TW201704772A - Indoor localization system and method including at least a label, multiple positioners, a consolidated channel, and a server - Google Patents

Abstract

An indoor localization system includes at least a label, multiple positioners, a consolidated channel, and a server. The server stores the preset strength for recording each location corresponding to multiple signals. The label sends at least a broadcast packet for being scanned by multiple positioners so as to switch to power-saving mode or receiving mode. Each positioner measures the broadcast packet for obtaining a strength information, and sends a localization packet with strength information to server through consolidated channel. The server determines position of label close to which signal point in accordance with database and strength information from multiple positioners. The consolidated channel is at least one of low or high power wireless interface or wired network.

Description

Indoor positioning system and method

The present invention relates to a positioning technique, and more particularly to an indoor positioning system and method.

In an era of vigorous and rapid development of information and technology, the application of technology in life has made life more convenient. For example, in the outdoors, the Global Positioning System (GPS) can be used to locate the current location, and then provide corresponding services, such as finding nearby information, navigation, vehicle management, etc., and the global positioning system is combined through satellites in space. The principle of triangulation is used for positioning, so it is necessary to maintain communication with the satellite to perform positioning. The accuracy is quite high, but it cannot be used in an indoor environment with a covering above. Therefore, some operators use other technologies for indoor positioning, such as infrared, ultrasonic, wireless networks, etc., but the positioning accuracy of these technologies needs to be improved.

Accordingly, it is an object of the present invention to provide an indoor positioning system and method that solves the above problems.

The indoor positioning system includes a tag, a plurality of locators, and a server.

The tag sends at least one broadcast packet.

Each locator is adapted to scan the broadcast packet, and measure a signal strength of the received broadcast packet to obtain an intensity information, and send a positioning packet, the positioning packet having a pair of strength information of the tag.

The server stores a database, and the database records a preset intensity set corresponding to each of the plurality of signal points, each preset intensity set has a plurality of preset intensities, and the plurality of preset intensities respectively correspond to the same signal point And a number of different locators.

The server determines a location of the tag based on the database and the strength information from the plurality of locators.

The indoor positioning method is performed by an indoor positioning system including at least one tag, a plurality of locators, and a server. The indoor positioning method includes the following steps:

(S) the server stores a database, the database records a preset intensity set corresponding to each of the plurality of signal points, each preset intensity set has a plurality of preset intensities, and the plurality of preset intensities respectively correspond to The same signal point and multiple different locators.

(A) The tag transmits at least one broadcast packet scanned by the plurality of locators.

(B) Each locator measures a signal strength of the received broadcast packet to obtain an intensity information, and sends a positioning packet to the server, the positioning packet having a pair of strength information of the tag.

(C) The server determines a position of the tag based on the database and intensity information from the plurality of locators.

The efficacy of the present invention can be achieved by at least based on intensity information to effectively achieve the effect of indoor positioning.

S0~S4‧‧‧ Signal Point

T0~T1‧‧‧ label

11‧‧‧Sensor unit

12‧‧‧Processing unit

13‧‧‧Wireless interface

L1~L3‧‧‧ positioner

14‧‧‧Wireless interface, Bluetooth interface

16‧‧‧Ethernet interface

17‧‧‧WiFi interface

18‧‧‧Bluetooth interface

2‧‧‧Collection channel

20‧‧‧Ethernet Switch

21‧‧‧Wireless Router

211‧‧‧Ethernet interface

212‧‧‧WiFi interface

22‧‧‧ gateway

220‧‧‧Ethernet interface

23‧‧‧Bluetooth Adapter

231‧‧‧Bluetooth interface

232‧‧‧USB interface

4‧‧‧Network

3‧‧‧Server

30‧‧‧Ethernet interface

31‧‧‧WiFi interface

32‧‧‧USB interface

S, A, B, C‧‧‧ steps of the positioning method

C0~C4‧‧‧Steps for positioning method

K, J, H‧‧ ‧ steps of the positioning method

Other features and effects of the present invention will be apparent from the following description of the drawings, wherein: FIG. 1 is a schematic diagram of a first embodiment of an indoor positioning system of the present invention; FIG. 2 is a first embodiment of the present invention. FIG. 3 is a schematic diagram showing the operation of calculating the number of moving steps in the first embodiment; FIG. 4 is a schematic diagram showing another method of calculating the number of moving steps in the first embodiment; FIG. 5 is an embodiment of performing indoor positioning in the first embodiment; Flowchart of the method; FIG. 6 is a flow chart of the computerization rate of the indoor positioning method when the label is in a stationary or initial state; FIG. 7 is a flow chart of the computerization rate of the indoor positioning method when the label is moving; FIG. FIG. 9 is a flowchart of the first embodiment performing an indoor positioning method to switch to a receiving mode; FIG. 10 is a flowchart for performing the indoor positioning in the first embodiment; Method for switching to a receiving mode; FIG. 11 is a block diagram of a second embodiment of an indoor positioning system of the present invention; Figure 12 is a block diagram of a second embodiment of the indoor positioning system of the present invention; Figure 13 is a block diagram of a third embodiment of the indoor positioning system of the present invention; Figure 14 is a fourth embodiment of the indoor positioning system of the present invention Figure 15 is a block diagram of a fifth embodiment of the indoor positioning system of the present invention; Figure 16 is a block diagram of a sixth embodiment of the indoor positioning system of the present invention; and Figure 17 is one of the indoor positioning systems of the present invention; Figure 7 is a block diagram of an eighth embodiment of the indoor positioning system of the present invention; and Figure 19 is a block diagram of a ninth embodiment of the indoor positioning system of the present invention.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same reference numerals.

<First Embodiment>

Referring to FIG. 1 and FIG. 2, a first embodiment of the indoor positioning system of the present invention is applicable to positioning a plurality of signal points S1 S S4, and includes at least one tag T0~T1, a plurality of locators L1 L L2, and a collecting channel 2 And a server 3 (In Figure 2, only one label T0 and one positioner L1 are drawn for convenience of explanation, but not limited to this number). The tag T0 can be set on the person or object to be located, and the self-sensing and reporting server 3 of the tag T0 allows the server 3 to locate the position of the tag T0 to monitor the person or object that sets the tag T0. location.

