CN104144496A - Indoor positioning method and system based on beacon devices - Google Patents
Indoor positioning method and system based on beacon devices Download PDFInfo
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- CN104144496A CN104144496A CN201410364177.XA CN201410364177A CN104144496A CN 104144496 A CN104144496 A CN 104144496A CN 201410364177 A CN201410364177 A CN 201410364177A CN 104144496 A CN104144496 A CN 104144496A
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Abstract
The invention discloses an indoor positioning method and system based on beacon devices. The method comprises the steps that after an intelligent terminal receives data packages sent by the beacon devices, contents carried in basic data packages and received signal strength of the data packages are stored as basic information corresponding to UUIDs in the data packages; contents carried in extended data packages are stored as extended information corresponding to the UUIDs in the data packages; after a distance value is worked out according to an analyzed power value and the received signal strength of the data packages, the worked-out distance value and the analyzed power value are stored in the basic information as a pair of distance-power values corresponding to a UUID of the corresponding beacon device; the intelligent terminal determines the distances between the intelligent terminal and the beacon devices according to the m pairs of distance-power values, and positioning is conducted according to the determined distances and position information in the extended information corresponding to the UUIDs of the beacon devices. By applying the indoor positioning method and system, the indoor positioning accuracy can be improved.
Description
Technical field
The present invention relates to communication technical field, relate in particular to a kind of indoor orientation method and system based on calibration beacon equipment.
Background technology
Along with interest and the demand of people to location aware increases day by day, navigation system has just had application and huge market value widely.Navigation system comprises: outdoor positioning system and indoor locating system.
Wherein, indoor locating system is mainly used in the field such as indoor navigation and location, the specific region personnel flow direction and behavioural characteristic statistics and analysis, mobile payment and checking.In recent years, because indoor locating system has obtained increasing concern, location technology development is rapid and diversified.For example,, based on ultrared location technology, the location technology based on radio-frequency (RF) identification, the location technology based on ultra broadband etc.
At present, a kind of indoor locating system of main flow is mainly based on BLE (Bluetooth Low Energy, low-power consumption bluetooth) technology, comprising: the multiple beacon equipments and the cellular handset that are distributed in the interior space (the obvious place of flow of personnel feature such as stop at airport, station, parking lot, market, office building).In cellular handset enters into the signal cover of beacon equipment, just can receive positional information and RSSI (the Received Signal Strength Indicator of this beacon equipment of each beacon equipment broadcast, received signal strength indicator) value, cellular handset estimates residing position by positional information and RSSI value.
But in actual applications, the present inventor finds that existing indoor locating system often exists the poor problem of positioning precision.
Summary of the invention
The embodiment of the present invention provides a kind of localizer beacon equipment, indoor locating system and positioning calculation method, in order to improve indoor position accuracy.
According to an aspect of the present invention, provide a kind of indoor orientation method based on beacon equipment, having comprised:
Intelligent terminal receives after the packet of beacon equipment transmission, if therefrom parse basic data bag indication information, by the content of carrying in described packet, and UUID in the corresponding described packet of the received signal strength of this packet stores as Back ground Information; If therefrom parse extended packet indication information, the UUID in corresponding the content of carrying in described packet described packet is stored as extend information;
According to the received signal strength of the performance number parsing and this packet, calculate after distance value, by the distance value calculating, the performance number that parses, store in Back ground Information corresponding to the UUID of described beacon equipment as an adjust the distance-performance number;
If the adjust the distance-performance number that stores m in the Back ground Information of the UUID of corresponding described beacon equipment, described intelligent terminal is determined the distance between described beacon equipment according to adjust the distance-performance number of described m, and then according to definite distance, and the positional information in should the UUID extend information of beacon equipment is positioned;
Wherein, described beacon equipment carries out the transmission of packet by the performance number of a predefined m rank in a looping fashion; Described beacon equipment, in the time carrying out Packet Generation according to the performance number of each rank, sends a basic data bag and an extended packet; Described basic data bag carries the performance number and the UUID that while sending notebook data bag, adopt, and basic data bag indication information; Described extended packet carries positional information and the UUID of the beacon equipment that sends notebook data bag, and extended packet indication information; Wherein, m is greater than 2 natural number.
Wherein, preferably, described intelligent terminal is determined the distance between described beacon equipment according to adjust the distance-performance number of described m, specifically comprises:
The average of the distance value in adjust the distance-performance number of described m and the distance range arranging respectively for performance numbers at different levels are in advance compared; Value according to a distance value in the comparative result adjust the distance-performance number of choosing m as the distance between this intelligent terminal of finally determining and described beacon equipment.
According to another aspect of the present invention, provide a kind of indoor locating system based on beacon equipment, having comprised:
Be distributed in indoor multiple beacon equipments everywhere, for carrying out the transmission of packet by the performance number of a predefined m rank in a looping fashion; Described beacon equipment, in the time carrying out Packet Generation according to the performance number of each rank, sends a basic data bag and an extended packet; Described basic data bag carries the performance number and the UUID that while sending notebook data bag, adopt, and basic data bag indication information; Described extended packet carries positional information and the UUID of the beacon equipment that sends notebook data bag, and extended packet indication information; Wherein, m is greater than 2 natural number;
Intelligent terminal, for receiving after the packet of beacon equipment transmission, if therefrom parse basic data bag indication information, by the content of carrying in described packet, and UUID in the corresponding described packet of the received signal strength of this packet stores as Back ground Information; If therefrom parse extended packet indication information, the UUID in corresponding the content of carrying in described packet described packet is stored as extend information; According to the received signal strength of the performance number parsing and this packet, calculate after distance value, by the distance value calculating, the performance number that parses, store in Back ground Information corresponding to the UUID of described beacon equipment as an adjust the distance-performance number; If the adjust the distance-performance number that stores m in the Back ground Information of the UUID of corresponding described beacon equipment, described intelligent terminal is determined the distance between described beacon equipment according to adjust the distance-performance number of described m, and then according to definite distance, and the positional information in should the UUID extend information of beacon equipment is positioned.
