阅读说明：本技术 一种基于蓝牙纠正和地图匹配的寻位室内定位方法 (It is a kind of to be corrected based on bluetooth and map match seeks an indoor orientation method ) 是由 陈亮 徐瑞 黄帅 金尚忠 徐时清 张淑琴 杨凯 谷振寰 杨家军 祝晓明 于 2019-09-10 设计创作，主要内容包括：本发明公开了一种基于蓝牙纠正和地图匹配的寻位室内定位方法,属于室内定位领域,该方法包括将蓝牙纠正和地图匹配与寻位定位相结合,及时修正寻位定位过程中存在的累积误差；具体包括通过蓝牙信号强度模型反演距离经过滤波优化后选取校正的关键点参数；并通过基于软件技术的地图匹配方法校准航向角辅助寻位进行定位。本发明中充分利用了寻位在室内定位方面的优势,并加以蓝牙纠正和地图匹配的方式来削弱寻位室内定位过程中存在的累积误差,设计出的室内定位系统具有成本低、精度高、实时性好的优点。(It is corrected based on bluetooth and map match seeks an indoor orientation method the invention discloses a kind of, belongs to indoor positioning field, this method includes correcting bluetooth and map match is combined with position positioning is sought, and timely correct seeks accumulated error present in a position fixing process；Specifically include the key point parameter for choosing correction after filtering optimization by bluetooth signal intensity model inversion distance；And position is sought by the map-matching method calibration course angle auxiliary based on software technology and is positioned.The advantage that position positions aspect indoors of seeking is taken full advantage of in the present invention, and it is subject to that bluetooth is corrected and the mode of map match seeks existing accumulated error, the indoor locating system designed during an indoor positioning and have the advantages that at low cost, precision is high, real-time is good to weaken.)

It is corrected based on bluetooth and map match seeks an indoor orientation method 1. a kind of, which is characterized in that it specifically includes as follows Step:

S1, it carries out correcting key point parameter by bluetooth signal intensity model inversion distance；

The bluetooth signal intensity model are as follows:

Wherein, d is the distance of inverting, and A is that 1m receives power, and n is the electromagnetic wave attenuation factor,It is strong for wireless reception of signals Degree, i.e.,N is the number that signal strength is received in the unit time；

When the distance of Bluetooth signal inverting reaches a certain range d_{It is critical}When, using bluetooth as the center of circle, d_{It is critical}A circle is drawn for radius；True When recognizing the S1 point on pedestrian's arrival circumference, result is corrected；Pedestrian reach circumference on go out punctuate S2 when, to result carry out It corrects, to reduce the unstable caused error of signal strength；

S2, seek by calibrating course angle and Self Matching optimal path based on the map match of software technology position fixed Position；

The method of the map match based on software technology includes the following steps:

S201, the division that area of feasible solutions and infeasible region are carried out to the map where pedestrian；

S202, area of feasible solutions is further divided into linear vector domain and non-linear vector field；

S203, the location information of pedestrian is compared with the area of feasible solutions in map, Self Matching goes out optimal possible path；

S205, course angle is corrected if linear vector field if pedestrian, it is final to realize if correcting key point in non-linear vector field The auxiliary of map match seeks position positioning.

It is corrected based on bluetooth and map match seeks an indoor orientation method 2. according to claim 1, which is characterized in that In S202, area of feasible solutions judges including the use of gait, step-length detects, course angle estimation pre-processes initial value.

It is corrected based on bluetooth and map match seeks an indoor orientation method 3. according to claim 2, which is characterized in that The linear step-length model used in the step-length detection are as follows:

L=a+b × f+c × σ (1)

In formula (1), L is the step-length of pedestrian, and a, b, c is regression parameter, and f is the cadence of pedestrian, and σ indicates the acceleration of each step Variance；

It is corresponding with the linear step-length model walk or race state under pedestrian position prediction model are as follows:

In formula (2), X, Y, Z are three-dimensional location coordinates, and L is step-length, and θ indicates course deflection；

The acceleration transducer that is embedded by smart phone, gyro sensor, electronic compass obtain the course heading of pedestrian, lead to It crosses formula (1) and formula (2) and obtains the estimation of pedestrian position.