Each tag T0 stores a unique tag identification code, and each locator L1~L2 stores a unique locator identification code. As shown in FIG. 2, the tag T0 includes at least one of a sensing unit 11, a processing unit 12, and a wireless interface 13.

The sensing unit 11 senses the change of the label T0 itself in space to obtain various values related to the relative displacement or direction, or the value of the change of time, the digital value of the switch (on or off), or the battery power thereof. The value of the change. The sensing unit 11 includes at least one of an accelerator, a gyroscope, a geomagnetic measuring device, a quartz oscillator, a barometer, a switch detector or a power sensor. The accelerator senses the acceleration of the label T0 in a related space three axes (x, y, z) as one of the values, and may also sense only at least one axial direction. The gyroscope senses the angular velocity of the tag T0 in three axes of a related space as one of the values, and may also sense only at least one axial direction. The geomagnetic measuring device senses the magnetic force of the label T0 in a three-axis of the relevant space as one of the values, and may also sense at least one axial direction, corresponding to the magnitude of the geomagnetism and the direction (eg, the more northward the geomagnetic field) The larger the size, the more the direction of the current label (eg, 30 degrees east) is calculated to estimate the direction of movement. The barometer senses the value of the barometric pressure change of the tag T0 on a related vertical surface as one of the values. Quartz oscillator timing To get a time as one of the values. The power sensor senses the battery power to obtain a power value as one of the values. The switch detector senses the on/off state of the power switch of the tag T0 to obtain a digit value as one of the values.

The processing unit 12 is electrically connected to the sensing unit 11 to receive the plurality of values, and performs reading or calculation according to the plurality of values to obtain a sensing information. The sensing information includes a status code indicating a stationary or moving state, a status code indicating the battery power, a status code indicating whether to enter the power saving mode, a status code indicating whether there is an abnormal event, and a status indicating the input signal event. At least one of a code, a step number, a distance, a direction, a height, a synchronization code that varies according to time, or a time stamp indicating a broadcast packet time.

As further described herein, referring to FIG. 3, the processing unit 12 can generate a complete waveform (such as a peak to a peak or a trough to a trough) according to the acceleration change to obtain a total of a few steps (the distance of the displacement) during a period of time, and The stepping time (on the person) or as shown in FIG. 4 (on the object, such as a cart), the processing unit 12 may further integrate a time according to the acceleration change to calculate the distance moved during the time. The processor 12 determines whether it is stationary or moving based on whether the acceleration is less than a threshold.

The processing unit 12 determines the direction of the direction, one is determined by the processing unit 12 with information from the geomagnetic sensor indicating the direction of movement. A common practice is the correspondence between the magnitude and direction of the geomagnet (eg, the more northward The larger the geomagnetism is, the more the direction of the current label is calculated (eg, 30 degrees east), and the other is the magnetic force of the processing unit 12 with a three-axis magnetic sensor. The matrix is operated with the acceleration matrix of the three-axis accelerometer to obtain a rotation matrix from which the label direction is calculated.

The wireless interface 13 of the tag T0 transmits a broadcast packet carrying the sensing information, and includes a Bluetooth communicator suitable for low power transmission, a Wi-Fi communicator suitable for high power transmission, and an active RFID suitable for low power transmission. At least one of a communicator and a ZigBee communicator suitable for low power transmission. Each locator L1 includes at least one wireless interface 14, and the wireless interface 14 of the locator L1 includes at least one of a Bluetooth interface, a Wi-Fi interface, and a ZigBee interface. In this embodiment, the wireless interface of the locator and the tag is of the same specification, such as Bluetooth, or Wi-Fi, or both are ZigBee. Each locator L1, L2 measures a signal strength of the received broadcast packet to obtain an intensity information, and transmits the intensity information to the aggregation channel 2. In addition, the intensity information plus the sensing information plus the tag identification The code and the locator identification code are transmitted to the collection channel 2.

Referring to FIG. 1, the collection channel 2 is disposed between each of the positioners L1 to L2 and the server 3 to collect the packets from the plurality of positioners L1 to L2 and transmit them to the server 3. However, the method is not limited to this. Another method is to not use the aggregation channel, but multiple locators L1~L2 directly transmit the packet to the server 3, and the wireless interface between the server 3 and the locator L1~L2 is also the same specification. .

<Power saving mode>

As shown in FIG. 5, the indoor positioning system performs an indoor positioning method, and the indoor positioning method includes the following steps:

In step K, the tag T0 determines whether it is stationary and lasts for a preset time. If yes, the process proceeds to step S. If not, the tag T0 is broadcasted. This status code is sent in and a power save mode is executed. Wherein, when the tag T0 determines that the acceleration value is less than a threshold value, it is determined to be stationary; otherwise, it is moved. After entering the power saving mode, there are three processing modes: (1) the processing unit 12 of the tag T0 enters the low power mode to save power consumption, and the wireless interface 13 does not send a packet to save power consumption, if the acceleration is greater than a threshold exceeds a pre- When the time is set, the sensing unit 11 notifies the processing unit 12 to leave the power saving mode. (2) The processing unit 12 periodically checks the magnitude of the acceleration. If the acceleration is less than a threshold, the wireless interface 13 does not transmit the packet, and if the acceleration is greater than a threshold for more than a predetermined time, the power saving mode is exited. (3) The processing unit 12 periodically checks the magnitude of the acceleration and calculates the displacement. When the cumulative displacement of the tag T0 is greater than a displacement threshold, the wireless interface 13 of the tag T0 transmits the packet (including at least one distance or direction of the displacement).

In step S, the server 3 stores a database, where the database records a preset intensity set corresponding to each of the plurality of signal points, and each preset intensity set has a plurality of preset intensities, and the plurality of preset intensities respectively correspond to The same signal point and a plurality of different locators L1~L2. As shown in Table 1, the preset intensity set corresponding to the signal point S1 includes the preset strengths -50, -50 of the two locators L1, L2. The preset intensity set corresponding to the corresponding signal point S2 includes the preset intensities -30, -70 of the two locators L1, L2.

Step A: The tag T0 sends at least one broadcast packet scanned by the plurality of locators L1~L2, and the tag T0 sends at least one packet per second, and the content of the packet changes every second (for example, the synchronization code, the sequence number of the synchronization code is accumulated, The broadcast packet has different information, and the broadcast packet has at least one of a tag identification code and a sensing information. The sensing information includes at least one of a relative displacement, a direction, a status code, and a synchronization code. The relative displacement has at least one of a number of steps, a direction, and the like related to the acceleration.