According to another aspect of the present invention, also provide a kind of localization method based on beacon equipment, having comprised:
Intelligent terminal receives after the packet of beacon equipment transmission, sends the received signal strength that carries this packet, this packet and the Location Request of the mark of this intelligent terminal to location-server; Wherein, described beacon equipment carries out the transmission of packet by the performance number of a predefined m rank in a looping fashion; Described packet carries the performance number adopting while sending notebook data bag, and sends the universal unique identifier UUID of the beacon equipment of notebook data bag; Wherein, m is greater than 2 natural number;
Location-server receives after the Location Request of described intelligent terminal transmission, therefrom parses the UUID of mark, performance number and the beacon equipment of received signal strength, intelligent terminal; According to the performance number parsing and received signal strength, calculate after distance value, by the distance value calculating, the performance number that parses, be recorded in the locator data table corresponding with the mark of described intelligent terminal corresponding to the UUID of described beacon equipment as an adjust the distance-performance number; If the UUID of the corresponding described beacon equipment adjust the distance-performance number that records m in described locator data table, determine the distance between described intelligent terminal and described beacon equipment according to adjust the distance-performance number of described m, and then according to definite distance, and the positional information corresponding with the UUID of described beacon equipment determines that positioning result returns to described intelligent terminal.
Wherein, describedly determine the distance between described intelligent terminal and described beacon equipment according to adjust the distance-performance number of described m, specifically comprise:
The average of the distance value in adjust the distance-performance number of described m and the distance range arranging respectively for performance numbers at different levels are in advance compared; Value according to a distance value in the comparative result adjust the distance-performance number of choosing m as the distance between the described intelligent terminal of finally determining and described beacon equipment.
According to another aspect of the present invention, also provide a kind of navigation system based on beacon equipment, having comprised:
Be distributed in multiple beacon equipments everywhere, for carrying out the transmission of packet by the performance number of a predefined m rank in a looping fashion; Described packet carries the performance number adopting while sending notebook data bag, and sends the UUID of the beacon equipment of notebook data bag; Wherein, m is greater than 2 natural number;
Intelligent terminal, for receiving after the packet of described beacon equipment transmission, sends the received signal strength that carries this packet, this packet to location-server, and the Location Request of the mark of this intelligent terminal;
Location-server, for receiving after the Location Request of described intelligent terminal transmission, therefrom parses the UUID of mark, performance number and the beacon equipment of received signal strength, intelligent terminal; According to the performance number parsing and received signal strength, calculate after distance value, by the distance value calculating, the performance number that parses, be recorded in the locator data table corresponding with the mark of described intelligent terminal corresponding to the UUID of described beacon equipment as an adjust the distance-performance number; If the UUID of the corresponding described beacon equipment adjust the distance-performance number that records m in described locator data table, determine the distance between described intelligent terminal and described beacon equipment according to adjust the distance-performance number of described m, and then according to definite distance, and the positional information corresponding with the UUID of described beacon equipment determines that positioning result returns to described intelligent terminal.
According to another aspect of the present invention, also provide a kind of intelligent terminal, having comprised:
Packet parsing module, for receiving after the packet of beacon equipment transmission, if therefrom parse basic data bag indication information, by the content of carrying in described packet, and UUID in the corresponding described packet of the received signal strength of this packet stores as Back ground Information; If therefrom parse extended packet indication information, the UUID in corresponding the content of carrying in described packet described packet is stored as extend information;
Distance value computing module, for the received signal strength of the performance number that parses according to packet parsing module 401 and this packet, calculate after distance value, by the distance value calculating, the performance number that parses, store in the Back ground Information corresponding to the UUID of this beacon equipment as an adjust the distance-performance number;
Locating module, if for the Back ground Information of the UUID to should the beacon equipment adjust the distance-performance number that stores m, the average of the distance value in m is adjusted the distance-performance number compares with the distance range arranging respectively for performance numbers at different levels in advance; Value according to a distance value in the comparative result adjust the distance-performance number of choosing m as the distance between this intelligent terminal of finally determining and this beacon equipment; Afterwards, according to definite distance, and in should the UUID extend information of beacon equipment positional information position.
According to another aspect of the present invention, also provide a kind of location-server, having comprised:
Location Request parsing module, for parsing the UUID of mark, performance number and the beacon equipment of received signal strength, intelligent terminal from the Location Request receiving;
Distance value computing module, for the performance number and the received signal strength that parse according to described Location Request parsing module, calculate after distance value, by the distance value calculating, the performance number that parses, be recorded in the locator data table corresponding with the mark of described intelligent terminal corresponding to the UUID of described beacon equipment as an adjust the distance-performance number;
Positioning result determination module, if for the UUID of the corresponding described beacon equipment of locator data table of the described intelligent terminal adjust the distance-performance number that records m, described positioning result determination module is determined the distance between described intelligent terminal and described beacon equipment according to adjust the distance-performance number of described m, and then according to definite distance, and the positional information corresponding with the UUID of described beacon equipment determines that positioning result returns to described intelligent terminal.
