CN105866729B - A kind of indoor orientation method and device based on user behavior characteristics - Google Patents

Abstract

The invention discloses a kind of indoor orientation method and device based on user behavior characteristics, wherein method includes Bluetooth beacon, mobile terminal, include the following steps: the positioning record for obtaining indoor navigation system on the mobile terminal, judges whether active user is to position for the first time according to positioning record；If active user is not to position for the first time, the detected value of the movement of active user is detected by the gyroscope built in the mobile terminal, judges whether the detected value is not less than preset turning calibration value；If the detected value is not less than preset turning calibration value, the location of active user is calibrated.Positioning accuracy can be substantially improved in the case where the sparse deployment of Bluetooth beacon node in the present invention, to promote user experience, reduce deployment and maintenance cost.

Description

An indoor positioning method and device based on user behavior characteristics

technical field

The present invention belongs to the technical field of navigation, and in particular, relates to an indoor positioning method and device based on user behavior characteristics.

Background technique

With the continuous development of modern cities, large buildings such as large supermarkets and shopping centers continue to appear. People will want to determine their location in the above indoor environment and quickly find their destination. With the popularization of smart phones and the development of mobile Internet, map and navigation software will enter a new era - indoor navigation. The current common practice is to deploy Bluetooth (iBeacon). For the positioning method based on Bluetooth (iBeacon), the positioning accuracy strongly depends on the deployment density of iBeacon nodes. Therefore, in the case of (iBeacon) low-density deployment, the accuracy of indoor positioning is greatly affected. At the same time, some positioning methods can not take into account the influence of user movement on positioning.

SUMMARY OF THE INVENTION

In order to solve the technical defect of poor indoor positioning accuracy under the deployment of existing low-density bluetooth beacons, the present invention analyzes the behavior characteristics of users and combines indoor GIS information to perform position calibration in a timely manner in the process of sensor recursion, thereby improving the low density. The accuracy and stability of positioning under the conditions of Bluetooth beacon devices, thereby improving user experience.

The present invention provides an indoor positioning method based on user behavior characteristics, including a Bluetooth beacon and a mobile terminal, including the following steps:

Acquiring the positioning record of the indoor navigation system on the mobile terminal, and determining whether the current user is positioned for the first time according to the positioning record;

If the current user is not positioned for the first time, the detection value of the movement of the current user is detected by the built-in gyroscope of the mobile terminal, and it is judged whether the detection value is not less than the preset turning calibration value;

If the detected value is not less than the preset turning calibration value, the current position of the user is calibrated.

The detection value of the current user motion detected by the built-in gyroscope of the mobile terminal refers to the motion state of the current user, and the motion state includes turning and its angle. When the user turns, the orientation of his mobile phone will also change, and the integration result of the gyroscope will reflect the degree of change in the orientation (azimuth) of the mobile phone, so as to know how many degrees the user has turned, whether it is left or right. And so on, combined with indoor GIS information, you can determine whether the user is at an intersection or at which intersection.

In the indoor positioning method based on user behavior characteristics according to the present invention, the method further includes

If the current user is not located for the first time, determine whether the Bluetooth signal reaches a preset Bluetooth calibration value through the Bluetooth signal sent by the Bluetooth beacon detected by the mobile terminal;

If the bluetooth signal reaches the preset bluetooth calibration value, the current position of the user is calibrated.

In the indoor positioning method based on user behavior characteristics according to the present invention, if the current user is not positioned for the first time, the method further includes:

According to the bluetooth signal sent by the bluetooth beacon detected by the mobile terminal, query a preset database to obtain the geographic location corresponding to the bluetooth signal, and the preset database includes the relationship between the bluetooth signal value and the geographic location

In the indoor positioning method based on user behavior characteristics according to the present invention, obtaining the positioning record of the indoor navigation system on the mobile terminal, and judging whether the current user is the first positioning according to the positioning record further includes:

The indoor GIS location information is sent to the indoor navigation system by using the mobile terminal.

In the indoor positioning method based on user behavior characteristics of the present invention, the mobile terminal judges the behavior characteristics of the current user's movement through the detection value of its built-in gyroscope, and the behavior characteristics include turning actions.