Step B: Each locator L1~L2 measures a signal strength of the received broadcast packet to obtain an intensity information. If the locator L1 does not scan the packet of a certain tag (if the distance is too far), the tag is The corresponding signal strength field is marked with a code not received, and a positioning packet is sent to the server 3. The positioning packet has a strength information corresponding to the tag identification code, a locator identification code, a tag identification code, and a receiving. At least one of a packet time, a sensing information, and the like.

In step C, the server 3 determines a position of the tag T0 based on the database and the intensity information from the plurality of locators L1 to L2. When the tag T0 is stationary or initial, as shown in FIG. 6, step C includes the following sub-steps:

Sub-step C0, the server 3 filters the repeated positioning packets according to the synchronization code of each positioning packet. Here, it should be additionally explained that a filtering mode needs to be performed regardless of whether the label moves or is stationary, and the server 3 performs each positioning according to each positioning. The synchronization code of the packet is used to filter the repeated positioning packet, and the synchronization code may be a sequence number (SN) or the like according to time. The synchronization code may be sent by the labeling device and scanned by the positioning device. The main purpose is that the scanning and transmission time of different positioners L1~L2 are not necessarily synchronized, and the time between the positioners L1~L2 and the server 3 is not necessarily synchronized. The following example time is based on the time of the server 3. It is assumed that the locator L1~L2 transmits the positioning packet to the server 3 every second, and the server 3 processes the positioning packet transmitted by different locators every second. If the scanning time of the locator L1~L2 is not synchronized, the label T0 is the same. At the time (such as the 4.5th second), the packet sent by the point one may scan the packet at the 4.5th second in the locator L1 and transmit the packet one at the 4.8th second, and the locator L2 is the 4.5th second. Scanning the packet and transmitting the packet one at the 5.1th second. If there is no synchronization code, the server 3 will process the packet information of the locator L1 in the 5th second, and the server 3 will process the packet of the locator L2 in the 6th second. For information, if there is a sync code, the server 3 can filter out duplicate packets, for example, filtering packets that arrive later. As described above, if each locator L1~L2 returns the server 3, there is confusion if there is no synchronization code, for example, the locator L1 provides the servo 3 information as the sensing data of the tag T0 is stationary, and the locator L2 provides The server 3 information is that the sensing data of the tag T0 is moving, or if the locator L1 provides the server 3 information as the sensing data of the tag 1 is 3 steps, the locator L2 provides the server 3 information as the tag T0. The sensing data is static, or if the positioner L1 provides the server 3 information as the label T0, the sensing data is 90 degrees, the positioner L2 provides the server 3 information as the label T0, and the sensing data is oriented 180. degree. In addition, it is worth mentioning that if there are multiple tags in the field, the servo The device 3 filters out duplicate packets belonging to the same tag according to the tag identification code plus the synchronization code.

Sub-step C1, the server 3 distinguishes the tag identification code and the locator identification code corresponding to each of the intensity information according to the tag identification code and the locator identification code to obtain a plurality of intensity information sets. The intensity information sets respectively correspond to different tag identification codes, and each intensity information set has a plurality of intensity information belonging to the same tag identification code and different locator identification codes.

Sub-step C2, the server 3 converts each intensity information set into a plurality of total strength probability corresponding to different signal points according to the database and a function of a correlation probability distribution, and the function of the correlation probability distribution includes a Gaussian function or other probability density. The function, the technical means is to compare the database value with the intensity information set, the closer the probability is, the higher the probability is. Here, taking the Gaussian function as an example, the Gaussian function records the distribution relationship between the preset strength and the probability of the database. Among them, there are two methods for obtaining the total strength probability. The first method is that the server 3 converts the plurality of intensity information of the intensity information set into a plurality of intensity probabilities P1, P2, ..., PN, respectively, and then performs phase according to multiple intensity probabilities. Multiply by to obtain the total intensity probability P1 × P2 × ... × Pn. The second is to add the total intensity probability P1+P2+...+PN according to the multiple strengths.

It is further explained that the preset intensity is the central value of the distribution model of the Gaussian function. The closer the probability is to the central value, the lower the probability is, the farther away from the central value, so the more the packet strength and the preset strength of the database are received by the locator. Close, the higher the similarity, the higher the probability.

Sub-step C3, the server 3 operates according to the total strength probability A comprehensive probability corresponding to each signal point.

Sub-step C4, the server 3 determines that a position of the tag T0 is close to the signal point according to at least one of the plurality of comprehensive probabilities. It is further explained here that the signal point with the highest T-first high is selected to represent, for example, T=1, it is positioned at the signal point with the highest comprehensive probability, and T=2, the signal is positioned at the top two high comprehensive probability. Between the points.

When the label T0 is moving, as shown in Fig. 7, the difference from the stationary of the label T0 is:

The sub-step (C1) further includes the server 3 identifying the label corresponding to each sensing information according to the label identification code.

The sub-step (C2) further includes the server 3 converting the relative displacement of each sensing point into a plurality of relative displacement probabilities corresponding to different signal points according to a Gaussian function related to the relative displacement, the server 3 according to a correlation The Gaussian function in the direction converts the direction of each sensing point into a plurality of directional probabilities corresponding to different signal points.

The difference in the sub-step (C3) is that the server 3 calculates a comprehensive probability corresponding to each signal point according to the total strength probability, the relative displacement probability and the directional probability. It is further explained that the relative displacement probability can be determined according to the acceleration of the label, and the M step is determined, and the probability is determined by a Gaussian function. The closer to M is, the higher the probability is. If M=1, the probability of 1 step is the highest, 0 and 2 steps. Secondly, the 3 steps are lower, and if M=0, the static probability is the highest. The direction probability can be determined according to the electronic compass of the tag. The closer the D is, the higher the probability is. For example, D=90 degrees, the 90 degree probability is the highest, and the 80 degree probability is higher than 70 degrees. The first way to calculate the overall probability for each signal point is: The total strength probability + relative displacement probability + direction probability, and the second is: total strength probability × relative displacement probability × direction probability. But it is not limited to this.

