CN110823221B - Indoor positioning system, method and device - Google Patents
Indoor positioning system, method and device Download PDFInfo
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- CN110823221B CN110823221B CN201810916125.7A CN201810916125A CN110823221B CN 110823221 B CN110823221 B CN 110823221B CN 201810916125 A CN201810916125 A CN 201810916125A CN 110823221 B CN110823221 B CN 110823221B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The application discloses a positioning system, a method and a device, wherein the system comprises a first type of beacon point covering a key area in a positioning environment, a second type of beacon point covering other areas except the key area in the positioning environment, a positioning receiver and a positioning server, the transmitting power of the first type of beacon point is smaller than that of the second type of beacon point, a wireless signal transmitted by the beacon point is transmitted to the positioning server through the positioning receiver, and the positioning server processes the received wireless signal to obtain first position information; when the received wireless signal is determined to not comprise the ID of the first type beacon point, the first position information is the position information of the current moment; when the received wireless signals include the ID of the first type of beacon point, the wireless signals transmitted by the first type of beacon point are processed to obtain second position information, and the position information of the current moment is obtained according to the first position information, the second position information and the position information of the last moment, so that the positioning accuracy is improved.
Description
Technical Field
The present disclosure relates to the field of communications technologies, and in particular, to a positioning system, a positioning method, and a positioning device.
Background
Recently, location-based service applications have rapidly evolved and there is an increasing demand for location positioning, for example in environments where close monitoring is required, to provide high accuracy location positioning.
In the current positioning method, a plurality of beacon points for transmitting wireless signals are placed in an indoor environment in advance, and a positioning server processes the received wireless signals by utilizing a centroid positioning algorithm, a fingerprint positioning algorithm and other algorithms to obtain positioning information.
However, the indoor environment is complex and changeable, so that the wireless signals transmitted by the beacon points are easy to influence, and the wireless signals received by the positioning server are unstable, thereby causing inaccurate positioning. For some critical areas in the indoor environment, such as an indoor area and an outdoor area near a door, the actual position of the monitored personnel is in the outdoor area, but the monitored personnel jumps to the position covering the indoor area during positioning, and the positioning inaccuracy can bring great misjudgment to the monitored personnel, so that the positioning accuracy of the critical areas in the indoor environment is needed to be improved.
Disclosure of Invention
In view of the foregoing, the present application provides a system, method and apparatus for improving positioning accuracy in critical areas.
In order to achieve the above object, the following solutions have been proposed:
a positioning system, comprising: the system comprises a first type of beacon point covering a key area in a positioning environment, a second type of beacon point covering other areas except the key area in the positioning environment, a positioning receiver and a positioning server, wherein the transmitting power of the first type of beacon point is smaller than that of the second type of beacon point;
the first type beacon point and the second type beacon point are used for transmitting wireless signals, and the wireless signals comprise IDs of the beacon points;
the positioning receiver is used for receiving the wireless signal and sending the wireless signal to the positioning server;
the positioning server is used for processing the wireless signals by using a first preset algorithm at intervals of a preset time length to obtain first position information; judging whether the wireless signal comprises the ID of the first type beacon point or not, and taking the first position information as the position information of the current moment when the wireless signal is determined that the wireless signal does not comprise the ID of the first type beacon point;
and the positioning server is further configured to, when determining that the wireless signal includes the ID of the first type beacon point, process the wireless signal transmitted by the first type beacon point included in the wireless signal by using a second preset algorithm to obtain second position information, and obtain the position information of the current moment according to the first position information and the second position information or according to the first position information, the second position information and the position information of the last moment.
A positioning method, the positioning method comprising:
the positioning receiver receives wireless signals transmitted by the first type of beacon points and the second type of beacon points and transmits the wireless signals to the positioning server; the wireless signal comprises IDs of beacon points, the first beacon points cover key areas in a positioning environment, the second beacon points cover other areas except the key areas in the positioning environment, and the transmitting power of the first beacon points is smaller than that of the second beacon points;
the positioning server receives the wireless signal;
processing the wireless signals by using a first preset algorithm at intervals of a preset time length to obtain first position information;
judging whether the wireless signal comprises the ID of the first type beacon point or not, and taking the first position information as the position information of the current moment when the wireless signal is determined that the wireless signal does not comprise the ID of the first type beacon point;
when the ID of the first type of beacon point is determined to be included in the wireless signal, a second preset algorithm is utilized to process the wireless signal transmitted by the first type of beacon point included in the wireless signal, so as to obtain second position information,
And obtaining the position information of the current moment according to the first position information, the second position information and the position information of the last moment or according to the first position information and the second position information.