According to another aspect of the present invention, also provide a kind of beacon equipment, having comprised: Logic control module and wireless signal transmitting module; Wherein
Described Logic control module is used for the performance number of m rank of reading pre-stored in a looping fashion; And reading out after a performance number, the power output of the power amplifier of described wireless signal transmitting module is set according to this performance number; at every turn And the UUID of this performance number and described beacon equipment is encapsulated into after packet, described Packet Generation, to described wireless signal transmitting module, is broadcasted described packet by described wireless signal transmitting module with wireless mode.
Preferably, stating Logic control module specifically comprises:
First timer unit, in the time that each timing arrives, output timing arriving signal;
Control unit, for receiving after timing arriving signal, if judge, n equals m, reads the 1st performance number, otherwise, read n+1 performance number; And arrange according to the performance number reading after the power output of power amplifier of described wireless signal transmitting module, by the UUID of the performance number reading and described beacon equipment, and basic data bag indication information is encapsulated into Packet Generation to described wireless signal transmitting module; Wherein, n is the sequence number of the performance number that read last time.
Preferably, described Logic control module also comprises:
Second timer unit, for receiving after the timing arriving signal of described first timer unit output, starts timing; In the time that timing time arrives, output timing arriving signal; And
Described control unit, also for receiving after the timing arriving signal of described second timer unit output, by the UUID of this beacon equipment and positional information, and extended packet indication information is encapsulated into Packet Generation to described wireless signal transmitting module.
As shown from the above technical solution, beacon equipment sends in the mode of circulation basic data bag and extended packet according to the performance number of a predefined m rank, and in basic data bag, carries performance number and the UUID of transmitting notebook data bag; In extended packet, carry the positional information of UUID and beacon equipment.Intelligent terminal, receiving after two kinds of packets that this beacon equipment sends, calculates distance value according to the content in basic data bag, and the distance value that calculates of recording gauge, the performance number parsing.Afterwards, intelligent terminal is determined the distance between beacon equipment according to adjust the distance-performance number of m, and then according to definite distance, and the positional information of the beacon equipment carrying in extended packet positions, and obtains final positioning result.Like this, more accurately calculate the distance of intelligent terminal to this beacon equipment by adjust the distance-performance number of m, thereby more contribute to determine to the distance of this beacon equipment the positioning result that precision is higher according to intelligent terminal.
Brief description of the drawings
The structural representation of the indoor locating system based on beacon equipment that Fig. 1 provides for the embodiment of the present invention one;
The schematic flow sheet of the indoor orientation method based on beacon equipment that Fig. 2 provides for the embodiment of the present invention one;
The internal structure schematic diagram of the beacon equipment that Fig. 3 provides for the embodiment of the present invention one;
The internal structure schematic diagram of the intelligent terminal that Fig. 4 provides for the embodiment of the present invention one;
The structural representation of the indoor locating system based on beacon equipment that Fig. 5 provides for the embodiment of the present invention two;
The schematic flow sheet of the indoor orientation method based on beacon equipment that Fig. 6 provides for the embodiment of the present invention two;
The internal structure schematic diagram of the beacon equipment that Fig. 7 provides for the embodiment of the present invention two;
The internal structure schematic diagram of the location-server that Fig. 8 provides for the embodiment of the present invention two.
Embodiment
For making object of the present invention, technical scheme and advantage clearer, referring to accompanying drawing and enumerate preferred embodiment, the present invention is described in more detail.But, it should be noted that, many details of listing in specification are only used to make reader to have a thorough understanding to one or more aspects of the present invention, even if do not have these specific details also can realize these aspects of the present invention.
The terms such as " module " used in this application, " system " are intended to comprise the entity relevant to computer, such as but not limited to hardware, firmware, combination thereof, software or executory software.For example, module can be, but be not limited in: thread, program and/or the computer of the process moved on processor, processor, object, executable program, execution.For instance, the application program of moving on computing equipment and this computing equipment can be modules.One or more modules can be positioned at an executory process and/or thread.
The present inventor finds, beacon equipment adopts the outside broadcast message of fixing transmitting power, in the time that intelligent terminal is positioned at more remote that the wireless signal of beacon equipment transmitting can reach, or intelligent terminal is while being positioned at the closer distance of beacon equipment, there is error in the position of the intelligent terminal of determining after positioning calculation.And the maximum distance difference that the wireless signal that beacon equipment is launched under different transmission power can reach, also just says so, the position of the intelligent terminal based on determining under different transmission power deviation to some extent.
For these reasons, the present inventor considers, in beacon equipment, basic data bag and extended packet are sent according to the performance number of the individual rank of predefined m (being more than or equal to 2) in the mode of circulation, and in basic data bag, carry performance number and the UUID (Universally Unique Identifier, universal unique identifier) of transmitting notebook data bag; In extended packet, carry the positional information of UUID and beacon equipment.Intelligent terminal, receiving after two kinds of packets that this beacon equipment sends, calculates distance value according to the content in basic data bag, and the distance value that calculates of recording gauge, the performance number parsing.Afterwards, intelligent terminal is determined the distance between beacon equipment according to adjust the distance-performance number of m, and then according to definite distance, and the positional information of the beacon equipment carrying in extended packet positions, and obtains final positioning result.Like this, more accurately calculate the distance of intelligent terminal to this beacon equipment by adjust the distance-performance number of m, thereby more contribute to determine to the distance of this beacon equipment the positioning result that precision is higher according to intelligent terminal.