As an example, referring to FIG. 8 and Table 1, when the label T0 is at the beginning, the positioners L1 and L2 receive the packet strengths from the label T0 are -65, -45, respectively, and the server 3 is based on the database. The Gaussian function corresponding to the recorded Table 1 calculates the total strength probability at the signal points S1, S2, S3, and S4 to be 0.0004576, 0.000001100708, 0.0012, and 0.0004576, respectively. Since the label T0 is stationary, there is no need to consider the sensing information, and the server 3 has the total intensity. The probability is taken as the comprehensive probability. If the signal point of the previous high is selected to represent (T=1), the server 3 positioning tag T0 is located at the signal point S3. The Gaussian function of the probability density distribution is as follows: Wherein, the parameter σ=10 is the standard deviation, and μ is the center value, and the preset intensity of each of the signal points corresponding to the different positioners L1 to L2.

The detailed calculation formula is as follows: the strength probability of the signal point S1 corresponding to the positioners L1, L2 is:

The total strength probability at the signal point S1 is 0.013 × 0.0352 = 0.0004576.

The signal probability of the signal point S2 corresponding to the positioners L1 and L2 is:

The total strength probability at signal point S2 = 0.000087268 x 0.0018 = 0.0000000015708.

The signal strengths of the signal points S3 corresponding to the positioners L1 and L2 are respectively:

The total intensity probability at signal point S3 = 0.0352 x 0.0352 = 0.0012.

The signal probability of the signal point S4 corresponding to the positioners L1 and L2 is:

The total intensity probability at the signal point S4 = 0.0352 × 0.013 = 0.0004576.

Next, when the tag T0 is in motion, if the next time the locators L1 and L2 receive the packet strengths of -65 and -65 respectively, the total strength probability at the signal points S1, S2, S3, and S4 is 0.000169, 0.0000030718, respectively. , 0.00006336, 0.0012, the detailed calculation method refers to the above, so the description is not repeated.

If the relative displacement of the sensing information is 1 step, if the standard deviation is 1 step and the center value is 1 step, the probability of the server 3 calculating 1 step, 2 step, and 0 step is 0.3989, 0.242, and 0.242, respectively. Then, the relative displacement probability of moving from the signal point S3 to the signal point S4, from the signal point S3 to the signal point S1, from the signal point S3 to the signal point S3, and from the signal point S3 to the signal point S2 is 0.3989, 0.3989, respectively. , 0.242, 0.242, the detailed calculation method is as follows:

1 step chance

The probability of 2 steps

0 chance of 0

If the direction of the sensed information is -90 degrees, if the standard deviation is 1 and the center value is (-π/2), the server 3 determines that the signal point S3 moves to the signal point S4 and is moved from the signal point S3 to The probability of the signal point S1 moving from the signal point S3 to the signal point S3 and from the signal point S3 to the signal point S2 is 0.1162, 0.3989, 0.3989, and 0.2931, respectively. The detailed calculation method is as follows: the probability of the direction being -90 degrees

The probability of a direction of -45 degrees

The probability of a direction of 0 degrees

The overall probability of moving from signal point S3 to signal point S4 is 0.000169×0.3989×0.3989=2.6891×10 ^-5 , and the overall probability of moving from signal point S3 to signal point S1 is 0.0000030718×0.242×0.2931=2.1788×10 ^-7 . The overall probability of moving from signal point S3 to signal point S3 is 0.00006336×0.242×0.3989=6.1164×10 ^-6 , and the overall probability of moving from signal point S3 to signal point S2 is 0.0012×0.3989×0.1162=5.5623×10 ^-5 . Selecting the first high signal point of the comprehensive probability to represent (T=1), since the probability of moving to the signal point S1~S4 is S4>S1>S3>S2, the server 3 positioning tag T0 is located at the signal point S4.

<How to calculate the relevant time stamp>

In addition, the indoor positioning method is further described, wherein the step (S) further records, by the database, a preset time difference derivative set corresponding to each of the plurality of signal points, and each preset distance set has a plurality of a preset time difference derivative (wherein each preset time difference derivative includes at least one of a preset time difference or a preset distance, the preset distance=preset time difference×light speed), and the plurality of preset time difference derivatives are respectively Corresponds to the same signal point and different locators. And each broadcast packet in the step (A) further has a time stamp, and the time stamp is related to the time point when the broadcast packet is sent. . And each positioning packet in the step (B) further has a time point of receiving the broadcast packet and the time stamp. And the step (C) further includes a sub-step (C00), the server 3 calculates a time difference derivative information according to the time point of each broadcast packet and the time stamp (the time difference derivative information includes at least one time difference information or one distance information) For example, the distance information=time difference information×light speed, wherein each time difference information is the time when the label packet is actually transmitted to each locator, and each distance information is the actual distance between the label and each locator). And the sub-step (C1) further includes the server 3, according to the tag identification code and the locator identification code, to distinguish the tag identification code and the locator identification code corresponding to each time difference derivative information, so as to obtain multiple time differences. The derivative information set, the plurality of time difference derivative information sets respectively correspond to different tag identification codes, and each time difference derivative information set has a plurality of time difference derivative information belonging to the same tag identification code and different locator identification codes. And the sub-step (C2) further comprises the server 3 converting each time difference derivative information set into a plurality of time difference derivative probability corresponding to different signal points according to a function derived with a preset time difference and related to the probability distribution. And the sub-step (C3) is that the comprehensive probability is more related to the time difference derivative probability.

<receive mode>

As shown in FIG. 9, the tag T0 can also be switched to a receiving mode, which differs from FIG. 5 in that step K is replaced by step J.

In step J, the tag T0 determines whether an input signal indicating an abnormality is received, and if so, the tag T0 adds the input signal status code to the broadcast packet and executes a receiving mode. It is further explained that when the user with the label T0 presses an emergency help button of the label T0, the label T0 broadcasts a An emergency packet carrying an emergency message, the locator receiving the emergency packet is reported to the server 3, and the server 3 sends a response packet according to the emergency help message to select at least one locator according to the current position of the tag T0. The response packet has a special emergency response information and a corresponding tag identification code, and the tag T0 executing the receiving mode scans the packet from the neighboring locator, and compares the emergency response information with the corresponding tag identification code to confirm the response packet to the tag T0. Information for subsequent processing, such as a screen display on the label T0 or a label sound.