A positioning device, the positioning device comprising:
a receiving unit for receiving the wireless signal sent by the positioning receiver; the wireless signals sent by the positioning receiver are received from wireless signals transmitted by a first type of beacon point and a second type of beacon point, the wireless signals comprise IDs of the beacon points, the first type of beacon point covers a key area in a positioning environment, the second type of beacon point covers other areas except the key area in the positioning environment, and the transmitting power of the first type of beacon point is smaller than that of the second type of beacon point;
the first processing unit is used for processing the received wireless signals by using a first preset algorithm at intervals of a preset time length to obtain first position information;
a first judging unit, configured to judge whether the received wireless signal includes an ID of the first type beacon point, and when it is determined that the received wireless signal does not include the ID of the first type beacon point, use the first location information as location information of a current time;
A second processing unit, configured to, when determining that the received wireless signal includes the ID of the first type beacon point, process, by using a second preset algorithm, the wireless signal transmitted by the first type beacon point included in the received wireless signal to obtain second location information,
and the third processing unit is used for obtaining the position information of the current moment according to the first position information, the second position information and the position information of the last moment or according to the first position information and the second position information.
According to the technical scheme, the first type beacon point is placed in the key area of the positioning environment, the second type beacon point is placed in other areas except the key area in the positioning environment, the transmitting power of the first type beacon point is smaller than that of the second type beacon point, when the positioning server obtains one piece of position information, namely the first position information, based on the received wireless signals sent by the positioning receiver, when the wireless signals received by the positioning server comprise the wireless signals sent by the first type beacon point, the wireless signals sent by the first type beacon point are used for obtaining one piece of position information, namely the second position information, and then the position information at the current moment is determined by using the first position information, the second position information and the position information at the previous moment.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram illustrating an indoor positioning system according to an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of the placement of beacon points according to an embodiment of the present application;
FIG. 3 is a flow chart of an indoor positioning method according to another embodiment of the present disclosure;
FIG. 4 is a flow chart of a method for obtaining first location information according to an embodiment of the present disclosure;
FIG. 5 is a flowchart of a method for obtaining location information at a current time according to an embodiment of the present disclosure;
FIG. 6 is a flowchart of a method for correcting position information according to another embodiment of the present disclosure;
FIG. 7 is a schematic view of zoning according to an embodiment of the present disclosure;
fig. 8 is a block diagram of an indoor positioning device according to an embodiment of the present disclosure.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on the embodiments of the present invention, are intended to be within the scope of the present application.
The embodiment of the application provides a positioning system, which can be particularly applied to indoor positioning environments, such as emergency situations of fire or equipment faults, monitoring environments needing to be closely monitored, and the like, as shown in fig. 1, and comprises:
a first type of beacon point 100 covering a critical area in the positioning environment, a second type of beacon point 101 covering other areas in the positioning environment than the critical area, a positioning receiver 102 and a positioning server 103.
The key area is near an entrance in the positioning environment, for example, an area near a door of a covered room in the positioning environment, and can be divided into an inner area and an outer area, wherein two to three first type beacon points, such as one inner area and 1 outer area, are usually placed in the area near the door of the room. The second type of beacon points 101 may be distributed in other areas than the critical areas, as desired. Since the transmitting power of the first type beacon point 100 is smaller than the transmitting power of the second type beacon point 101, that is, the intensity of the wireless signal transmitted by the first type beacon point 100 is smaller, the intensity of the wireless signal transmitted by the second type beacon point 101 is larger, so that the range of the area where the first type beacon point 100 can be received and identified is smaller, basically only the key area can be covered, and the range where the second type beacon point 101 can be received and identified is larger, and the placement with a larger area can be performed.
Preferably, the transmitting frequency of the first type beacon point 100 is greater than the transmitting frequency of the second type beacon point 101, that is, the second type beacon point 101 adopts higher transmitting power and lower transmitting frequency, so that the strength coverage area can be increased and the number of beacon points can be reduced on the premise that the power consumption of the beacon point is unchanged, and the cost can be saved.
