CN113329337A - Indoor positioning system based on bluetooth communication - Google Patents
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Abstract
The invention relates to the technical field of indoor positioning, in particular to an indoor positioning system based on Bluetooth communication, which comprises: the Bluetooth beacon module is arranged on a target to be detected; the Bluetooth base station modules are respectively arranged at indoor designated positions; the Bluetooth base station module can receive Bluetooth signals corresponding to the Bluetooth beacon modules and acquire signal arrival direction information corresponding to the Bluetooth beacon modules; and the positioning calculation module is used for calculating a relative azimuth angle between the corresponding Bluetooth base station module and the corresponding Bluetooth beacon module according to the signal arrival direction information, and calculating the position information of the corresponding Bluetooth beacon module by combining triangular positioning according to the relative azimuth angle and the position information of the corresponding Bluetooth base station module to be used as the indoor position of the measured target. The indoor positioning system can reduce the storage space occupation and ensure the positioning efficiency and the positioning precision, thereby improving the positioning effect of indoor positioning.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to an indoor positioning system based on Bluetooth communication.
Background
In recent years, with the rapid development of the internet of things technology, various spatial position positioning technologies and related systems are in rapid development. At present, a GPS (global positioning system) and a Beidou positioning system are widely applied in the aspect of positioning and navigation. However, the signals of the two positioning systems are greatly attenuated due to the influence of building shielding, and the indoor positioning accuracy is seriously influenced. Therefore, how to achieve accurate indoor positioning becomes an important direction for research in various fields and research institutions.
Indoor positioning refers to a positioning technology for determining positions of people, objects and the like in an indoor space by mainly adopting technologies such as wireless communication and the like to form an indoor position positioning system through integration. Currently, there are mainly an ultrasonic indoor positioning technology, a WiFi indoor positioning technology, a UWB (ultra wide band) positioning technology, a bluetooth beacon indoor positioning technology, and the like. For example, chinese patent publication No. CN109936837A discloses "an indoor positioning method based on bluetooth", which includes: arranging a plurality of Bluetooth positioning base stations and a plurality of fixed Bluetooth beacons indoors; calculating the preliminary positioning information of the Bluetooth beacon to be positioned; selecting a fixed Bluetooth beacon closest to the area indicated by the preliminary positioning information, and recording the fixed Bluetooth beacon as a specific fixed Bluetooth beacon; correcting coefficients in the logarithmic distance path loss model formula; and calculating the accurate position information of the Bluetooth beacon to be positioned.
The indoor positioning method in the above-mentioned existing scheme actually uses a mapping relationship between RSS information (signal strength value information) and actual distance to perform positioning. However, the applicant finds that when the existing indoor positioning method is adopted, RSS information of each fixed bluetooth beacon needs to be stored, and in order to ensure indoor positioning accuracy, a plurality of fixed bluetooth beacons are usually arranged, so that the storage space occupied for storing the RSS information is large. Meanwhile, because there are many RSS information stored, the time consumed in matching RSS information is also very long, resulting in low indoor positioning efficiency. Therefore, how to provide an indoor positioning system which can reduce the storage space occupation and can ensure the positioning efficiency and the positioning accuracy is an urgent technical problem to be solved.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide one kind can reduce storage space and occupy and can guarantee the indoor positioning system of positioning efficiency and positioning accuracy to can promote the location effect of indoor location.
In order to solve the technical problems, the invention adopts the following technical scheme:
an indoor positioning system based on bluetooth communication, comprising:
the Bluetooth beacon module is arranged on a target to be detected;
the Bluetooth base station modules are respectively arranged at indoor designated positions; the Bluetooth base station module can receive Bluetooth signals corresponding to the Bluetooth beacon modules and acquire signal arrival direction information corresponding to the Bluetooth beacon modules;
and the positioning calculation module is used for calculating a relative azimuth angle between the corresponding Bluetooth base station module and the corresponding Bluetooth beacon module according to the signal arrival direction information, and calculating the position information of the corresponding Bluetooth beacon module by combining triangular positioning according to the relative azimuth angle and the position information of the corresponding Bluetooth base station module to be used as the indoor position of the measured target.
