【作者】 张慧；

【导师】 官洪运；

【作者基本信息】 东华大学 ， 信息与通信工程， 2017， 硕士

【摘要】 近年来,随着各种无线通信技术和网络技术的层出不穷,人们对基于位置的服务需求日益增加。全球定位系统GPS(Global Position System)的出现,满足了人们在全球范围内实现定位与导航的需求。对于信号畅通的室外环境,全球定位系统可以提供给人们精度较高的位置信息,而对于室内环境,由于建筑物本身的遮挡,使得GPS定位系统无法通过卫星来获取定位所需的信息,尤其在遮挡物较多的军火库中,更是无法利用GPS完成室内定位。因此,一种能够应用于室内环境的定位技术成为定位领域的研究重点。随着基于WLAN的WiFi定位技术和基于传感技术的惯性导航定位技术的逐步发展,它们以成本低和环境适应性强在室内定位领域得到广泛应用。同时,随着射频识别(RFID)技术的发展与兴起,其非视距、免接触、高速识别等特性也被人熟知。在实际应用环境中,大型军火库的巡库员通常配有巡库车来完成大量的巡逻任务。然而,由于监控中心无法确定巡库员的具体位置,以致部分巡库员擅离工作岗位而不被察觉,从而引发安全隐患。为了解决这一问题,本课题将设计一套巡库员室内定位系统,可以实时监控巡库员的位置并跟踪巡库员的行驶轨迹,以确保巡库员在工作时间内完成巡逻任务。本文首先通过介绍和对比目前国内外的室内定位技术以及成熟的定位系统,对不同定位技术各自的优势和局限性进行了分析。其次,针对大型军火库这一特殊的应用环境,提出了一种基于WiFi指纹与惯性导航的巡库员室内定位及跟踪系统。该系统采用C/S软件架构,由服务器端和客户机端两部分构成。首先,服务器端完成巡库员定位信息的采集,服务器端的核心是STM32F103微控制器,它连接WiFi、地磁传感器、霍尔传感器、RFID四大模块,分别采集巡库员的WiFi指纹、行驶方向、行驶距离以及经过的射频标签;紧接着,服务器端将所有定位信息通过基于TCP/IP的Socket通信发送到客户机端;最后,客户机端在离线阶段采用均值平滑法来减小指纹序列的波动性,并采用K-means聚类算法对WiFi指纹进行分类处理;在在线定位阶段,通过改进后的K近邻指纹算法与惯性导航的融合完成定位,并在搭建的系统测试平台上实时定位巡库员的位置并对其行驶轨迹进行跟踪。更多还原

【Abstract】 With the rapid development of all kinds of wireless communication and network technology today,the demand of location-based services is also increasing among people.Global positioning system(GPS)can realize positioning and navigation in the global area.In the open outdoor environment,GPS can provide the high precision positioning information.However in the indoor environment,with the occlusion of the buildings,the received signal of satellite will be interfered and become extremely weak and we can not obtain the valid information.Especially in the arsenal with the complex indoor environment,it is unable to complete the indoor positioning by GPS.Thus,the positioning technique that can be applied in indoor environment has become the focus of research in the field of positioning.With the gradual development of WLAN-based WiFi positioning technique and sensor-based inertial navigation positioning technique,they are widely used in the positioning fields of indoor environment by virtue of their characteristics of low cost and strong adaptability.Meanwhile,with the development and emergence of radio frequency identification(RFID)technology,its properties of non-line sight,free touch,high-speed recognition are well known.In a large arsenal,the patrols are usually equipped with patrol car to complete the huge task.It is difficult to determine the specific location of the patrols,so some patrols will be off work without authorization.In order to solve this problem,this paper will design a patrol indoor positioning system.Then the observers can monitor the patrols to get their real-time positioninformation and follow the tracks of them to ensure that patrols can finish the task within work time.In this papar begin with introduction and comparison of different indoor positioning technology and mature positioning system on broad and domestic,analyzes their advantages and limitations.Secondly,for the special environment like arsenal,patrol indoor positioning and tracking system is put forward based on WiFi fingerprint and inertial navigation.The system uses C / S soft framework,which is made up of server end and client end.First,the server completes the acquisition of patrol location information.The core of the server is STM32F103 microcontroller,which connects WiFi,geomagnetic sensor,Hall sensor and RFID respectively collecting the WiFi fingerprint of patrol members,driving directions,traveled distance and elapsing RF tags.Then,the server will send all positioning information through Socket communication based on TCP / IP to the client end.Finally,the client end shall reduce fluctuations of fingerprint sequence by applying average smoothing method in the offline stage,and classify WiFi fingerprints by applying K-means clustering algorithm.In line-positioning stage,through the integration of the improved K-nearest neighbor fingerprint algorithm and inertial navigation positioning,the positioning is completed.Next,conduct real-time positioning towards the patrol on the system test platform and track the members’ travel path.更多还原