Specifically, as shown in fig. 2, the positions of the beacon points are illustrated, taking a room and a corridor connected with the room as an example, one first-class beacon point 100 is placed in each of the indoor area and the outdoor area, the critical area is covered by the identifiable and receivable range of the two first-class beacon points 100, and 4 second-class beacon points 101 are disposed in other areas of the room and other areas of the corridor, and the identifiable and receivable range of the 4 second-class beacon points 101 can cover the entire positioning area, that is, the wireless signal emitted by the second-class beacon points 101 can be received basically regardless of the position of the positioning receiver.
The first type beacon point 100 and the second type beacon point 101 are used for transmitting wireless signals, and the wireless signals comprise IDs of the beacon points, wherein the beacon points can adopt active RFID or bluetooth wireless transmitters capable of transmitting wireless signals.
A positioning receiver 102 for receiving the wireless signal and transmitting the wireless signal to a positioning server 103; the positioning receiver 102 is composed of an RFID signal collector or a bluetooth signal collection module, and can be integrated in a PDT handheld radio station, a mobile terminal or an anti-disassembly bracelet, so long as a person carries the positioning receiver 102 in a positioning environment, wireless signals emitted by beacon points in a detectable range can be received in real time, the wireless signals comprise IDs and RSSI of the beacon points, the received wireless signals are sent to a gateway, and then the gateway sends the wireless signals to the positioning server 103, so that the positioning server 103 calculates the position of the positioning receiver 102.
The positioning server 103 is configured to process the received wireless signal with a first preset algorithm at intervals of a predetermined duration to obtain first location information; judging whether the received wireless signal comprises the ID of the first type of beacon point, and taking the first position information as the position information of the current moment when the received wireless signal is determined to not comprise the ID of the first type of beacon point.
The positioning server 103 receives, in real time, the wireless signal transmitted by the beacon point received by the positioning receiver 102, and calculates the position information once at intervals of a predetermined time. When the ID of the first beacon point 100 is not included in the wireless signal, it indicates that no wireless signal transmitted by the first beacon point 100 is included in the received wireless signal, that is, the positioning receiver 102 does not cover the critical area, so that the first position information calculated at present is directly regarded as the position information at the present moment, even if there may be an error in the first position information.
The positioning server 103 is further configured to, when determining that the received wireless signal includes the ID of the first type beacon point 100, process, by using a second preset algorithm, the wireless signal transmitted by the first type beacon point 100 included in the received wireless signal to obtain second location information, and obtain location information at the current time according to the first location information and the second location information, or according to the first location information, the second location information, and the location information at the previous time.
When the received wireless signal includes the ID of the first beacon point 100, it is indicated that there is a wireless signal transmitted by the first beacon point 100 in the received wireless signal, and the positioning receiver 102 should cover a critical area, that is, the positioning receiver 102 covers a position near a door, a position near an exit, and the like, so that the second position information is calculated only by using the wireless signal transmitted by the first beacon point 100 included in the received wireless signal.
The positioning server 103 is connected to the internet or a local area network through a gateway, and receives the wireless signal sent by the positioning receiver 102. It will be appreciated that each positioning receiver 102 carries its ID when transmitting a wireless signal transmitted from a received beacon point, so that the positioning server 103 can locate the position of each positioning receiver based on the received wireless signal transmitted from each positioning receiver, and transmit the location result to a mobile device such as a visual system management platform, a multimode terminal, etc. for display.
When the positioning server calculates the second position information by adopting a fingerprint positioning algorithm, the indoor positioning system further comprises a fingerprint database server, which is used for storing fingerprint data obtained by collecting the wireless signals transmitted by the first type of beacon points 100. The first type of beacon point 100 with high frequency and low power can transmit wireless signals with larger transmitting frequency on the premise of not affecting the power consumption of the beacon point, and can quickly establish an effective fingerprint database, so that the accuracy of fingerprint acquisition and matching of a key area is improved, and the accurate positioning of the key area is ensured.
In the above embodiment, during positioning, the positioning server obtains a piece of position information, namely the first position information, based on the received wireless signal sent by the positioning receiver, and meanwhile, if the wireless signal received by the positioning server includes the wireless signal sent by the first type beacon point, the wireless signal sent by the first type beacon point is used to obtain a piece of position information, namely the second position information, and further, the first position information and the second position information are used, or the first position information, the second position information and the position information at the last moment are used to determine the position information at the current moment, wherein, because the sending power of the first type beacon point is smaller, the sent wireless signal covers a key area, too many other areas are not covered, and the range of the key area is smaller, the environmental change is also smaller, the influence on the wireless signal sent by the first type beacon point is reduced, so that the accuracy of the second position information is improved, and further, the accuracy of the final position information determined by combining the second position information with other position information is higher.