The present invention also provides an indoor positioning device based on user behavior characteristics, including a judgment module, a first acquisition module, and a first positioning module, wherein,

The judging module is used to obtain the positioning record of the indoor navigation system on the mobile terminal, and judge whether the current user is the first positioning according to the positioning record;

In the first acquisition module, if the current user is not positioned for the first time, the detection value of the movement of the current user is detected by the built-in gyroscope of the mobile terminal, and it is judged whether the detection value is not less than the preset turning calibration value;

The first positioning module, if the detected value is not less than a preset turning calibration value, calibrates the current position of the user.

In the indoor positioning device based on user behavior characteristics according to the present invention, the device further includes

A second acquisition module, configured to judge whether the Bluetooth signal reaches a preset Bluetooth calibration value through the Bluetooth signal sent by the Bluetooth beacon detected by the mobile terminal if the current user has not been positioned for the first time;

The second positioning module is configured to calibrate the current location of the user if the Bluetooth signal reaches a preset Bluetooth calibration value.

In the indoor positioning device based on user behavior characteristics according to the present invention, the device further includes

A third positioning module, configured to query a preset database to obtain the geographic location corresponding to the Bluetooth signal according to the Bluetooth signal sent by the Bluetooth beacon detected by the mobile terminal if the current user is not positioning for the first time, and the preset The database includes associations between Bluetooth signal values and geographic locations.

In the indoor positioning device based on user behavior characteristics according to the present invention, the judging module further includes a receiving sub-module,

The receiving sub-module is used for sending indoor GIS location information to the indoor navigation system by using the mobile terminal.

In the indoor positioning device based on user behavior characteristics of the present invention, the mobile terminal judges the behavior characteristics of the current user's movement through the detection value of its built-in gyroscope, and the behavior characteristics include turning actions.

To sum up, the present invention first detects the user's human behavior characteristics through the mobile terminal, and then calibrates the user's position according to the Bluetooth beacon to improve indoor positioning accuracy under the condition of low indoor Bluetooth beacon density.

Description of drawings

1 is a schematic flowchart of an embodiment of an indoor positioning method based on user behavior characteristics according to the present invention;

2 is a schematic flowchart of another embodiment of the indoor positioning method based on user behavior characteristics according to the present invention;

3 is a schematic structural diagram of an embodiment of the indoor positioning device based on user behavior characteristics of the present invention;

FIG. 4 is a schematic structural diagram of another embodiment of the indoor positioning device based on the user behavior feature according to the present invention.

Detailed ways

The present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings.

The present invention can greatly improve positioning accuracy under the condition of sparse deployment of iBeacon nodes, thereby improving user experience and reducing deployment and maintenance costs.

The present invention provides an indoor positioning method based on user behavior characteristics. The indoor positioning method based on user behavior characteristics includes a Bluetooth beacon and a mobile terminal, as shown in FIG. 1 , and includes the following steps:

S101. Acquire a positioning record of an indoor navigation system on the mobile terminal, and determine whether the current user is positioned for the first time according to the positioning record.

During specific implementation, the mobile terminal may optionally determine whether the user is positioned for the first time through a positioning log request. It should be noted that the first positioning here in the present invention refers to whether the user has sent a positioning log positioning request within a preset time range, that is, it is determined whether the last time the user sent the log positioning request is within the preset time range. For example, the time can optionally be set to 24 hours. If the last log positioning request is within 24 hours, the user is not positioned for the first time; otherwise, it is the first positioning.

With the development of science and technology, all mobile terminals (such as smart phones) have built-in sensors (such as gyroscopes or acceleration sensors), and the mobile terminals detect the user's motion state through the gyroscopes. As the user moves, the value detected by the gyroscope of the mobile phone changes in real time. When the user makes a turning action, the detected value will change significantly. Therefore, the more detected values it records, the more accurate its positioning will gradually improve. It should be noted that the mobile terminal described in the present invention not only includes a smart phone, but also includes other smart devices, such as an iPad, etc., which are not listed one by one here.

S102. If the current user is not positioned for the first time, detect the detection value of the movement of the current user through the built-in gyroscope of the mobile terminal, and determine whether the detection value is not less than a preset turning calibration value.

The mobile terminal judges the behavioral feature of the current user's movement through the detection value of the built-in gyroscope, and the behavioral feature includes a turning action.

The user's turning behavior can be judged by continuously observing the output of the gyroscope. When a turning action occurs, the detected value will change significantly. The mobile terminal determines that the user turns by using the detection value (specifically, the rotation angle) of the gyroscope.