Preferably, the bluetooth base station module includes a bluetooth sensing unit for receiving bluetooth signals of the bluetooth beacon module, a bluetooth array antenna unit for acquiring signal arrival direction information of the bluetooth beacon module, and a bluetooth processor in network communication with the positioning calculation module and capable of sending the signal arrival direction information.
Preferably, the bluetooth base station module is arranged based on the set 5G indoor distribution system: each Bluetooth base station module is respectively arranged corresponding to the 5G pico base stations of the 5G indoor distribution system one by one, and transmits data to the positioning calculation module through the 5G network of the 5G indoor distribution system.
Preferably, the bluetooth base station module and the corresponding 5G pico-base station share the antenna and work in a time division duplex mode; the Bluetooth base station module combines the antenna control signal of the Bluetooth processor with the 5G radio frequency signal of the corresponding 5G pico base station to obtain the Bluetooth array antenna unit of 4T 4R.
Preferably, the bluetooth base station module and the corresponding 5G pico-base station are installed in a combined manner.
Preferably, the bluetooth base station module is additionally arranged on the corresponding 5G pico-base station.
Preferably, the bluetooth base station module supplies power through a power supply corresponding to the 5G pico-base station.
Preferably, the positioning calculation module calculates the indoor position of the measured object by the following steps:
s1: determining a Bluetooth base station module A and a Bluetooth base station module B which can receive Bluetooth signals of a Bluetooth beacon module corresponding to a target to be detected;
s2: respectively calculating relative azimuth angles alpha and beta between the Bluetooth base station module A and the Bluetooth base station module B and the corresponding Bluetooth beacon modules according to the signal arrival direction information of the Bluetooth base station module A and the Bluetooth base station module B;
s3: and calculating the position information of the corresponding Bluetooth beacon module according to the position information of the Bluetooth base station module A and the Bluetooth base station module B, the relative azimuth angle alpha and the relative azimuth angle beta to serve as the indoor position of the measured target.
Preferably, the bluetooth base station module comprises a bluetooth array antenna unit, and the bluetooth array antenna unit acquires time of each antenna for receiving bluetooth signals as signal arrival direction information;
in step S2, the process of receiving the bluetooth signal of the corresponding bluetooth beacon module by the bluetooth array antenna unit is demodulated, and then the phase difference when any two antennas in the bluetooth array antenna unit receive the bluetooth signal of the corresponding bluetooth beacon module is calculated as the relative azimuth between the corresponding bluetooth base station module and the corresponding bluetooth beacon module.
Preferably, in step S3, the position information of the bluetooth beacon module is calculated by the following formula:
wherein, the position information of the Bluetooth beacon module is represented as (x, y); the position information of the bluetooth base station module a is represented as (x)1,y1) (ii) a The position information of the bluetooth base station module B is expressed as (x)2,y2)。
Compared with the prior art, the indoor positioning system has the following beneficial effects:
in the invention, when a measured target is indoors, a Bluetooth base station module arranged in the device can be in Bluetooth communication with the Bluetooth base station module in a communication range, the Bluetooth base station module acquires the signal arrival direction information of the Bluetooth beacon module, the positioning calculation module calculates a relative azimuth angle according to the signal arrival direction information, and calculates the position information of the Bluetooth beacon module according to the relative azimuth angle and the position information of the Bluetooth base station module by combining triangular positioning, and the position information is used as the indoor position of the measured target. Therefore, the invention can effectively calculate the indoor position of the measured target and realize real-time indoor positioning, thereby not needing to store RSS information in advance and matching RSS information, reducing the storage space occupation and ensuring the positioning efficiency; meanwhile, the invention can solve the problem of uncertainty increase caused by environmental complexity and human factors by a mode of calculating the position by relative azimuth and triangulation, namely, the positioning accuracy of indoor positioning can be effectively ensured, thereby improving the positioning effect of indoor positioning.
Drawings
For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
FIG. 1 is a logic block diagram of an indoor positioning system in an embodiment;
FIGS. 2 and 3 are schematic diagrams illustrating the calculation of phase difference in the embodiments;
FIG. 4 is a network structure diagram of the Bluetooth base station module and the 5G base station in the embodiment;
fig. 5 is a network structure diagram of a 4T4R bluetooth array antenna unit in the embodiment;
FIG. 6 is a schematic diagram of the triangulation method in an embodiment.