Describe the technical scheme of the embodiment of the present invention in detail below in conjunction with accompanying drawing.The invention provides two embodiment; In embodiment mono-, intelligent terminal, receiving after the packet that beacon equipment sends according to the performance number of default multiple ranks in a looping fashion, according to carrying performance number and positional information in packet, carries out data location; In embodiment bis-, intelligent terminal is receiving after the packet of beacon equipment transmission, its mark together with this intelligent terminal is sent to location-server in the lump, and location-server carries out data location according to UUID, performance number, and positioning result is returned to intelligent terminal.
Embodiment mono-
The indoor locating system based on beacon equipment that the embodiment of the present invention one provides, its structure as shown in Figure 1.Comprise: be distributed in indoor multiple beacon equipments 101 and intelligent terminal 102 everywhere;
Wherein, beacon equipment 101 is for carrying out the transmission of packet by the performance number of a predefined m rank in a looping fashion.Wherein, packet carries the performance number adopting while sending notebook data bag, and sends the positional information of the beacon equipment of notebook data bag.Above-mentioned m is greater than 2 natural number.
Particularly, beacon equipment 101 successively according to the 1st, 2 ..., m rank performance number carry out, after Packet Generation, completing the Packet Generation in a performance number rank cycle; Afterwards, then carry out the Packet Generation in next performance number rank cycle.
More preferably, because the size of the common packet based on wireless blue tooth technology is fixed; The packet of the existing wireless blue tooth beacon equipment for indoor positioning includes following information conventionally: the UUID of this beacon equipment, the information about power of beacon equipment; If wish to comprise again the size that positional information can exceed packet in packet; Therefore, beacon equipment 101 of the present invention is expanded packet: beacon equipment 101, in the time carrying out Packet Generation according to the performance number of each rank, except sending a basic data bag, also sends an extended packet.In basic data bag, include: the UUID of this beacon equipment, the performance number that this beacon equipment sends notebook data bag, and basic data bag indication information; In extended packet, include: the UUID of this beacon equipment, the positional information of this beacon equipment, and extended packet indication information.Wherein, locating information can be the latitude and longitude information of beacon equipment 101.The size of basic data bag, extended packet all meets the requirement of wireless blue tooth technology.
Intelligent terminal 102 is specially smart mobile phone or the panel computer of supporting Bluetooth (bluetooth) v4.0, and its concrete function is described, and refers to the flow process of following indoor orientation method.
The indoor orientation method based on beacon equipment that the embodiment of the present invention one provides, flow process as shown in Figure 2, specifically comprises following method step:
S201: intelligent terminal 102 receives after the packet that beacon equipment 101 sends, therefrom parses the positional information of performance number and beacon equipment.
In this step, intelligent terminal 102 receives after the packet that beacon equipment 101 sends, if therefrom parse basic data bag indication information, by the content of carrying in this packet, and the received signal strength of this packet is stored as Back ground Information the UUID in should packet; If therefrom parse extended packet indication information, the content of carrying in this packet is stored as extend information the UUID in should packet.
S202: intelligent terminal 102, according to the received signal strength of the performance number parsing and this packet, calculates distance value.
Particularly, intelligent terminal 102 has stored after Back ground Information and extend information at the UUID that determines corresponding beacon equipment 101, according to the received signal strength of the performance number parsing and this packet, calculating distance value is well known to those skilled in the art, for example, can calculate distance value R according to following formula 1:
P=Q-10*ylgR (formula 1)
In formula 1, P is the received signal strength (while receiving this packet, the signal strength signal intensity of this packet) in Back ground Information; Received power when Q is 1 meter far away of transmission of wireless signals, i.e. performance number in Back ground Information; Y is propagation factor, is specially constant value.
Afterwards, by the distance value calculating, the performance number that parses, store in Back ground Information corresponding to the UUID of this beacon equipment as an adjust the distance-performance number (being a pair of distance value and performance number).
S203: intelligent terminal 102, according to the adjust the distance-performance number of m of having stored in the Back ground Information of the UUID to should beacon equipment, is determined the distance between this beacon equipment, and then according to definite distance, and the positional information of this beacon equipment positions.
Particularly, if intelligent terminal 102 had received multiple packets that beacon equipment 101 sends before this step, and according to the performance number in packet, and receive received signal strength when packet and calculate the adjust the distance-performance number of m to UUID that should beacon equipment and carried out record; So, intelligent terminal 102 can adjust the distance according to m-performance number more accurately calculate the distance of intelligent terminal 102 to this beacon equipment, thereby more contributes to determine to the distance of this beacon equipment the positioning result that precision is higher according to intelligent terminal 102: the average of the distance value in intelligent terminal 102 m is adjusted the distance-performance number compares with the distance range arranging respectively for performance numbers at different levels in advance; Value according to a distance value in the comparative result adjust the distance-performance number of choosing m as the distance between this intelligent terminal of finally determining and this beacon equipment.
Particularly, if this average is positioned at the distance range arranging for the performance number of i rank, the value of the distance between the intelligent terminal 102 of finally determining and this beacon equipment using the distance value in adjust the distance-performance number of i.And then according to definite distance, and in should the UUID extend information of beacon equipment positional information position.Wherein, the natural number that i is 1～m, m is the predefined performance number sum of beacon equipment 101.Those skilled in the art can be rule of thumb in advance for the performance number of each rank, for the performance number of this rank arranges corresponding distance range, in this distance range, signal strength signal intensity and intelligent terminal that intelligent terminal receives packet have good linear relationship between the distance of beacon equipment, can comparatively accurately reflect the distance of intelligent terminal to beacon equipment by the signal strength signal intensity that receives packet.