Technical field

The invention belongs to indoor positioning technologies fields, and in particular to a kind of to be corrected based on bluetooth and map match seeks a room Interior localization method.

Background technique

It is universal with the mobile terminal that the development of information technology, especially mobile Internet and smart phone are representative, So that LBS brings great convenience to people's lives.In the application scenarios of LBS, location technology is wherein most basic It is most important part.And outdoor positioning service GPS is mature enough, but indoors, since building believes GPS satellite Number there is great attenuation, so that GPS signal is too weak so that it cannot timely and accurately estimating position.Therefore it grinds The indoor positioning technologies for sending out that development cost is low, precision is high, real-time is good a set of are necessary.

Summary of the invention

It is corrected based on bluetooth and map match seeks an indoor orientation method the purpose of the present invention is to provide a kind of, with solution Certainly the problems mentioned above in the background art.

To achieve the above object, the invention provides the following technical scheme:

It is a kind of to be corrected based on bluetooth and map match seeks an indoor orientation method, specifically comprise the following steps:

S1, it carries out correcting key point parameter by bluetooth signal intensity model inversion distance；

The bluetooth signal intensity model are as follows:

Wherein, d is the distance of inverting, and A is that 1m receives power, and n is the electromagnetic wave attenuation factor,For wireless receiving letter Number intensity, i.e.,N is the number that signal strength is received in the unit time；

When the distance of Bluetooth signal inverting reaches a certain range d_{It is critical}When, using bluetooth as the center of circle, d_{It is critical}A circle is drawn for radius； When confirming that pedestrian reaches the S1 point on circumference, result is corrected；Pedestrian reach circumference on go out punctuate S2 when, to result It is corrected, to reduce the unstable caused error of signal strength；

S2, it carries out seeking position by calibrating course angle and Self Matching optimal path based on the map match of software technology Positioning；

The method of the map match based on software technology includes the following steps:

S201, the division that area of feasible solutions and infeasible region are carried out to the map where pedestrian；

S202, area of feasible solutions is further divided into linear vector domain and non-linear vector field；

S203, the location information of pedestrian is compared with the area of feasible solutions in map, Self Matching go out it is optimal can energy circuit Diameter；

S205, course angle is corrected if linear vector field if pedestrian, if correcting key point in non-linear vector field, finally Realize that the auxiliary of map match seeks position positioning.

As a preferred embodiment, area of feasible solutions judges including the use of gait, step-length detects, course in S202 Angular estimation pre-processes initial value.

As a preferred embodiment, the linear step-length model used in the step-length detection are as follows:

L=a+b × f+c × σ (1)

In formula (1), L is the step-length of pedestrian, and a, b, c is regression parameter, and f is the cadence of pedestrian, and σ indicates adding for each step Velocity variance；

It is corresponding with the linear step-length model walk or race state under pedestrian position prediction model are as follows:

In formula (2), X, Y, Z are three-dimensional location coordinates, and L is step-length, and θ indicates course deflection；

The acceleration transducer that is embedded by smart phone, gyro sensor, electronic compass obtain the course angle of pedestrian Degree obtains the estimation of pedestrian position by formula (1) and formula (2).

Compared with prior art, the beneficial effects of the present invention are:

The advantage sought in terms of position positions indoors is taken full advantage of in the present invention, and is subject to bluetooth and is corrected and map match Mode seeks an indoor positioning existing accumulated error in the process to weaken, and the indoor locating system designed is at low cost, smart The advantage that degree is high, real-time is good.

Detailed description of the invention

Fig. 1 is positioning flow of the invention；

Fig. 2 seeks a schematic diagram for of the invention；

Fig. 3 is that bluetooth of the invention corrects schematic diagram；

Fig. 4 is map match flow chart of the invention.

Specific embodiment

Below with reference to embodiment, the present invention will be further described.

The following examples are intended to illustrate the invention, but cannot be used to limit the scope of the invention.Item in embodiment Part can be adjusted according to actual conditions are further, under concept thereof of the invention all to method simple modifications of the invention Belong to the scope of protection of present invention.