Detailed Description
The following is further detailed by the specific embodiments:
example (b):
the embodiment of the invention discloses an indoor positioning system based on Bluetooth communication.
As shown in fig. 1, an indoor positioning system based on bluetooth communication includes:
and the Bluetooth beacon module is arranged on the measured target. Specifically, the bluetooth beacon module can select the existing mobile phone with bluetooth function, and the number of the bluetooth beacon modules is determined according to the number of the detected targets.
The Bluetooth base station modules are respectively arranged at indoor designated positions; the Bluetooth base station module can receive the Bluetooth signals corresponding to the Bluetooth beacon modules and acquire the signal arrival direction information corresponding to the Bluetooth beacon modules. Specifically, the bluetooth base station module comprises a bluetooth sensing unit for receiving bluetooth signals of the bluetooth beacon module, a bluetooth array antenna unit for acquiring signal arrival direction information of the bluetooth beacon module, and a bluetooth processor which is in network communication with the positioning calculation module and can send the signal arrival direction information. The Bluetooth base station module can also be integrated with a microprocessor, and the calculation of the relative azimuth angle can also be completed on the microprocessor of the Bluetooth base station module.
And the positioning calculation module is used for calculating a relative azimuth angle between the corresponding Bluetooth base station module and the corresponding Bluetooth beacon module according to the signal arrival direction information, and calculating the position information of the corresponding Bluetooth beacon module by combining triangular positioning according to the relative azimuth angle and the position information of the corresponding Bluetooth base station module to be used as the indoor position of the measured target. Specifically, the positioning calculation module is an existing server or a cloud server, and can perform the above calculations and be used for storing data.
In the invention, when a measured target is indoors, a Bluetooth base station module arranged in the device can be in Bluetooth communication with the Bluetooth base station module in a communication range, the Bluetooth base station module acquires the signal arrival direction information of the Bluetooth beacon module, the positioning calculation module calculates a relative azimuth angle according to the signal arrival direction information, and calculates the position information of the Bluetooth beacon module according to the relative azimuth angle and the position information of the Bluetooth base station module by combining triangular positioning, and the position information is used as the indoor position of the measured target. Therefore, the invention can effectively calculate the indoor position of the measured target and realize real-time indoor positioning, thereby not needing to store RSS information in advance and matching RSS information, reducing the storage space occupation and ensuring the positioning efficiency; meanwhile, the invention can solve the problem of uncertainty increase caused by environmental complexity and human factors by a mode of calculating the position by relative azimuth and triangulation, namely, the positioning accuracy of indoor positioning can be effectively ensured, thereby improving the positioning effect of indoor positioning.
In the specific implementation process, the bluetooth base station module comprises a bluetooth array antenna unit, and the bluetooth array antenna unit acquires the time of each antenna for receiving the bluetooth signal as the signal arrival direction information. Referring to fig. 2 and 3, the process of receiving the bluetooth signal of the corresponding bluetooth beacon module by the bluetooth array antenna unit is demodulated, and then the phase difference when any two antennas in the bluetooth array antenna unit receive the bluetooth signal of the corresponding bluetooth beacon module is calculated as the relative azimuth angle between the corresponding bluetooth base station module and the corresponding bluetooth beacon module.
In the specific implementation process, the Bluetooth base station module is arranged based on the set 5G indoor distribution system: each Bluetooth base station module is respectively arranged corresponding to the 5G pico base stations of the 5G indoor distribution system one by one, and transmits data to the positioning calculation module through the 5G network of the 5G indoor distribution system. Specifically, the bluetooth base station module may be arranged in a manner of combining and installing the bluetooth base station module and the corresponding 5G pico base station or installing the bluetooth base station module on the corresponding 5G pico base station. The Bluetooth base station module supplies power through a power supply corresponding to the 5G pico base station.