In actual applications, if intelligent terminal 102 has recorded to positional information that should beacon equipment the adjust the distance-performance number that is less than m, for example record adjust the distance-performance number of i (i<m), also can adjust the distance according to i-performance number calculate the distance of intelligent terminal 102 to this beacon equipment; Computational methods are same as described above, repeat no more herein.
The structure of above-mentioned beacon equipment 101 as shown in Figure 3, comprising: Logic control module 301 and wireless signal transmitting module 302;
Wherein, Logic control module 301 is for the performance number of m rank of reading pre-stored in a looping fashion; And reading out after a performance number, the power output of the power amplifier of wireless signal transmitting module 701 is set according to this performance number; at every turn And the UUID of this performance number and beacon equipment is encapsulated into after packet, by Packet Generation to wireless signal transmitting module 301.
Wireless signal transmitting module 301 is broadcasted with wireless mode for the packet that Logic control module 301 is sent.
In fact, Logic control module 301 and wireless signal transmitting module 302 can be integrated on SoC (System on Chip, the SOC (system on a chip)) chip in beacon equipment 101.
Wherein, Logic control module 301 specifically comprises: first timer unit, control unit;
Wherein, first timer unit is in the time that each timing arrives, and output is arriving signal regularly.
Control unit is used for receiving after timing arriving signal, if judge, n equals m, reads the 1st performance number, otherwise, read n+1 performance number; And arrange according to the performance number reading after the power output of power amplifier of wireless signal transmitting module 302, the UUID of the performance number reading and beacon equipment and basic data bag indication information are encapsulated into packet (being basic data bag) and are sent to wireless signal transmitting module 302; Wherein, n is the sequence number of the performance number that read last time; M is the rank sum of predefined performance number in beacon equipment 101.
Further, Logic control module 301 also comprises: second timer unit.
Second timer unit, for receiving after the timing arriving signal of first timer unit output, starts timing; In the time that timing time arrives, output timing arriving signal.
Corresponding, control unit is also for receiving after the timing arriving signal of second timer unit output, by the UUID of this beacon equipment and positional information, and extended packet indication information is encapsulated into packet (being extended packet) and is sent to wireless signal transmitting module 302.
Wireless signal transmitting module 302 will be broadcasted based on wireless blue tooth technology after receiving packet.
The structure of above-mentioned intelligent terminal 102 as shown in Figure 4, comprising: packet parsing module 401, distance value computing module 402, locating module 403;
Wherein, packet parsing module 401, for receiving after the packet of beacon equipment transmission, therefrom parses the positional information of performance number and beacon equipment; Particularly, packet parsing module 401 for the packet that receives beacon equipment 101 and send after, if therefrom parse basic data bag indication information, by the content of carrying in this packet, and the received signal strength of this packet is stored as Back ground Information the UUID in should packet; If therefrom parse extended packet indication information, the UUID in corresponding the content of carrying in described packet described packet is stored as extend information.
Distance value computing module 402 is for the received signal strength of the performance number that parses according to packet parsing module 401 and this packet, calculate after distance value, by the distance value calculating, the performance number that parses, carry out record as an adjust the distance-performance number corresponding to the UUID of this beacon equipment, particularly, by the distance value calculating, the performance number that parses, store in the Back ground Information corresponding to the UUID of this beacon equipment as an adjust the distance-performance number.
If locating module 403 has recorded adjust the distance-performance number of m for buffer memory to UUID that should beacon equipment, determine the distance between this beacon equipment according to adjust the distance-performance number of m, and then according to definite distance, and the positional information of this beacon equipment positions.Particularly, locating module 403 is determined the distance between this beacon equipment according to the adjust the distance-performance number of m in the Back ground Information of the UUID to should beacon equipment: the average of the distance value in m is adjusted the distance-performance number compares with the distance range arranging respectively for performance numbers at different levels in advance; Value according to a distance value in the comparative result adjust the distance-performance number of choosing m as the distance between this intelligent terminal of finally determining and this beacon equipment; Afterwards, according to definite distance, and in should the UUID extend information of beacon equipment positional information position.
The concrete function of the each module in intelligent terminal 102 can, with reference to the each step in flow process shown in above-mentioned Fig. 2, repeat no more herein.
In the technical scheme of the embodiment of the present invention one, intelligent terminal is receiving after basic information data bag and extended packet, according to the received signal strength of the performance number of carrying in basic data bag and this packet, calculate distance value, and the distance value that calculates of recording gauge, the performance number parsing.Afterwards, determine the distance between beacon equipment according to adjust the distance-performance number of m, and then according to definite distance, and the positional information of beacon equipment in extended packet positions, obtain final positioning result.Like this, more accurately calculate the distance of intelligent terminal to this beacon equipment by adjust the distance-performance number of m, thereby more contribute to determine to the distance of this beacon equipment the positioning result that precision is higher according to intelligent terminal.
Embodiment bis-
The indoor locating system based on beacon equipment that the embodiment of the present invention two provides, its structure as shown in Figure 5.Comprise: be distributed in indoor multiple beacon equipments 501, intelligent terminal 502 and location-server 503 everywhere;
Wherein, beacon equipment 501 is for carrying out the transmission of packet by the performance number of a predefined m rank in a looping fashion.Wherein, packet carries the performance number adopting when beacon on equipment 501 send notebook data bag, and sends the UUID of the beacon equipment of notebook data bag.Above-mentioned m is greater than 2 natural number.
Intelligent terminal 502 for the packet that receives beacon equipment 501 and send after, send to location-server 503 received signal strength that carries this packet, this packet, and the Location Request of the mark of this intelligent terminal.