The embodiment of the application also provides a positioning method, as shown in fig. 3, which comprises the following steps:
s300, the positioning receiver receives wireless signals transmitted by the first type of beacon points and the second type of beacon points, and sends the received wireless signals to the positioning server.
The wireless signal comprises IDs of beacon points, the first beacon points cover key areas in the positioning environment, the second beacon points cover other areas except the key areas in the positioning environment, and the transmitting power of the first beacon points is smaller than that of the second beacon points.
S301, the positioning server receives a wireless signal.
S302, processing the received wireless signals by using a first preset algorithm at intervals of a preset time length to obtain first position information.
S303, judging whether the received wireless signal comprises the ID of the first type beacon point.
And S304, when the received wireless signal is determined to not comprise the ID of the first type beacon point, the first position information is used as the position information of the current moment.
And S305, when the received wireless signals comprise the IDs of the first type of beacon points, processing the wireless signals transmitted by the first type of beacon points in the received wireless signals by using a second preset algorithm to obtain second position information.
S306, obtaining the position information of the current moment according to the first position information and the second position information or according to the first position information, the second position information and the position information of the last moment.
In the above embodiment, since the transmitting power of the first beacon point is smaller, the transmitted wireless signal covers the key area of the positioning environment, but not too many other areas, and the key area has smaller range and smaller environmental change, the influence on the wireless signal transmitted by the first beacon point is reduced, so that the accuracy of the second position information is improved, and the accuracy of the final position information determined by combining the second position information with other position information is higher.
The embodiment of the application provides a method for a positioning server to perform positioning calculation on a received wireless signal by using a first preset algorithm to obtain first position information, as shown in fig. 4, the method includes:
s400, deleting noise data and repair missing data in the wireless signal according to preset denoising and missing repair rules to obtain first data.
The step of deleting noise data is to delete data exceeding a preset RISS range, and in actual positioning, the closer the distance between a positioning receiver and a beacon point is, the more times signals are received and the larger the RSSI is; otherwise, the times are reduced, and the RSSI is reduced; when the RSSI is less than-100 dBm, the beacon point is far enough away from the positioning receiver, the testability of the beacon point is lost, so that the range of the RSSI is set when the data acquisition processing is carried out, the interference signals of non-beacon points and meaningless beacon data are removed, for example, the RISS range is 1dBm to-100 dBm, and if the received RISS is-101 dBm, the data are considered as noise data.
The repair missing data refers to that the wireless signal is disabled due to interference in the space propagation process, so that certain received signals have no RISS, and at the moment, the RISS of the signal is repaired by using the average value of other RISS.
S401, clustering the first data by using a density clustering algorithm to obtain second data excluding interference data.
The method comprises the steps of utilizing a density clustering method to further denoise first data, eliminating interference data in the first data, and enabling remaining second data to be positioned reference data.
S402, performing positioning calculation on the second data by using a centroid algorithm to obtain first position information.
Specifically, the correspondence between the ID of the beacon point and the beacon point coordinate is stored in the positioning server, and the weighted centroid algorithm can be utilized to calculate the RISS and the beacon point coordinate in the second data to obtain the first position information.
In the above embodiment, the received wireless signals are calibrated and missing data are supplemented by using the preset denoising and leak repairing rules and the density clustering algorithm, so that the problems of signal noise and missing are solved, the accuracy of the received wireless signals is improved, and the accuracy of positioning information is further improved.
In another embodiment of the present application, a method for processing, by a positioning server, a wireless signal transmitted by a first type of beacon point included in a received wireless signal by using a second preset algorithm to obtain second position information is provided, where the method includes:
searching pre-stored fingerprint data acquired by collecting wireless signals transmitted by the first type of beacon points based on a positioning algorithm of the position fingerprints, and determining fingerprint data matched with the wireless signals transmitted by the first type of beacon points included in the received wireless signals;
and taking the position information included in the fingerprint data as second position information.
