension according to claim 1；Characterized in that, wherein institute
Stating the attribute of unit grid includes that itself numbering, floor number, grid barycentric coodinates, adjacent mesh numbering, boundary reference point are compiled
At least one in number.
4. a kind of wireless fingerprint positioning method based on time dimension according to claim 1；Characterized in that, wherein institute
The laying mode for stating beaconing nodes is the node to be positioned in the same described unit grid for marking off, and can at least receive 3
Stabilization ensures the signal received in different units grid simultaneously in -75dBm and the information of the beaconing nodes of above signal intensity
Intensity has different.
5. a kind of wireless fingerprint positioning method based on time dimension according to claim 1；Characterized in that, wherein institute
The acquisition mode for stating the signal intensity of reference point reception carries out the in rotary moving of all directions when being collection, and continues for some time,
Statistical method according to setting is counted to received signal strength, and statistic is stored in location fingerprint database as the reference
Point location fingerprint.
6. a kind of wireless fingerprint positioning method based on time dimension according to claim 5；Characterized in that, wherein institute
It is the method based on average to state statistical method, its be each reference point for calculating each unit grid within the Ti time periods, one
The average value of each beaconing nodes signal intensity received in collection period, and be normalized, as this element mesh
Lattice location fingerprint is stored in Di location fingerprint databases.
7. a kind of wireless fingerprint positioning method based on time dimension according to claim 5；Characterized in that, wherein institute
It is the method based on probability to state statistical method, its be each reference point for calculating each unit grid within the Ti time periods, one
The mean μ and variances sigma of each beaconing nodes signal intensity received in collection period, by (μ, σ) as respective beacon node
Di location fingerprint databases are stored in the location fingerprint of the unit grid.
8. a kind of wireless fingerprint positioning method based on time dimension according to claim 1；Characterized in that, wherein institute
Stating S3 steps is, during positioning, the letter that the location fingerprint of the reference point according to unit grid and terminal to be positioned are received
Mark the location fingerprint of the signal intensity of node, calculate location fingerprint that the terminal to be positioned obtains when position the Ti time periods and
The docking collection of letters number of the Euclidean distance of the location fingerprint of each reference point, the wherein location fingerprint is obtained after treatment；So
The all reference points calculated afterwards in each unit grid are added with the Euclidean distance of the location fingerprint of terminal to be positioned, select addition
It is worth the grid cell of minimum setting quantity；The attribute of the unit grid of the minimum above-mentioned predetermined number of this distance is read, is pressed
Summation is weighted according to Euclidean distance, the coordinate position of the terminal to be positioned is obtained.
9. a kind of wireless fingerprint positioning method based on time dimension according to claim 8；Characterized in that, wherein institute
State the reference point based on unit grid is to the computing formula of the Euclidean distance of terminal to be positioned：
Wherein, x is point to be determined received signal strength matrix, and N is grid GiReference count out, Cj is j-th reference point, and d is
Attribute dimensions.
10. a kind of positioning for implementing a kind of wireless fingerprint positioning method based on time dimension described in claim 1~9
System, it is characterised in that it includes that unit grid divides device, beacon installation aiding device, reference point determining device, signal intensity and adopts
Acquisition means, location fingerprint database and terminal location determining device；
Wherein described unit grid divides device, for according to positioning precision demand, the respective regions to needing positioning to carry out list
First mesh generation, is that the unit grid sets a property, and the attribute of the unit grid is stored in into location fingerprint database；
The beacon installation aiding device, for laying 3 or more the beaconing nodes of quantity, it is ensured that letter is received in unit grid
Number intensity has different；
The reference point determining device, for determining 3 or more the reference points of quantity in the unit grid；
The signal intensity harvester, for gathering the beaconing nodes received at the reference point in the Ti time periods
Signal intensity, and be stored in its corresponding Di location fingerprints database as location fingerprint information；
The location fingerprint database, attribute, time tag and location fingerprint information for storing the unit grid；
The terminal location determining device, for by the signal of the beaconing nodes received by terminal current time to be positioned
Intensity is matched with the location fingerprint of each grid in the location fingerprint database of time period, obtains the position of terminal to be positioned
Information.
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| CN110940951A (en) * | 2018-09-25 | 2020-03-31 | 北京四维图新科技股份有限公司 | Positioning method and device |
| CN112866905A (en) * | 2021-02-08 | 2021-05-28 | 惠州Tcl移动通信有限公司 | Indoor positioning method, terminal and computer readable storage medium |
| CN113124868A (en) * | 2019-12-31 | 2021-07-16 | 华为技术有限公司 | Terminal positioning method and related equipment |
| CN114423076A (en) * | 2021-12-27 | 2022-04-29 | 深圳云天励飞技术股份有限公司 | Fingerprint data generation method and device, electronic equipment and storage medium |
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| CN107231615A (en) * | 2017-06-27 | 2017-10-03 | 深圳市优网精蜂网络有限公司 | A kind of localization method and system based on network fingerprinting |
| CN110940951A (en) * | 2018-09-25 | 2020-03-31 | 北京四维图新科技股份有限公司 | Positioning method and device |
| CN113124868A (en) * | 2019-12-31 | 2021-07-16 | 华为技术有限公司 | Terminal positioning method and related equipment |
| CN112866905A (en) * | 2021-02-08 | 2021-05-28 | 惠州Tcl移动通信有限公司 | Indoor positioning method, terminal and computer readable storage medium |
| CN114423076A (en) * | 2021-12-27 | 2022-04-29 | 深圳云天励飞技术股份有限公司 | Fingerprint data generation method and device, electronic equipment and storage medium |
| CN114423076B (en) * | 2021-12-27 | 2024-03-22 | 深圳云天励飞技术股份有限公司 | Fingerprint data generation method and device, electronic equipment and storage medium |
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