The present invention provide it is a kind of corrected based on bluetooth and map match seeks an indoor orientation method, referring to Fig. 1, the party Method includes correcting bluetooth and map match is combined with position positioning is sought, and accumulation mistake is sought present in a position fixing process in amendment in time Difference；It specifically comprises the following steps:

The key point parameter of correction is chosen after filtering optimization by bluetooth signal intensity model inversion distance；

Position is sought by the map-matching method calibration course angle auxiliary based on software technology to be positioned.

By bluetooth positioning given one as the initial position P for seeking an algorithm₀(N₀,E₀), by strong using Bluetooth signal Degree model inversion distance correct the accumulated error that key point and reducing using map match seeks position.

The model of the linear step-length used are as follows:

L=a+b × f+c × σ (1)

In formula (1), L is the step-length of pedestrian, and a, b, c is regression parameter, and f is the cadence of pedestrian, and σ indicates adding for each step Velocity variance；

It is corresponding with the linear step-length model walk or race state under pedestrian position prediction model are as follows:

In formula (2), X, Y, Z are three-dimensional location coordinates, and L is step-length, and θ indicates course deflection；

The acceleration transducer that is embedded by smart phone, gyro sensor, electronic compass obtain the course angle of pedestrian Degree obtains the estimation of pedestrian position by formula (1) and formula (2).

Seeking an algorithm and carrying out the basic principle of indoor positioning is under conditions of known current time position, by measuring row The seat of calculating subsequent time continuously and in real-time may be implemented in the length distance and course angle that people moves under two-dimensional coordinate system Mark, so that successively recurrence calculation goes down.

Referring to Fig. 2, pedestrian is in t₀The position at moment is P₀(N₀,E₀), t₁Moment position is P₀(N₀,E₀), from t₀To t₁'s Course angle in this period is θ₀, wherein N_iIt indicates in the i-th step, north and south coordinate of the pedestrian in the coordinate system of northeast day, E_iTable Show in the i-th step, thing coordinate of the pedestrian in the coordinate system of northeast day.

Then corresponding relationship can indicate are as follows:

Pedestrian is in t₂The position P at moment₂(N₂,E₂) are as follows:

It is obtained by formula (3) and formula (4) recursion, pedestrian is in t_mThe position P at moment_m(N_m,E_m) are as follows:

In formula (5), P₀(N₀,E₀) be initial time position, d_iIndicate straight between i-1 moment position and the moment position i Linear distance, θ_iRepresent the course at i moment.

Referring to Fig. 3, bluetooth signal intensity model reaches a certain range d in the distance of Bluetooth signal inverting_{It is critical}When, with indigo plant Tooth is the center of circle, d_{It is critical}A circle is drawn for radius, when confirming that pedestrian reaches the S1 point on circumference, result is corrected, pedestrian is worked as Reach circumference on go out punctuate S2 when, result is corrected again, with reduce signal strength it is unstable caused by error.Map Matching is a kind of positioning correction method based on software technology, is a kind of pseudo-measurement technology.Main method be by location information with In map can traffic areas be compared, find out with the highest path of motion profile matching degree, point is projected, and makes With the key point of road on the way, the accumulated error sought in a position fixing process is modified.Matched using map is needed first Center line delimited, then automatically generates according to different provincial characteristics the buffer area centered on it by computer.Tentatively may be used Be divided into can traffic areas and impassabitity region.Wherein can traffic areas can be divided again according to the geometric layout of indoor environment For different vector fields.

Referring to Fig. 4, being pre-processed first by gait judgement, step-length detection, course angle estimation to initial value, connect Vector field where judgement terminal then correct course angle if it is in linear vector field；If it is in non-linear vector field, then Correct key point, the positioning result after finally obtaining map match.

The present invention provide it is a kind of corrected based on bluetooth and map match seeks an indoor orientation method, pass through map match and draw Resolute domain corrects mobile phone course angle, weakens the accumulated error of linear vector field, and use bluetooth signal intensity model Inverting distance achievees the effect that correct key point, and this method is by retaining the advantages of seeking indoor positioning and being subject to map match The supplementary mode corrected with bluetooth is, it can be achieved that low cost, high-precision indoor positioning, have great application prospect.

The embodiment of the present invention is described although having been shown, for the ordinary skill in the art, Ke Yili Solution without departing from the principles and spirit of the present invention can to these embodiments carry out it is a variety of variation, modification, replacement and Modification, the scope of the present invention is defined by the appended.