In the embodiment, the wireless signals emitted by the first type of beacon points are collected in advance in the key area, and the collection range is small, so that the fingerprint collection is convenient, the signal anti-interference capability is strong, and the fingerprint characteristics are clear. On the premise of not influencing power consumption, the transmitting frequency of the first type of beacon points is high, and an effective fingerprint database can be quickly established, so that the accuracy of fingerprint acquisition and matching is improved, and the accurate positioning of a key area is ensured.
The key point of improving the positioning accuracy is not to position the position covering the door inner area into the door outer area, so in an embodiment of the present application, fingerprint data in fingerprint data is preset to be in a form of (key area identifier, signal strength), that is, when the fingerprint data is collected, the key area covered by each position is recorded in the fingerprint data, for example, 1 represents the door inner area and 0 represents the door outer area, and based on this, the method for obtaining the position information of the current moment, as shown in fig. 5, includes:
S500, obtaining pre-stored limit data corresponding to the ID of a first type of beacon point included in the received wireless signal;
the correspondence between the first type beacon point ID and the limit data is pre-stored in the positioning server, as shown in fig. 2, the limit data may be a location function corresponding to a door, for example, with a lower left corner as an origin, where the location function corresponding to the door is X identical to a value, and if the location function corresponding to the door is x=2, the IDs of the two first type beacon points both correspond to the limit data.
S501, judging whether a key area where the first position is located is the same as a key area where the second position is located according to the coordinate position information and the limit data of the first position, if so, executing a step S502, otherwise, executing a step S503;
specifically, comparing the X coordinate value in the first position information with the value of 2, if the X coordinate value is smaller than 2, indicating that the first position covers the area in the door, and giving a key area identifier with the value of 1 to the first position; if the value is greater than 2, the first position is indicated to cover the outdoor area, and a key area mark with the value of 0 is given to the first position; comparing the assignment with the key area identification in the second position information, if the assignment is the same, the first position and the second position are in the same key area, and if the assignment is different, the first position and the second position are in different key areas;
S502, taking the first position information as the position information of the current moment;
s503, taking the position information of the previous moment as the position information of the current moment;
when the critical area where the first position is located is different from the critical area where the second position is located, it is indicated that one piece of positioning information in the first position information and the second position information is inaccurate, and in consideration of that in the actual positioning process, the possibility of jumping of positioning is high due to the fact that the influence of the positioning environment on wireless signals emitted by second type beacon points placed in a large area is high, for example, the last moment, the positioning indicated by the first position information covers the area outside the door, the positioning indicated by the next moment is the area in the door due to the instability caused by the interference of the environment, but in fact, the positioned person is not moved into the door; at this time, the second position information calculated by the wireless signals transmitted by the first type beacon points indicates that the positioning still covers the area outside the door, and because the wireless signals transmitted by the first type beacon points are less affected by the environment and are relatively stable, the positioned personnel are not considered to move into the door, and the position information at the last moment is still adopted as the position information at the current moment. Unless the first position information and the second position information obtained at the next moment indicate that the positioning is covering the area in the door, the person to be positioned is considered to move into the door, and the first position information is further taken as the position information at the current moment.
In the above embodiment, according to the coordinate position information and the limit data, it is determined whether the critical area where the first position is located is the same as the critical area where the second position is located; and only when the key area where the first position is located is the same as the key area where the second position is located, the first position information is used as the position information of the current moment, so that the possibility of positioning jump in the key area is reduced as much as possible, and the positioning precision is improved.
In the above embodiment, when collecting the fingerprint data, it may be further configured that the fingerprint data includes coordinates of the beacon point, and the second position information further includes coordinate position information; when the key area where the first position is located is the same as the key area where the second position is located, utilizing the first position information and the second position information, for example, taking the average value of the first position information and the second position information as the position information of the current moment; when the critical area in the first position is different from the critical area in the second position, determining which critical area in the first position and which critical area in the second position is the same as the critical area in the position at the last moment, and further utilizing the position information in the same critical area and the position information at the last moment, for example, taking the average value of the position information and the position information as the position information at the current moment.
Alternatively, since the features of fingerprint collection in the key area are more, the accuracy of the calculated second location information is also higher, and in some embodiments, the location information at the current time may be determined only according to the first location information and the second location information, for example: when the key area where the first position is located is different from the key area where the second position is located, taking the second position information as the position information of the current moment; and when the key area in which the first position is positioned is the same as the key area in which the second position is positioned, taking the average value of the key area and the key area as the position information of the current moment.