As shown in FIG. 10, in another embodiment of the receiving mode, the difference from FIG. 9 is that step J is replaced by step H.

In step H, the tag T0 determines whether an abnormal event is sensed. If yes, the tag T0 adds the abnormal event status code to the broadcast packet and executes a receiving mode. It is further explained here that the abnormal event is when the tag T0 determines that the acceleration is greater than a first threshold (if a fall condition occurs) or the acceleration is less than a second threshold (if the person entering the control zone will be tagged with the body tag) T0 won, but can't track).

<Further Description of Packet Transmission Method of First Embodiment>

As shown in FIG. 11, the packet transmission mode of the first embodiment of the indoor positioning system of the present invention is further described as follows: the aggregation channel 2 includes an Ethernet switch 20, and each of the locators L1 L L2 further includes a transmission. The positioning packet has an Ethernet interface 16, and the server 3 includes an Ethernet interface 30.

The wireless interface 14 of the locators L1~L2 only scans the broadcast packets from the tag T0, and does not transmit the positioning packets, instead of the locators L1~L2 The Ethernet interface 16 transmits the positioning packet to the Ethernet switch 20.

The Ethernet switch 20 is wired to each of the locators L1 LL2 and the server 3 to collect the positioning packets from the plurality of locators L1 LL2 and forwarded to the server 3. In this embodiment, the wireless interface 14 of the tag T0 and the locators L1 L L2 can be a lower power consumption interface (such as a Bluetooth interface, Zigbee (wireless network protocol for low-speed short-distance transmission), active radio frequency identification. (Radio Frequency IDentification, RFID)), due to the low power consumption of Bluetooth, coupled with wired Ethernet transmission, suitable for low electromagnetic wave occasions (such as hospitals). The wireless interface 14 of the tag T0 and the locators L1~L2 can also be a higher power consumption interface (such as a WiFi interface). Because the WiFi power is higher and the distance is longer, it is suitable for a higher floor area or a larger area. .

<Second embodiment>

As shown in FIG. 12, a second embodiment of the indoor positioning system of the present invention is different from the first embodiment in that the collection channel 2 includes a wireless router 21, wherein each of the locators L1 L L2 further includes a transmission. The WiFi interface 17 of the positioning packet, the server 3 includes an Ethernet interface 30. The wireless router 21 includes a WiFi interface 212 that receives positioning packets from the plurality of locators L1 L L2, and an Ethernet interface 211 that relays the aggregated positioning packets to the server 3. The advantage is that a commercially available wireless router can be used to structure the aggregation channel.

In addition, the wireless interface 14 in this embodiment may be a high-power interface (such as a WiFi interface, a long range), or a low-power interface (such as a Bluetooth interface, Zigbee, active RFID), using low power. The benefits of the interface are as follows: When the tag T0 is a battery device, it is desirable to extend the use of the device. When the positioner L1~L2 is powered by the power line, the power consumption is not the biggest factor, and it is hoped that the advantage of the WiFi connection is good. The positioner L1~L2 does not need to pull the signal line to connect to the market. Wireless router, therefore, if the tag T0 sends a signal with a lower function interface (such as Bluetooth) (can carry sensing information or only send its own identification code), the locator L1~L2 has a lower function interface (such as Bluetooth) Scanning) and transmitting to the wireless router via WiFi, the advantage is that it can have both low-power tags (for long-term use) and locators L1~L2 that are easy to connect to existing devices.

<Third embodiment>

As shown in FIG. 13, a third embodiment of the indoor positioning system of the present invention is different from the first embodiment in that the collection channel 2 includes a wireless router 21, wherein each of the locators L1 L L2 further includes a transmission. The positioning packet is an Ethernet interface 211, and the server 3 includes a WiFi interface. The wireless router 21 includes an Ethernet interface 211 that receives positioning packets from the plurality of locators L1 L L2, and a WiFi interface 212 that relays the aggregated positioning packets to the server. The advantage is that in addition to the commercially available wireless router to structure the collection channel, the server is more convenient to connect via WiFi.

<Fourth embodiment>

As shown in FIG. 14, a fourth embodiment of the indoor positioning system of the present invention is different from the first embodiment in that the aggregation channel includes a wireless router 21 having a WiFi interface 212, wherein each locator L1~L2 further includes a WiFi interface 17 for transmitting the positioning packet, and the server 3 includes a WiFi interface 31. The WiFi interface 212 of the wireless router 21 receives the positioning packets from the plurality of locator routes, and the adjusted positioning The packet is forwarded to the server 3.

<Fifth Embodiment>

As shown in FIG. 15, a fifth embodiment of the indoor positioning system of the present invention is different from the first embodiment in that the collection channel 2 includes a gateway 22 having an Ethernet interface 220 and a network 4. Each of the locators L1 L L2 further includes an Ethernet interface 16 for transmitting the positioning packet, and the server includes an Ethernet interface 30. The Ethernet interface interface 220 of the gateway 22 receives the positioning packets from the plurality of locators L1 L L2, and transfers the merged positioning packets to the Ethernet of the server 3 via the network 4. Interface 30. The advantage is that the server 3 is built in the cloud, and there is no need to build a server 3 in each indoor field. In this embodiment, the network 4 includes at least one of a wide area network and a local area network.

<Sixth embodiment>

As shown in FIG. 16, a sixth embodiment of the indoor positioning system of the present invention is different from the first embodiment in that the collection channel 2 includes a gateway 22 having an Ethernet interface 220 and a network 4. Each of the locators L1 L L2 further includes an Ethernet interface 16 for transmitting the positioning packet, and the server 3 includes a WiFi interface 31. The Ethernet interface 220 of the gateway 22 receives the positioning packets from the plurality of locators L1 L L2, and transfers the aggregated positioning packets to the WiFi interface 31 of the server 3 via the network.

<Seventh embodiment>

As shown in FIG. 17, one of the indoor positioning systems of the present invention is the seventh The difference between the embodiment and the first embodiment is that the collection channel 2 includes a Bluetooth adapter 23, the Bluetooth adapter 23 includes a USB interface 232 and a Bluetooth interface 231, and the server 3 includes a USB interface 32. And the label T0 and the wireless interface 13, 14 of each of the locators L1 L L2 are a Bluetooth interface. The Bluetooth interface 231 of the Bluetooth adapter 23 receives the positioning packets sent by the Bluetooth interface 14 from the plurality of locators L1 L L2, and transmits the aggregated positioning packets to the server 3 via its USB interface 232. USB interface 32. The advantage is that the package is transmitted in blue, which is free from indoor cable.