The functional description that location-server 503 is concrete, refers to the flow process of following indoor orientation method.
The indoor orientation method based on beacon equipment that the embodiment of the present invention two provides, flow process as shown in Figure 6, comprises the steps:
S601: intelligent terminal 502 receives after the packet that beacon equipment 501 sends, sends to location-server 503 received signal strength that carries this packet, this packet, and the Location Request of the mark of this intelligent terminal.
S602: location-server 503 receives after the Location Request that intelligent terminal 502 sends, therefrom parses the UUID of mark, performance number and the beacon equipment of received signal strength, intelligent terminal.
S603: location-server 503, according to the performance number and the received signal strength that parse, calculates distance value; And by the distance value calculating, the performance number that parses, be recorded in the locator data table corresponding with the mark of intelligent terminal corresponding to the UUID of this beacon equipment as an adjust the distance-performance number.
In this step, for the packet that carries different capacity value, location-server 503, according to the received signal strength of the performance number parsing and this packet, calculates distance value.Particularly, can calculate distance value according to above-mentioned formula 1.Afterwards, by the distance value calculating, the performance number that parses, be recorded in the locator data table corresponding with the mark of intelligent terminal 502 corresponding to the UUID of this beacon equipment as an adjust the distance-performance number.
S604: location-server 503, according to the adjust the distance-performance number of m of the UUID record of this beacon equipment in locator data table, is determined positioning result and returns to intelligent terminal 502.
In this step, if in locator data table to UUID that should the beacon equipment adjust the distance-performance number that records m, 503 of location-servers are determined the distance between intelligent terminal and this beacon equipment according to adjust the distance-performance number of m, and then according to definite distance, and the positional information corresponding with the UUID of this beacon equipment determined positioning result.Return to intelligent terminal 502.
Particularly, location-server 503 can adjust the distance according to m-performance number more accurately calculate the distance of intelligent terminal 502 to this beacon equipment, thereby more contributes to determine to the distance of this beacon equipment the positioning result that precision is higher according to intelligent terminal 502: the average of the distance value in location-server 503 m is adjusted the distance-performance number compares with the distance range arranging respectively for performance numbers at different levels in advance; Value according to a distance value in the comparative result adjust the distance-performance number of choosing m as the distance between this intelligent terminal of finally determining and this beacon equipment.
In fact, if this average is positioned at the distance range that the performance number of i rank arranges, using the value of i distance between the intelligent terminal of finally determining and this beacon equipment to the distance value in adjust the distance-performance number.And then according to definite distance, and the positional information of this beacon equipment positions.Wherein, the natural number that i is 1～m, m is the sum of predefined performance number in beacon equipment 501.Those skilled in the art can be rule of thumb in advance for the performance number of each rank, for the performance number of this rank arranges corresponding distance range, in this distance range, signal strength signal intensity and intelligent terminal that intelligent terminal receives packet have good linear relationship between the distance of beacon equipment, can comparatively accurately reflect the distance of intelligent terminal to beacon equipment by the signal strength signal intensity that receives packet.
In actual applications, if location-server 503 has recorded the adjust the distance-performance number that is less than m in the locator data table of the mark corresponding to this intelligent terminal, for example record adjust the distance-performance number of n (n<m), also can adjust the distance according to n-performance number calculate the distance of intelligent terminal 502 to this beacon equipment; Computational methods are same as described above, repeat no more herein.
The structure of above-mentioned beacon equipment 501 as shown in Figure 7, comprising: Logic control module 701 and wireless signal transmitting module 702;
Wherein, Logic control module 701 is for the performance number of m rank of reading pre-stored in a looping fashion; And reading out after a performance number, the power output of the power amplifier of wireless signal transmitting module 701 is set according to this performance number; at every turn And the UUID of this performance number and beacon equipment is encapsulated into after packet, by Packet Generation to wireless signal transmitting module 701.
Wireless signal transmitting module 701 is for broadcasting the packet of reception based on wireless blue tooth technology.
Above-mentioned Logic control module 701 and wireless signal transmitting module 702 can be integrated on SoC (System on Chip, the SOC (system on a chip)) chip in beacon equipment 501.
Wherein, Logic control module 701 specifically comprises: first timer unit and control unit;
Wherein, first timer unit is in the time that each timing arrives, and output is arriving signal regularly.
Control unit is for receiving after the timing arriving signal of first timer unit output, if judge, n equals m, reads the 1st performance number, otherwise, read n+1 performance number; And arrange according to the performance number reading after the power output of power amplifier of wireless signal transmitting module 702, the UUID of the performance number reading and beacon equipment is encapsulated into Packet Generation to wireless signal transmitting module 702; Wherein, n is the sequence number of the performance number that read last time.
The structure of above-mentioned location-server 503 as shown in the figure, comprising: Location Request parsing module 801, distance value computing module 802 and positioning result determination module 803;
Wherein, Location Request parsing module 801 is for parsing the UUID of mark, performance number and the beacon equipment of received signal strength, intelligent terminal from the Location Request receiving.
The performance number that distance value computing module 802 parses for Location Request parsing module 801 and received signal strength, calculate after distance value, by the distance value calculating, the performance number that parses, be recorded in the locator data table corresponding with the mark of this intelligent terminal corresponding to the UUID of beacon equipment as an adjust the distance-performance number.