In another embodiment of the present application, after taking the first location information as the location information of the current time, the method further includes a step of correcting the location information by the location server according to the connectivity relationship of the area range, as shown in fig. 6, including:
and S600, searching the pre-stored area range data according to the position information of the current moment, and determining the target area range where the position of the current moment is located.
The positioning environment is divided into a plurality of area ranges in advance, as shown in fig. 7, the positioning environment is divided into a room 1 area range, a room 2 area range, a room 3 area range, a door 1 area range, a door 2 area range, a door 3 area range, a corridor 1 area range, a corridor 2 area range and a corridor 3 area range, and for each area range, other area ranges having a connection relationship with the area range are recorded, such as the room 1 area range and the door 1 area range have a connection relationship, and the corridor 1 area range has a connection relationship with the door 1 area range and the corridor 2 area range.
S601, searching a communication relation between the prestored area ranges, and judging whether the target area range is communicated with the target area range where the position at the previous moment is located.
If the communication is not established, the position information at the previous time is regarded as the position information at the current time S602.
The above embodiment is particularly directed to the problem of positioning jump between two rooms having no communication relationship, for example, the former time positioning is in the room 1, the next time positioning is in the room 2, the area range having communication relationship with the room 2 is searched at this time, it is determined that the room 1 and the room 2 have no communication relationship, a person can only enter the room 2 from the room 1 through the door area and the corridor area, and it is impossible to directly enter the room 2 from the room 1 at the front and rear two times, so that the person is determined to be still in the room 1 at this time, and the position information of the former time is regarded as the position information of the current time, so that the positioning accuracy is improved.
The embodiment of the application further provides a positioning device, as shown in fig. 8, including:
a receiving unit 800 for receiving the wireless signal sent by the positioning receiver.
The wireless signals sent by the positioning receiver are received from wireless signals transmitted by a first type of beacon point and a second type of beacon point, the wireless signals comprise IDs of the beacon points, the first type of beacon point covers a key area in a positioning environment, the second type of beacon point covers other areas except the key area in the positioning environment, and the transmitting power of the first type of beacon point is smaller than that of the second type of beacon point.
The first processing unit 801 is configured to process, at intervals of a predetermined duration, the received wireless signal by using a first preset algorithm, so as to obtain first location information.
The first processing unit processes the received wireless signal by using a first preset algorithm at intervals of a preset time length, and obtains first position information, wherein the first position information comprises: deleting noise data and repair missing data in the wireless signal according to preset denoising and repair missing rules to obtain first data; clustering the first data by using a density clustering algorithm to obtain second data excluding interference data; and positioning and calculating the second data by using a centroid algorithm to obtain first position information.
A first judging unit 802, configured to judge whether the received wireless signal includes an ID of the first type beacon point, and when it is determined that the received wireless signal does not include the ID of the first type beacon point, use the first location information as the location information of the current time.
And a second processing unit 803, configured to, when determining that the received wireless signal includes the ID of the first type of beacon point, process, by using a second preset algorithm, the wireless signal transmitted by the first type of beacon point included in the received wireless signal, and obtain second location information.
The third processing unit 804 is configured to obtain the location information at the current time according to the first location information and the second location information, or according to the first location information, the second location information, and the location information at the previous time.
Preferably, the second processing unit 803 includes:
the searching subunit is used for searching pre-stored fingerprint data obtained by collecting the wireless signals transmitted by the first type of beacon points based on a positioning algorithm of the position fingerprints, and determining fingerprint data matched with the wireless signals transmitted by the first type of beacon points included in the received wireless signals;
and a first determination subunit configured to take the location information included in the fingerprint data as second location information.