<Eighth Embodiment>

As shown in FIG. 18, an eighth embodiment of the indoor positioning system of the present invention is different from the seventh embodiment in that it further includes a plurality of wirelessly connected positioners L3 (only one of the aspects is shown in the figure. The remote locator L3 is disposed between the locator L1 that receives the broadcast packet and the Bluetooth adapter 23, and relays the positioning packet to the Bluetooth adapter 23 in a relay manner. . Since a plurality of positioners L3 are connected in series, the advantages are increased to extend the installation distance.

As shown in FIG. 19, a ninth embodiment of the indoor positioning system of the present invention differs from the second embodiment in that it further includes a gateway 22 and a network connected between the wireless router 21 and the server 3. On the road 4, the merged positioning packet is transferred to the server via the gateway and the network. The advantage is that the server 3 is built in the cloud, and there is no need to build a server 3 in each indoor field. In this embodiment, the network 4 includes at least one of a wide area network and a local area network.

In summary, the above embodiment cooperates with the deployment of the channel 2 by the intensity information or the combination thereof with the sensing information, and can effectively achieve the effect of indoor positioning, so that the object of the present invention can be achieved.

However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the equivalent equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still The scope of the invention is covered.

S0~S4‧‧‧ Signal Point

T0~T1‧‧‧ label

L1~L2‧‧‧ positioner

2‧‧‧Collection channel

3‧‧‧Server

Claims (54)