If positioning result determination module 803 is for the UUID of the corresponding beacon equipment of locator data table of the intelligent terminal adjust the distance-performance number that records m, determine the distance between this intelligent terminal and this beacon equipment according to adjust the distance-performance number of m, and then according to definite distance, and the positional information corresponding with the UUID of beacon equipment determines that positioning result returns to intelligent terminal 503.
In the technical scheme of the embodiment of the present invention two, the packet sending in the performance number of each rank for beacon equipment, intelligent terminal is receiving after this packet, by the received signal strength of this packet, this packet, and the mark of this intelligent terminal is carried in Location Request and sends to location-server.Location-server is according to the performance number and the received signal strength that parse, calculates distance value and the performance number that parses is recorded in intelligent terminal and identifies in corresponding tables of data.Afterwards, according to adjust the distance-performance number of the m recording in this tables of data, and positional information corresponding to beacon equipment UUID determined positioning result and returns to intelligent terminal.Like this, more accurately calculate the distance of intelligent terminal to this beacon equipment by adjust the distance-performance number of m, thereby more contribute to determine to the distance of this beacon equipment the positioning result that precision is higher according to intelligent terminal.
One of ordinary skill in the art will appreciate that all or part of step realizing in above-described embodiment method is can carry out the hardware that instruction is relevant by program to complete, this program can be stored in a computer read/write memory medium, as: ROM/RAM, magnetic disc, CD etc.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (11)
1. the indoor orientation method based on beacon equipment, comprising:
Intelligent terminal receives after the packet of beacon equipment transmission, if therefrom parse basic data bag indication information, by the content of carrying in described packet, and UUID in the corresponding described packet of the received signal strength of this packet stores as Back ground Information; If therefrom parse extended packet indication information, the UUID in corresponding the content of carrying in described packet described packet is stored as extend information;
According to the received signal strength of the performance number parsing and this packet, calculate after distance value, by the distance value calculating, the performance number that parses, store in Back ground Information corresponding to the UUID of described beacon equipment as an adjust the distance-performance number;
If the adjust the distance-performance number that stores m in the Back ground Information of the UUID of corresponding described beacon equipment, described intelligent terminal is determined the distance between described beacon equipment according to adjust the distance-performance number of described m, and then according to definite distance, and the positional information in should the UUID extend information of beacon equipment is positioned;
Wherein, described beacon equipment carries out the transmission of packet by the performance number of a predefined m rank in a looping fashion; Described beacon equipment, in the time carrying out Packet Generation according to the performance number of each rank, sends a basic data bag and an extended packet; Described basic data bag carries the performance number and the UUID that while sending notebook data bag, adopt, and basic data bag indication information; Described extended packet carries positional information and the UUID of the beacon equipment that sends notebook data bag, and extended packet indication information; Wherein, m is greater than 2 natural number.
2. method according to claim 1, is characterized in that, described intelligent terminal is determined the distance between described beacon equipment according to adjust the distance-performance number of described m, specifically comprises:
The average of the distance value in adjust the distance-performance number of described m and the distance range arranging respectively for performance numbers at different levels are in advance compared; Value according to a distance value in the comparative result adjust the distance-performance number of choosing m as the distance between this intelligent terminal of finally determining and described beacon equipment.
3. the indoor locating system based on beacon equipment, comprising:
Be distributed in indoor multiple beacon equipments everywhere, for carrying out the transmission of packet by the performance number of a predefined m rank in a looping fashion; Described beacon equipment, in the time carrying out Packet Generation according to the performance number of each rank, sends a basic data bag and an extended packet; Described basic data bag carries the performance number and the UUID that while sending notebook data bag, adopt, and basic data bag indication information; Described extended packet carries positional information and the UUID of the beacon equipment that sends notebook data bag, and extended packet indication information; Wherein, m is greater than 2 natural number;
Intelligent terminal, for receiving after the packet of beacon equipment transmission, if therefrom parse basic data bag indication information, by the content of carrying in described packet, and UUID in the corresponding described packet of the received signal strength of this packet stores as Back ground Information; If therefrom parse extended packet indication information, the UUID in corresponding the content of carrying in described packet described packet is stored as extend information; According to the received signal strength of the performance number parsing and this packet, calculate after distance value, by the distance value calculating, the performance number that parses, store in Back ground Information corresponding to the UUID of described beacon equipment as an adjust the distance-performance number; If the adjust the distance-performance number that stores m in the Back ground Information of the UUID of corresponding described beacon equipment, described intelligent terminal is determined the distance between described beacon equipment according to adjust the distance-performance number of described m, and then according to definite distance, and the positional information in should the UUID extend information of beacon equipment is positioned.
4. the localization method based on beacon equipment, comprising:
Intelligent terminal receives after the packet of beacon equipment transmission, sends the received signal strength that carries this packet, this packet and the Location Request of the mark of this intelligent terminal to location-server; Wherein, described beacon equipment carries out the transmission of packet by the performance number of a predefined m rank in a looping fashion; Described packet carries the performance number adopting while sending notebook data bag, and sends the universal unique identifier UUID of the beacon equipment of notebook data bag; Wherein, m is greater than 2 natural number;
Location-server receives after the Location Request of described intelligent terminal transmission, therefrom parses the UUID of mark, performance number and the beacon equipment of received signal strength, intelligent terminal; According to the performance number parsing and received signal strength, calculate after distance value, by the distance value calculating, the performance number that parses, be recorded in the locator data table corresponding with the mark of described intelligent terminal corresponding to the UUID of described beacon equipment as an adjust the distance-performance number; If the UUID of the corresponding described beacon equipment adjust the distance-performance number that records m in described locator data table, determine the distance between described intelligent terminal and described beacon equipment according to adjust the distance-performance number of described m, and then according to definite distance, and the positional information corresponding with the UUID of described beacon equipment determines that positioning result returns to described intelligent terminal.