Preferably, the first position information is coordinate position information, and the second position information is position information representing that the second position is in a certain key area;
the third processing unit 804 includes:
an acquisition subunit, configured to acquire prestored limit data corresponding to an ID of a first type of beacon point included in the received wireless signal;
the second judging subunit is used for judging whether the key area where the first position is located is the same as the key area where the second position is located according to the coordinate position information and the limit data;
A second determining subunit, configured to, when the critical area where the first position is located is the same as the critical area where the second position is located, use the first position information as the position information of the current moment; and if the key area in which the first position is located is different from the key area in which the second position is located, taking the position information of the last moment as the position information of the current moment.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A positioning system, comprising: the system comprises a first type of beacon point covering a key area in a positioning environment, a second type of beacon point covering other areas except the key area in the positioning environment, a positioning receiver and a positioning server, wherein the transmitting power of the first type of beacon point is smaller than that of the second type of beacon point;
the first type beacon point and the second type beacon point are used for transmitting wireless signals, and the wireless signals comprise IDs of the beacon points;
The positioning receiver is used for receiving the wireless signal and sending the wireless signal to a positioning server;
the positioning server is used for processing the wireless signals by using a first preset algorithm at intervals of a preset time length to obtain first position information; judging whether the wireless signal comprises the ID of the first type beacon point or not, and taking the first position information as the position information of the current moment when the wireless signal is determined that the wireless signal does not comprise the ID of the first type beacon point;
the positioning server is further configured to, when determining that the wireless signal includes the ID of the first type beacon point, process, by using a second preset algorithm, the wireless signal transmitted by the first type beacon point included in the wireless signal to obtain second location information, and obtain location information at the current time according to the first location information and the second location information, or according to the first location information, the second location information and the location information at the previous time;
the obtaining the position information of the current moment according to the first position information and the second position information includes:
if the key area where the first position corresponding to the first position information is located is the same as the key area where the second position corresponding to the second position information is located, determining the position information at the current moment based on the first position information and the second position information; if the key area where the first position corresponding to the first position information is located is different from the key area where the second position corresponding to the second position information is located, the second position information is used as the position information of the current moment;
The obtaining the position information of the current time according to the first position information, the second position information and the position information of the previous time includes:
if the second position information is the position information representing that the second position is located in a certain key area, if the key area where the first position corresponding to the first position is located is the same as the key area where the second position is located, the first position information is used as the position information of the current moment; and if the key area where the first position corresponding to the first position information is located is different from the key area where the second position is located, taking the position information of the last moment as the position information of the current moment.
2. The positioning system of claim 1 wherein the first type of beacon point has a transmission frequency greater than the transmission frequency of the second type of beacon point.
3. A positioning method, characterized in that the positioning method comprises:
the positioning receiver receives wireless signals transmitted by the first type of beacon points and the second type of beacon points and transmits the wireless signals to the positioning server; the wireless signal comprises IDs of beacon points, the first beacon points cover key areas in a positioning environment, the second beacon points cover other areas except the key areas in the positioning environment, and the transmitting power of the first beacon points is smaller than that of the second beacon points;
The positioning server receives the wireless signal;
processing the wireless signals by using a first preset algorithm at intervals of a preset time length to obtain first position information;
judging whether the wireless signal comprises the ID of the first type beacon point or not, and taking the first position information as the position information of the current moment when the wireless signal is determined that the wireless signal does not comprise the ID of the first type beacon point;
when the ID of the first type of beacon point is determined to be included in the wireless signal, processing the wireless signal transmitted by the first type of beacon point included in the wireless signal by using a second preset algorithm to obtain second position information;
obtaining the position information of the current moment according to the first position information, the second position information and the position information of the last moment or according to the first position information and the second position information;
the obtaining the position information of the current moment according to the first position information and the second position information includes:
if the key area where the first position corresponding to the first position information is located is the same as the key area where the second position corresponding to the second position information is located, determining the position information at the current moment based on the first position information and the second position information; if the key area where the first position corresponding to the first position information is located is different from the key area where the second position corresponding to the second position information is located, the second position information is used as the position information of the current moment;
The obtaining the position information of the current time according to the first position information, the second position information and the position information of the previous time includes:
if the second position information is the position information representing that the second position is located in a certain key area, if the key area where the first position corresponding to the first position is located is the same as the key area where the second position is located, the first position information is used as the position information of the current moment; and if the key area where the first position corresponding to the first position information is located is different from the key area where the second position is located, taking the position information of the last moment as the position information of the current moment.
4. The positioning method of claim 3 wherein said positioning server processing said wireless signal using a first predetermined algorithm to obtain first location information comprises:
deleting noise data and repair missing data in the wireless signal according to preset denoising and repair missing rules to obtain first data;
clustering the first data by using a density clustering algorithm to obtain second data excluding interference data;
and positioning and calculating the second data by using a centroid algorithm to obtain first position information.