An indoor positioning method is performed by an indoor positioning system, the indoor positioning system includes at least one tag, a plurality of locators, and a server, and the indoor positioning method comprises the following steps: (S) the server stores a database, The database records a preset intensity set corresponding to each of the plurality of signal points, and each preset intensity set has a plurality of preset intensities, wherein the plurality of preset intensities respectively correspond to the same signal point and a plurality of different locators; A) the label transmits at least one broadcast packet scanned by the plurality of locators; (B) each locator measures a signal strength of the received broadcast packet to obtain an intensity information, and sends a positioning packet to the servo The positioning packet has a pair of strength information of the label; and (C) the server determines the position of the label based on the database and the intensity information from the plurality of locators. The indoor positioning method of claim 1, wherein the step (A) further stores a tag identification code for the tag, and the broadcast packet has the tag identification code; further step (B) A locator identification code is stored for each locator, and each locating packet has a corresponding locator identification code, and the strength information is corresponding to the tag identification code. The indoor positioning method according to claim 2, wherein the step (C) comprises the following sub-steps: (C1) the server identifies the tag according to the tag and the locator The code distinguishes the label identification code and the locator identification code corresponding to each intensity information to obtain a plurality of intensity information sets, wherein the plurality of intensity information sets respectively correspond to different label identification codes, and each intensity information set has multiple (C2) The server converts each intensity information set into a plurality of corresponding strengths of different signal points according to a function of the database and a correlation probability distribution. Probability, the function records the distribution relationship between the preset strength and the probability of the database; (C3) the server calculates a comprehensive probability corresponding to each signal point according to the total strength probability; and (C4) the server is based on At least one of the plurality of integrated probabilities determines that a location of the tag is proximate to the signal point. The indoor positioning method according to claim 3, wherein the function of the correlation probability distribution in the sub-step (C2) is a Gaussian function. The indoor positioning method of claim 3, wherein the sub-step (C2) further comprises the server converting the plurality of preset intensities of the intensity information set into a plurality of intensity probabilities, and then according to the plurality of intensity probabilities Multiply to get the total strength probability. The indoor positioning method of claim 3, wherein the sub-step (C2) further comprises the server converting the plurality of preset intensities of the intensity information set into a plurality of intensity probabilities, and then according to the plurality of intensity probabilities The addition is performed to obtain the total strength probability. The indoor positioning method according to claim 3, wherein the step (A) The broadcast packet has a sensing information, and each positioning packet in the step (B) has the sensing information. The indoor positioning method of claim 7, wherein the sensing information comprises at least one of a synchronization code, a status code, a relative displacement, a height, a step number, and a direction. The indoor positioning method according to claim 8, further comprising the steps of: (K) the tag determining whether it is stationary for a preset time, if not, proceeding to step (S), and if so, proceeding to a Power saving mode. The indoor positioning method of claim 8, wherein the sub-step (C1) further comprises the server identifying the label corresponding to each sensing information according to the label identification code; the sub-step (C2) further comprises the The server calculates at least one of a relative displacement probability and a directional probability, wherein the server converts the relative displacement of each sensing point into a plurality of corresponding different signals according to a function of a correlation probability distribution related to the relative displacement The relative displacement probability of the point, the server converts the direction of each sensing point into a plurality of directional probabilities corresponding to different signal points according to a function of the correlation probability distribution associated with the direction; The indoor positioning method of claim 10, wherein the sub-step (C3) is that the comprehensive probability is more related to at least one of the relative displacement probability and the directional probability. The indoor positioning method of claim 11, wherein the step (S) further records, by the database, a preset time difference derivative set corresponding to each of the plurality of signal points, and each preset distance set has a plurality of presets. Deriving a time difference, the plurality of preset time difference derivatives are respectively corresponding to the same signal point and different locators; and each broadcast packet in the step (A) further has a time stamp, and the time stamp is related to the broadcast packet. a time point; and each positioning packet in the step (B) further has a time point of receiving the broadcast packet and the time stamp; and the step (C) further comprises a sub-step (C00) of the server according to each broadcast The time point of the packet and the time stamp calculate a time difference derivative information; and the sub-step (C1) further includes the server identifying the tag identification code corresponding to each distance information according to the tag identification code and the locator identification code. And the locator identification code, to obtain a plurality of time difference derivative information sets, wherein the plurality of time difference derivative information sets respectively correspond to different tag identification codes, and each time difference derivative information set has multiple locators different from the same tag identification code The time difference of the identification code derives information; and the sub-step (C2) further includes the server deriving according to a preset time difference and related to the probability distribution The function converts each time difference derivative information set into a plurality of time difference derivative ratios corresponding to different signal points; and the sub-step (C3) is that the comprehensive probability is more related to the time difference derivative probability. The indoor positioning method of claim 12, wherein the function related to the probability distribution in the sub-step (C2) is a Gaussian function. The indoor positioning method of claim 1, wherein the broadcast packet in the step (A) further has a sensing information, and each positioning packet in the step (B) further has the sensing information, The sensing information includes at least one of a synchronization code, a status code, a relative displacement, a height, a step number, and a direction. The indoor positioning method according to claim 14, wherein the server filters the repeated positioning packets according to the synchronization code of each positioning packet. The indoor positioning method according to claim 1, further comprising the steps of: (K) the tag determining whether it is stationary for a preset time, if not, proceeding to step (S), and if so, proceeding to a Power saving mode. The indoor positioning method according to claim 1, further comprising the steps of: (J) the tag determining whether it receives an input signal indicating an abnormality; if not, proceeding to step (S), and if so, proceeding to receiving mode. The indoor positioning method according to claim 1 further includes the following steps: (H) the tag determines whether it senses an abnormal event, and if not, proceeds to step (S), and if so, proceeds to a receiving mode. An indoor positioning system includes: a tag, transmitting at least one broadcast packet; and a plurality of locators, each locator being adapted to scan the broadcast packet, and measuring a signal strength of the received broadcast packet to obtain an intensity information And sending a positioning packet, the positioning packet has a pair of strength information of the label; and a server storing a database, the database recording the plurality of signals Each preset intensity set has a plurality of preset strengths, and the plurality of preset strengths respectively correspond to the same signal point and a plurality of different locators, and the server is based on the database and Intensity information from a plurality of locators to determine a position of the tag. The indoor positioning system of claim 19, wherein the tag stores a tag identification code, and the broadcast packet has the tag identification code; each locator stores a locator identification code, and each positioning packet More corresponding to the locator identification code, and the strength information is corresponding to the tag identification code. The indoor positioning system of claim 20, wherein: the server identifies the tag identification code and the locator identification code for each intensity information according to the tag identification code and the locator identification code to obtain more a set of intensity information, the plurality of intensity information sets respectively corresponding to different tag identification codes, and each intensity information set has a plurality of intensity information belonging to the same tag identification code and different locator identification codes; the server is based on the database and A function of the correlation probability distribution converts each intensity information set into a plurality of total intensity probabilities corresponding to different signal points, and the function of the correlation probability distribution records a distribution relationship between the preset strength and the probability of the database; the server is based on the total The strength probability is calculated to calculate a comprehensive probability corresponding to each signal point; and the server determines the target according to at least one of the plurality of comprehensive probabilities The location of the sign is close to the signal point. The indoor positioning system of claim 21, wherein the server converts the plurality of preset intensities of the intensity information sets into a plurality of intensity probabilities, and then multiplies according to the plurality of intensity probabilities to obtain the total intensity probabilities. The indoor positioning system of claim 21, wherein the server converts the plurality of preset intensities of the intensity information sets into a plurality of intensity probabilities, and then adds the plurality of intensity probabilities according to the plurality of intensity probabilities to obtain the total intensity probability. The indoor positioning system of claim 21, wherein the broadcast packet further has a sensing information. The indoor positioning system of claim 24, wherein the sensing information comprises at least one of a synchronization code, a status code, a relative displacement, a height, a step, and a direction, each positioning packet further having the Sensing information. The indoor positioning system of claim 25, wherein: the server filters the duplicate positioning packets according to the synchronization code of each positioning packet. The indoor positioning system of claim 26, wherein: the server identifies the label corresponding to