In a specific implementation process, a connection mode between the bluetooth base station module and the 5G client of the 5G base station is shown in fig. 4. Specifically, the bluetooth base station module and the corresponding 5G pico-base station share an antenna and work in a time division duplex mode; referring to fig. 5, the bluetooth base station module combines the antenna control signal of the bluetooth processor with the 5G rf signal corresponding to the 5G pico base station to obtain the bluetooth array antenna unit of 4T 4R. The Bluetooth base station module comprises a BLE beacon transmitting unit and a BLE signal receiving unit; the BLE signal receiving unit combines the antenna control signal of bluetooth processor to realize 4T4R array antenna through the 5G radio frequency signal that corresponds 5G pico-base station, adopts 4T4R array antenna can improve the sensitivity of receipt, increases interference immunity, improves the advantage of positioning accuracy by a wide margin. Meanwhile, AOA positioning of surrounding Bluetooth beacons is realized through an algorithm in a gateway master control processor corresponding to the 5G pico-base station. The BLE beacon transmitting unit is used for transmitting BLE broadcast signals, so that other Bluetooth-enabled devices can search for the Bluetooth signals of the base station, namely the Bluetooth base station has the function of a Bluetooth beacon while positioning the position of the surrounding Bluetooth beacon. And the gateway master control processor of the 5G pico-base station sends the calculated relative position information of the peripheral Bluetooth beacons and the Bluetooth base stations to the positioning calculation module through an LAN (local area network) port or wifi, and the software on the positioning calculation module displays the Bluetooth beacons on an indoor map through the processed indoor map information, the coordinates of the Bluetooth base stations and the relative position information of the Bluetooth beacons and the Bluetooth base stations.
In the present invention, the indoor positioning system is based on a 5G indoor distribution system arrangement: the 5G pico base station is required to support the Bluetooth gateway integrated external installation in the 5G indoor distribution system, so that the Bluetooth base station module can be effectively installed on the 5G pico base station of the 5G indoor distribution system. Secondly, the layout of a large number of indoor branch devices of the 5G indoor distribution system can be used as a data channel and a power supply network for data return of the indoor positioning system; meanwhile, the arrangement density of the Bluetooth base station modules and the 5G pico-base stations is close, so that the indoor positioning system can be well matched with a 5G indoor distribution system, and the deployment cost of the indoor positioning system can be effectively reduced. Finally, the invention combines a passive indoor distribution system with a distributed pico-base station, supports indoor accurate positioning and Internet of things information acquisition by integrating Bluetooth beacons, can realize two purposes of one network, namely a 5G data network and a high-precision indoor positioning network, and is a brand new solution for indoor communication in the 5G era.
In the specific implementation process, the positioning calculation module calculates the indoor position of the measured target through the following steps:
s1: determining a Bluetooth base station module A and a Bluetooth base station module B which can receive Bluetooth signals of a Bluetooth beacon module corresponding to a target to be detected;
s2: respectively calculating relative azimuth angles alpha and beta between the Bluetooth base station module A and the Bluetooth base station module B and the corresponding Bluetooth beacon modules according to the signal arrival direction information of the Bluetooth base station module A and the Bluetooth base station module B;
s3: referring to fig. 6, the position information of the corresponding bluetooth beacon module is calculated according to the position information of the bluetooth base station module a and the bluetooth base station module B, and the relative azimuth angle α and the relative azimuth angle β, and is used as the indoor position of the target to be measured.
In the invention, the above steps can solve the problem of uncertainty increase caused by environmental complexity and human factors by means of calculating the position by relative azimuth and triangulation, namely, the positioning data precision of indoor positioning can be effectively ensured, thereby improving the positioning effect of indoor positioning.
In the specific implementation process, the position information of the Bluetooth beacon module is calculated by the following formula:
wherein, the position information of the Bluetooth beacon module is represented as (x, y); the position information of the bluetooth base station module a is represented as (x)1,y1) (ii) a The position information of the bluetooth base station module B is expressed as (x)2,y2)。
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that, while the invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Meanwhile, the detailed structures, characteristics and the like of the common general knowledge in the embodiments are not described too much. Finally, the scope of the claims should be determined by the content of the claims, and the description of the embodiments and the like in the specification should be used for interpreting the content of the claims.