S103. If the detected value is not less than a preset turning calibration value, calibrate the current position of the user.

rssi represents the strength of the signal in the wireless network, it attenuates with the increase of the distance, usually a negative value, the closer the value is to zero, the higher the signal strength is. According to the different representations of location fingerprints, indoor positioning technologies based on wireless local area networks and location fingerprints can be divided into two categories. The first category is the deterministic positioning method. It features a location fingerprint represented by the average of the signal strengths from each access point, and then employs a deterministic inference algorithm to estimate the user's location. The multipath propagation of the signal is dependent on the environment and presents a very strong particularity. For each location, the multipath structure of the channel at the location is unique. The radio waves emitted by the terminal are reflected and refracted to generate A specific pattern of multipath signals closely related to the surrounding environment, such multipath signatures can be considered as the "fingerprint" of the location.

The indoor positioning method mainly uses WiFi positioning nodes or Bluetooth positioning nodes for positioning, mainly including received signal strength positioning method, time of arrival positioning method, received signal angle positioning method, and reference point positioning method. During specific implementation, different signal strengths correspond to different positions. The present invention locates the geographic location of the current user through the difference of signal strength. For example, WiFi positioning technology uses a combination of empirical testing and signal propagation models. WiFi wireless signal has a strong time-varying wireless signal propagation attenuation model, and it is difficult to characterize the mapping relationship between distance and signal strength well. The positioning method based on RF fingerprint matching is used, which has better positioning robustness. The so-called fingerprint matching positioning algorithm is based on the delay data, and mainly includes two stages: offline training and online positioning. Among them, the task of the offline training phase is to establish a one-to-one correspondence between the RF signal strength vector and the client location to form a fingerprint database, and the positioning phase is to use the signal strength vector collected in real time to match the fingerprint database constructed in the training phase. Obtain a position estimate of the target. Positioning algorithms based on location fingerprints mainly include deterministic and probabilistic types. The former has higher computational efficiency and the latter has higher positioning accuracy.

The algorithm mainly includes the following steps: 1. Determine the sampling distribution map; 2. Collect the signal strength, MAC address, etc. of each positioning node (such as WiFi positioning node or Bluetooth positioning node); 3. Store the position coordinates of RSSI; 4. Will implement The collected signals of the positioning nodes are used to estimate the user's position through a matching algorithm. The present invention takes the deterministic position fingerprint positioning algorithm as an example to illustrate the positioning method of the WiFi and/or Bluetooth positioning method in the present invention.

For example, the optional data stored in the fingerprint library is shown in Table 1.

Table 1

In Table 1, the sampling point represents the location of the object AP _n (that is, the coordinates), the AP _n represents the number of the WiFi positioning node, and the RSSI represents the fingerprint collected at the location (that is, the signal strength).

The location matching algorithm includes the nearest neighbor method, probability method, neural network method, SVM and other methods. During specific implementation, any method can be optionally used for calculation. Since such algorithms are known to those skilled in the art, the present invention will not be described herein again.

FIG. 2 is a schematic flowchart of another embodiment of the indoor positioning method based on user behavior characteristics according to the present invention.

S201. Acquire a positioning record of an indoor navigation system on the mobile terminal, and determine whether the current user is positioned for the first time according to the positioning record.

Wherein, S201 further includes using the mobile terminal to send indoor GIS location information to the indoor navigation system.

During specific implementation, by displaying the geographic location obtained by the positioning of the mobile terminal on the GIS location, the current location is intuitively prompted to the user.

S202. If the current user has not located the location for the first time, determine whether the Bluetooth signal reaches a preset Bluetooth calibration value through the Bluetooth signal sent by the Bluetooth beacon detected by the mobile terminal;

S203. If the Bluetooth signal reaches a preset Bluetooth calibration value, calibrate the current location of the user.

S204. According to the Bluetooth signal sent by the Bluetooth beacon detected by the mobile terminal, query a preset database to obtain a geographic location corresponding to the Bluetooth signal, where the preset database includes an association relationship between the Bluetooth signal value and the geographic location.

As shown in FIG. 3 , the present invention further provides an indoor positioning device based on user behavior characteristics, including a judgment module 10 , a first acquisition module 20 , and a first positioning module 30 .

in,

The judging module 10 is configured to obtain the positioning record of the indoor navigation system on the mobile terminal, and judge whether the current user is positioned for the first time according to the positioning record.