5. The positioning method of claim 3 wherein said positioning server processing wireless signals transmitted by said first type of beacon points included in said wireless signals using a second predetermined algorithm to obtain second location information comprises:
searching pre-stored fingerprint data acquired by collecting wireless signals transmitted by the first type of beacon points based on a positioning algorithm of position fingerprints, and determining fingerprint data matched with the wireless signals transmitted by the first type of beacon points included in the wireless signals;
and taking the position information included in the fingerprint data as second position information.
6. The positioning method according to claim 5, wherein the first position information is coordinate position information, and the second position information is position information indicating that the second position is located in a certain critical area;
the obtaining the position information of the current moment according to the first position information, the second position information and the position information of the last moment includes:
acquiring prestored limit data corresponding to the ID of the first type beacon point included in the wireless signal;
judging whether the key area where the first position is located is identical to the key area where the second position is located according to the coordinate position information and the limit data;
If the first position information is the same, the first position information is used as the position information of the current moment;
and if the position information is different, taking the position information of the previous moment as the position information of the current moment.
7. A positioning method according to any of claims 3-6, characterized in that after having said first position information as position information at the current moment, the method further comprises:
the positioning server searches pre-stored area range data according to the position information of the current moment and determines a target area range where the position of the current moment is located;
searching a communication relation between the prestored area ranges, and judging whether the target area range is communicated with the target area range where the position at the previous moment is located;
if the communication is not carried out, the position information of the previous moment is taken as the position information of the current moment.
8. A positioning device, the positioning device comprising:
a receiving unit for receiving the wireless signal sent by the positioning receiver; the wireless signals sent by the positioning receiver are received from wireless signals transmitted by a first type of beacon point and a second type of beacon point, the wireless signals comprise IDs of the beacon points, the first type of beacon point covers a key area in a positioning environment, the second type of beacon point covers other areas except the key area in the positioning environment, and the transmitting power of the first type of beacon point is smaller than that of the second type of beacon point;
The first processing unit is used for processing the received wireless signals by using a first preset algorithm at intervals of a preset time length to obtain first position information;
a first judging unit, configured to judge whether the received wireless signal includes an ID of the first type beacon point, and when it is determined that the received wireless signal does not include the ID of the first type beacon point, use the first location information as location information of a current time;
a second processing unit, configured to, when determining that the received wireless signal includes the ID of the first type beacon point, process, by using a second preset algorithm, the wireless signal transmitted by the first type beacon point included in the received wireless signal to obtain second location information,
a third processing unit, configured to obtain location information at a current time according to the first location information, the second location information, and location information at a previous time, or according to the first location information and the second location information;
the third processing unit obtains the position information of the current moment according to the first position information and the second position information, and the third processing unit comprises:
if the key area where the first position corresponding to the first position information is located is the same as the key area where the second position corresponding to the second position information is located, determining the position information at the current moment based on the first position information and the second position information; if the key area where the first position corresponding to the first position information is located is different from the key area where the second position corresponding to the second position information is located, the second position information is used as the position information of the current moment;
The third processing unit obtains the position information of the current moment according to the first position information, the second position information and the position information of the last moment, and the method comprises the following steps:
if the second position information is the position information representing that the second position is located in a certain key area, if the key area where the first position corresponding to the first position is located is the same as the key area where the second position is located, the first position information is used as the position information of the current moment; and if the key area where the first position corresponding to the first position information is located is different from the key area where the second position is located, taking the position information of the last moment as the position information of the current moment.
9. The positioning device of claim 8 wherein said second processing unit comprises:
the searching subunit is used for searching pre-stored fingerprint data obtained by collecting the wireless signals transmitted by the first type of beacon points based on a positioning algorithm of the position fingerprints, and determining fingerprint data matched with the wireless signals transmitted by the first type of beacon points included in the received wireless signals;
and the first determining subunit is used for taking the position information included in the fingerprint data as second position information.
10. The positioning device of claim 9 wherein the first location information is coordinate location information and the second location information is location information characterizing that the second location is in a critical area;
the third processing unit includes:
an obtaining subunit, configured to obtain pre-stored limit data corresponding to an ID of a first type of beacon point included in the received wireless signal;
the second judging subunit is used for judging whether the key area where the first position is located is the same as the key area where the second position is located according to the coordinate position information and the limit data;
a second determining subunit, configured to, when the critical area where the first location is located is the same as the critical area where the second location is located, use the first location information as location information of the current time; and if the key area where the first position is located is different from the key area where the second position is located, taking the position information of the last moment as the position information of the current moment.
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