each sensing information according to the label identification code; the server will each function according to a correlation probability distribution associated with the relative displacement The relative displacement of a sensing point is converted into a plurality of relative displacement probabilities corresponding to different signal points, and the server converts the direction of each sensing point into a plurality of functions according to a function of a correlation probability distribution related to the direction. Corresponding to the directional probability of different signal points; the comprehensive probability is more related to at least one of the relative displacement probability and the directional probability. The indoor positioning system of claim 27, wherein the database records a preset time derivative set corresponding to each of the plurality of signal points, and each preset time derivative set has a plurality of preset time derivatives, and the plurality of presets The time derivation is respectively corresponding to the same signal point and different locators; each broadcast packet has a time stamp, and the time stamp is related to the time point when the broadcast packet is sent; each positioning packet has a time point for receiving the broadcast packet. And the time stamp; the server calculates a time derivative information according to the time point of each broadcast packet and the time stamp; the server distinguishes each distance information according to the tag identification code and the locator identification code. a tag identification code and the locator identification code to obtain a plurality of time-derived information sets, wherein the plurality of time-derived information sets respectively correspond to different tag identification codes, and each time-derived information set has multiple tags belonging to the same tag identification code and Time-derived information of different locator identification codes; the server is derived according to a preset time and related probability Each function cloth derived time information is converted into a set of a plurality of signal points corresponding to different time-derived probability; more related to the probability that the integrated time derived probability. The indoor positioning system of claim 26, wherein the label package Included: a sensing unit, the sensing unit senses a change in the space of the tag itself to obtain a plurality of values related to the relative displacement or the direction; a processing unit electrically connecting the sensing unit to receive the plurality of values And performing operation according to the plurality of values to obtain the sensing information; and a wireless interface, transmitting the broadcast packet carrying the sensing information. The indoor positioning system of claim 29, wherein the sensing unit has at least one of an accelerometer, an electronic compass, and a gyroscope: the accelerometer senses acceleration of the tag in three axes of an associated space. As one of the values; the electronic compass senses a moving direction of the label as one of the values. The indoor positioning system of claim 30, wherein the tag determines whether it is stationary for a predetermined period of time, and if so, proceeds to a power saving mode. The indoor positioning system of claim 31, wherein the processing unit of the tag enters a low power mode to save power consumption, and the wireless interface of the tag does not send a packet to save power consumption, if the acceleration is greater than a threshold value by more than one At a preset time, the sensing unit wakes up the processing unit to leave the power saving mode. The indoor positioning system of claim 31, wherein the processing unit periodically checks the magnitude of the acceleration, and if the acceleration is less than a threshold, The wireless interface of the tag does not transmit a packet. If the acceleration is greater than a threshold for more than a predetermined time, the sensing unit wakes up the processing unit to leave the power saving mode. The indoor positioning system of claim 31, wherein the processing unit periodically checks the magnitude of the acceleration and calculates the displacement of the movement. When the cumulative displacement is greater than a displacement threshold, the wireless interface of the tag transmits the packet. The indoor positioning system of claim 29, wherein the wireless interface of the tag has at least one of a Bluetooth communicator, a Wi-Fi communicator, an active RFID, and a ZigBee communicator. The indoor positioning system of claim 19, wherein the tag determines whether it is stationary for a predetermined time, and if so, proceeds to a power saving mode. The indoor positioning system of claim 19, wherein the tag determines whether it receives an input signal indicating an abnormality, and if so, proceeds to a receiving mode. The indoor positioning system of claim 19, wherein the tag determines whether it senses an abnormal event, and if so, proceeds to a receiving mode. The indoor positioning system of claim 19, wherein the tag has a wireless interface for transmitting the broadcast packet, each locator has a wireless interface for scanning the broadcast packet, and the locator has the same wireless interface as the tag. specification. The indoor positioning system of claim 39, further comprising an Ethernet switch, wherein each locator further comprises an Ethernet interface for transmitting the positioning packet, the server comprising an Ethernet interface, The Ethernet switch is wired to each locator and the server to collect positioning packets from multiple locators and forwarded to the server. The indoor positioning system of claim 39, further comprising a wireless router, wherein each locator further comprises a WiFi interface for transmitting the positioning package, the server comprises an Ethernet interface, and the wireless router comprises a receiving The WiFi interface of the positioning packet from the plurality of locators, and a relayed positioning packet is forwarded to the Ethernet interface of the server. The indoor positioning system of claim 39, further comprising a wireless router, wherein each locator further comprises an Ethernet interface for transmitting the positioning package, the server comprises a WiFi interface, and the wireless router comprises a receiving An Ethernet interface of the positioning packets from the plurality of locators, and a transfer of the aligned positioning packets to the WiFi interface of the server. The indoor positioning system of claim 39, further comprising a wireless summizer having a WiFi interface, wherein each locator further comprises a WiFi interface for transmitting the positioning package, the server comprising a WiFi interface, The WiFi interface of the wireless concentrator receives the positioning packets from the plurality of locators and forwards the conditioned positioning packets to the server. The indoor positioning system of claim 39, further comprising a gateway having an Ethernet interface and a network, wherein each locator further comprises an Ethernet interface for transmitting the positioning package, the servo The device includes an Ethernet interface. The Ethernet interface of the gateway receives the positioning packets from the plurality of locators, and forwards the conditioned positioning packets to the Ethernet interface of the server via the network. The indoor positioning system of claim 39, further comprising a gateway having an Ethernet interface and a network, wherein each locator further comprises an Ethernet interface for transmitting the positioning package, the servo The device includes a WiFi interface, and the Ethernet interface of the gateway receives the positioning packets from the plurality of locators, and transfers the aggregated positioning packets to the WiFi interface of the server via the network. The indoor positioning system of claim 39, further comprising a Bluetooth adapter, the Bluetooth adapter comprising a USB interface and a Bluetooth interface, the server comprising a USB interface, and the label and the The wireless interface is a Bluetooth interface. The Bluetooth interface of the Bluetooth adapter receives a positioning packet sent by a Bluetooth interface from a plurality of locators, and transmits the collected positioning packet to the server via its USB interface. USB interface. The indoor positioning system of claim 39, further comprising a plurality of wirelessly connected locators, wherein the plurality of wirelessly connected locators are disposed between the locator receiving the broadcast packet and the Bluetooth adapter, and are in a relay Passing the positioning packet to the Bluetooth adapter. The indoor positioning system of claim 39, further comprising a wireless router, a gateway connected between the wireless router and the server, and a network, wherein each locator further comprises a transmitting the positioning Packetized The WiFi interface, the gateway comprises an Ethernet interface, the server comprises an Ethernet interface, the wireless router comprises a WiFi interface for receiving positioning packets from a plurality of locators, and a positioning after transmission and integration The encapsulated Ethernet interface, the merged positioning packet is transferred to the server via the gateway and the network. The indoor positioning system of claim 48, the network comprising at least one of a wide area network and a wired area network. The indoor positioning system of claim 39, wherein the wireless interface of each locator and the tag is a low-power wireless interface, and each locator further includes a high-power wireless interface for transmitting the positioning packet. The indoor positioning system of claim 50, wherein the broadcast packet further has a sensing information, the sensing information comprising a synchronization code, a status code, a relative displacement, a height, a step, and a direction. First, each positioning packet has the sensing information The indoor positioning system of claim 51, wherein: the server filters the duplicate positioning packets according to the synchronization code of each positioning packet. The indoor positioning system of claim 51, wherein the tag comprises: a sensing unit that senses a change in the space of the tag itself to obtain a plurality of values related to the relative displacement or the direction; a processing unit electrically connecting the sensing unit to receive the plurality of values, and performing operations according to the plurality of values to obtain the sensing information; And a wireless interface, the broadcast packet carrying the sensing information; wherein the sensing unit has at least one of an accelerometer, an electronic compass, and a gyroscope, the accelerometer sensing the tag in a correlation The acceleration of the three axes of the space is one of the values, and the moving direction of the electronic compass sensing tag is one of the values, and the tag determines whether it is stationary and lasts for a preset time, and if so, Then enter a power saving mode. The indoor positioning system of claim 51, wherein the tag comprises: a sensing unit that senses a change in the space of the tag itself to obtain a plurality of values related to the relative displacement or the direction; a processing unit electrically connecting the sensing unit to receive the plurality of values, and performing operations according to the plurality of values to obtain the sensing information; and a wireless interface transmitting the broadcast packet carrying the sensing information; wherein The sensing unit has at least one of an accelerometer, an electronic compass, and a gyroscope, and the accelerometer senses an acceleration of the tag in three axes of a related space as one of the values, the electronic compass sensing a moving direction of the label as the value In one of the cases, the tag determines whether it receives an input signal indicating an abnormality, and if so, proceeds to a receiving mode.