5. method according to claim 4, is characterized in that, describedly determines the distance between described intelligent terminal and described beacon equipment according to adjust the distance-performance number of described m, specifically comprises:
The average of the distance value in adjust the distance-performance number of described m and the distance range arranging respectively for performance numbers at different levels are in advance compared; Value according to a distance value in the comparative result adjust the distance-performance number of choosing m as the distance between the described intelligent terminal of finally determining and described beacon equipment.
6. the navigation system based on beacon equipment, comprising:
Be distributed in multiple beacon equipments everywhere, for carrying out the transmission of packet by the performance number of a predefined m rank in a looping fashion; Described packet carries the performance number adopting while sending notebook data bag, and sends the UUID of the beacon equipment of notebook data bag; Wherein, m is greater than 2 natural number;
Intelligent terminal, for receiving after the packet of described beacon equipment transmission, sends the received signal strength that carries this packet, this packet to location-server, and the Location Request of the mark of this intelligent terminal;
Location-server, for receiving after the Location Request of described intelligent terminal transmission, therefrom parses the UUID of mark, performance number and the beacon equipment of received signal strength, intelligent terminal; According to the performance number parsing and received signal strength, calculate after distance value, by the distance value calculating, the performance number that parses, be recorded in the locator data table corresponding with the mark of described intelligent terminal corresponding to the UUID of described beacon equipment as an adjust the distance-performance number; If the UUID of the corresponding described beacon equipment adjust the distance-performance number that records m in described locator data table, determine the distance between described intelligent terminal and described beacon equipment according to adjust the distance-performance number of described m, and then according to definite distance, and the positional information corresponding with the UUID of described beacon equipment determines that positioning result returns to described intelligent terminal.
7. an intelligent terminal, comprising:
Packet parsing module, for receiving after the packet of beacon equipment transmission, if therefrom parse basic data bag indication information, by the content of carrying in described packet, and UUID in the corresponding described packet of the received signal strength of this packet stores as Back ground Information; If therefrom parse extended packet indication information, the UUID in corresponding the content of carrying in described packet described packet is stored as extend information;
Distance value computing module, for the received signal strength of the performance number that parses according to packet parsing module 401 and this packet, calculate after distance value, by the distance value calculating, the performance number that parses, store in the Back ground Information corresponding to the UUID of this beacon equipment as an adjust the distance-performance number;
Locating module, if for the Back ground Information of the UUID to should the beacon equipment adjust the distance-performance number that stores m, the average of the distance value in m is adjusted the distance-performance number compares with the distance range arranging respectively for performance numbers at different levels in advance; Value according to a distance value in the comparative result adjust the distance-performance number of choosing m as the distance between this intelligent terminal of finally determining and this beacon equipment; Afterwards, according to definite distance, and in should the UUID extend information of beacon equipment positional information position.
8. a location-server, comprising:
Location Request parsing module, for parsing the UUID of mark, performance number and the beacon equipment of received signal strength, intelligent terminal from the Location Request receiving;
Distance value computing module, for the performance number and the received signal strength that parse according to described Location Request parsing module, calculate after distance value, by the distance value calculating, the performance number that parses, be recorded in the locator data table corresponding with the mark of described intelligent terminal corresponding to the UUID of described beacon equipment as an adjust the distance-performance number;
Positioning result determination module, if for the UUID of the corresponding described beacon equipment of locator data table of the described intelligent terminal adjust the distance-performance number that records m, described positioning result determination module is determined the distance between described intelligent terminal and described beacon equipment according to adjust the distance-performance number of described m, and then according to definite distance, and the positional information corresponding with the UUID of described beacon equipment determines that positioning result returns to described intelligent terminal.
9. a beacon equipment, is characterized in that, comprising: Logic control module and wireless signal transmitting module; Wherein
Described Logic control module is used for the performance number of m rank of reading pre-stored in a looping fashion; And reading out after a performance number, the power output of the power amplifier of described wireless signal transmitting module is set according to this performance number; at every turn And the UUID of this performance number and described beacon equipment is encapsulated into after packet, described Packet Generation, to described wireless signal transmitting module, is broadcasted described packet by described wireless signal transmitting module with wireless mode.
10. beacon equipment as claimed in claim 9, is characterized in that, described Logic control module specifically comprises:
First timer unit, in the time that each timing arrives, output timing arriving signal;
Control unit, for receiving after timing arriving signal, if judge, n equals m, reads the 1st performance number, otherwise, read n+1 performance number; And arrange according to the performance number reading after the power output of power amplifier of described wireless signal transmitting module, by the UUID of the performance number reading and described beacon equipment, and basic data bag indication information is encapsulated into Packet Generation to described wireless signal transmitting module; Wherein, n is the sequence number of the performance number that read last time.
11. beacon equipments as claimed in claim 10, is characterized in that, described Logic control module also comprises:
Second timer unit, for receiving after the timing arriving signal of described first timer unit output, starts timing; In the time that timing time arrives, output timing arriving signal; And
Described control unit, also for receiving after the timing arriving signal of described second timer unit output, by the UUID of this beacon equipment and positional information, and extended packet indication information is encapsulated into Packet Generation to described wireless signal transmitting module.
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| CN201410364177.XA CN104144496A (en) | 2014-07-28 | 2014-07-28 | Indoor positioning method and system based on beacon devices |
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Application publication date: 20141112 |