Claims (10)
1. An indoor positioning system based on bluetooth communication, comprising:
the Bluetooth beacon module is arranged on a target to be detected;
the Bluetooth base station modules are respectively arranged at indoor designated positions; the Bluetooth base station module can receive Bluetooth signals corresponding to the Bluetooth beacon modules and acquire signal arrival direction information corresponding to the Bluetooth beacon modules;
and the positioning calculation module is used for calculating a relative azimuth angle between the corresponding Bluetooth base station module and the corresponding Bluetooth beacon module according to the signal arrival direction information, and calculating the position information of the corresponding Bluetooth beacon module by combining triangular positioning according to the relative azimuth angle and the position information of the corresponding Bluetooth base station module to be used as the indoor position of the measured target.
2. An indoor positioning system based on bluetooth communication according to claim 1, characterized in that: the Bluetooth base station module comprises a Bluetooth sensing unit for receiving Bluetooth signals of the Bluetooth beacon module, a Bluetooth array antenna unit for acquiring the signal arrival direction information of the Bluetooth beacon module, and a Bluetooth processor which is in network communication with the positioning calculation module and can send the signal arrival direction information.
3. The indoor positioning system based on bluetooth communication according to claim 2, wherein the bluetooth base station module arranges based on the set 5G indoor distribution system: each Bluetooth base station module is respectively arranged corresponding to the 5G pico base stations of the 5G indoor distribution system one by one, and transmits data to the positioning calculation module through the 5G network of the 5G indoor distribution system.
4. An indoor positioning system based on bluetooth communication according to claim 3, characterized in that: the Bluetooth base station module and the corresponding 5G pico-base station share an antenna and work in a time division duplex mode; the Bluetooth base station module combines the antenna control signal of the Bluetooth processor with the 5G radio frequency signal of the corresponding 5G pico base station to obtain the Bluetooth array antenna unit of 4T 4R.
5. An indoor positioning system based on bluetooth communication according to claim 3, characterized in that: and the Bluetooth base station module is combined with the corresponding 5G pico base station for installation.
6. An indoor positioning system based on bluetooth communication according to claim 3, characterized in that: and the Bluetooth base station module is additionally arranged on the corresponding 5G pico-base station.
7. An indoor positioning system based on bluetooth communication according to claim 3, characterized in that: the Bluetooth base station module supplies power through a power supply corresponding to the 5G pico base station.
8. The indoor positioning system based on bluetooth communication as claimed in claim 1, wherein the positioning calculation module calculates the indoor position of the measured object by:
s1: determining a Bluetooth base station module A and a Bluetooth base station module B which can receive Bluetooth signals of a Bluetooth beacon module corresponding to a target to be detected;
s2: respectively calculating relative azimuth angles alpha and beta between the Bluetooth base station module A and the Bluetooth base station module B and the corresponding Bluetooth beacon modules according to the signal arrival direction information of the Bluetooth base station module A and the Bluetooth base station module B;
s3: and calculating the position information of the corresponding Bluetooth beacon module according to the position information of the Bluetooth base station module A and the Bluetooth base station module B, the relative azimuth angle alpha and the relative azimuth angle beta to serve as the indoor position of the measured target.
9. The indoor positioning system based on bluetooth communication as claimed in claim 8, wherein the bluetooth base station module includes a bluetooth array antenna unit, the bluetooth array antenna unit acquiring time of each antenna receiving bluetooth signal as signal arrival direction information;
in step S2, the process of receiving the bluetooth signal of the corresponding bluetooth beacon module by the bluetooth array antenna unit is demodulated, and then the phase difference when any two antennas in the bluetooth array antenna unit receive the bluetooth signal of the corresponding bluetooth beacon module is calculated as the relative azimuth between the corresponding bluetooth base station module and the corresponding bluetooth beacon module.
10. The indoor positioning system based on bluetooth communication according to claim 8, wherein in step S3, the position information of the bluetooth beacon module is calculated by the following formula:
wherein, the position information of the Bluetooth beacon module is represented as (x, y); the position information of the bluetooth base station module a is represented as (x)1,y1) (ii) a The position information of the bluetooth base station module B is expressed as (x)2,y2)。
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| CN114466452A (en) * | 2022-04-08 | 2022-05-10 | 天津恒达文博科技股份有限公司 | Indoor high-precision positioning system and method based on 5G |
| CN117042124A (en) * | 2023-09-05 | 2023-11-10 | 荣科科技股份有限公司 | Information display method and device based on low-power-consumption Bluetooth positioning |
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