The judging module further includes a receiving sub-module 101,

The receiving sub-module 101 is configured to send indoor GIS location information to an indoor navigation system by using the mobile terminal.

The first acquisition module 20, if the current user is not positioning for the first time, detects the detected value of the current user's movement through the built-in gyroscope of the mobile terminal, and determines whether the detected value is not less than a preset turning calibration value.

The mobile terminal judges the behavioral feature of the current user's movement through the detection value of the built-in gyroscope, and the behavioral feature includes a turning action.

The first positioning module 30, if the detected value is not less than a preset turning calibration value, calibrates the current position of the user.

FIG. 4 is a schematic structural diagram of another embodiment of the indoor positioning device based on user behavior characteristics according to the present invention.

Further, the device also includes

A second acquisition module, configured to judge whether the Bluetooth signal reaches a preset Bluetooth calibration value through the Bluetooth signal sent by the Bluetooth beacon detected by the mobile terminal if the current user has not been positioned for the first time;

The second positioning module is configured to calibrate the current location of the user if the Bluetooth signal reaches a preset Bluetooth calibration value.

Further, the device also includes

The third positioning module 40 is configured to determine the geographic location of the current user according to the strength of the Bluetooth signal of the Bluetooth beacon if the current user is positioning for the first time.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (4)

1. an indoor positioning method based on user behavior characteristics, comprising iBeacon bluetooth beacon, mobile terminal, is characterized in that, comprises the steps: Acquiring the positioning record of the indoor navigation system on the mobile terminal, and determining whether the current user is positioned for the first time according to the positioning record; If the current user is not positioned for the first time, the detection value of the movement of the current user is detected by the built-in gyroscope of the mobile terminal, and it is judged whether the detection value is not less than the preset turning calibration value; If the detected value is not less than the preset turning calibration value, calibrate the current position of the user; If the current user is not located for the first time, determine whether the Bluetooth signal reaches a preset Bluetooth calibration value through the Bluetooth signal sent by the iBeacon Bluetooth beacon detected by the mobile terminal; If the bluetooth signal reaches the preset bluetooth calibration value, the current user's position is calibrated; Also includes if the current user is not targeting for the first time According to the bluetooth signal sent by the iBeacon bluetooth beacon detected by the mobile terminal, a preset database is queried to obtain the geographic location corresponding to the bluetooth signal, and the preset database includes the correlation between the bluetooth signal value and the geographic location. 2. The indoor positioning method based on user behavior characteristics according to claim 1, is characterized in that, obtaining the positioning record of the indoor navigation system on the mobile terminal, and judging whether the current user is the first positioning according to the positioning record also comprises using The mobile terminal sends indoor GIS location information to the indoor navigation system. 3. An indoor positioning device based on user behavior characteristics, characterized in that it comprises a judgment module, a first acquisition module, and a first positioning module, wherein, The judging module is used to obtain the positioning record of the indoor navigation system on the mobile terminal, and judge whether the current user is the first positioning according to the positioning record; In the first acquisition module, if the current user is not positioned for the first time, the detection value of the movement of the current user is detected by the built-in gyroscope of the mobile terminal, and it is judged whether the detection value is not less than the preset turning calibration value; The first positioning module, if the detected value is not less than a preset turning calibration value, calibrates the current position of the user; The device also includes A second acquisition module, configured to judge whether the Bluetooth signal reaches a preset Bluetooth calibration value through the Bluetooth signal sent by the Bluetooth beacon detected by the mobile terminal if the current user has not been positioned for the first time; a second positioning module, configured to calibrate the location of the current user if the Bluetooth signal reaches a preset Bluetooth calibration value; The device also includes A third positioning module, configured to query a preset database to obtain the geographic location corresponding to the Bluetooth signal according to the Bluetooth signal sent by the Bluetooth beacon detected by the mobile terminal if the current user is not positioning for the first time, and the preset The database includes associations between Bluetooth signal values and geographic locations. 4. The indoor positioning device based on user behavior characteristics according to claim 3, wherein the judging module further comprises a receiving sub-module, The receiving sub-module is used for sending indoor GIS location information to the indoor navigation system by using the mobile terminal.