CN102595315A - Positioning method, positioning system, fixing device and moving device - Google Patents
Positioning method, positioning system, fixing device and moving device Download PDFInfo
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- CN102595315A CN102595315A CN2012100346693A CN201210034669A CN102595315A CN 102595315 A CN102595315 A CN 102595315A CN 2012100346693 A CN2012100346693 A CN 2012100346693A CN 201210034669 A CN201210034669 A CN 201210034669A CN 102595315 A CN102595315 A CN 102595315A
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Abstract
The invention discloses a positioning method, a positioning system, a fixing device and a moving device. The fixing device comprises a control unit and a signal generating unit, wherein the signal generating unit sends out a signal for marking the position of the fixing device under the control of the control unit; the moving device comprises a processing unit and a monitoring unit, wherein the monitoring unit is used for monitoring the signal sent out by the fixing device, and the processing unit is used for determining the current position of the fixing device according to the monitored signal; and the positioning system comprises the fixing device and the moving device. The positioning method comprises the following steps of: arranging the fixing devices respectively in different specific areas in the positioning range; sending out signals of the positions of the fixing devices by the fixing devices; determining the specific areas that the monitored signals come from after the signals are monitored by the moving device; and determining the current positions of the moving devices. The invention discloses the good positioning method which is particularly suitable for the indoor positioning.
Description
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Technical field
The present invention relates to the location technology in the communication field, be specifically related to a kind of localization method, system, fixture and mobile device.
Background technology
At present, mainly carry out through GPS (Global Positioning System, global positioning system) outdoor location, and by means of satellite-signal, GPS can make mobile device confirm its position.Yet, the positioning function of GPS usually out of doors or open ground performance better because satellite-signal is stronger.In indoor environment and since satellite-signal a little less than, GPS can not provide enough accurate in locating usually.
Summary of the invention
The invention provides a kind of localization method, system, fixture and mobile device, so that accurate location, indoor positioning especially accurately are provided.
A kind of fixture provided by the invention; Comprise control unit and one or more signal generating unit that is connected with said control unit; Said signal generating unit in the control of said control unit down, the signal of outside this position, fixture region of transmit identification.
In an embodiment of the present invention, said signal is a ultrasonic signal.
In an embodiment of the present invention, the signal of said signal for encoding and form with the ultrasonic wave of different frequency.
In an embodiment of the present invention; Said signal identifies this position, fixture region as follows: the fixture region is position encoded to be many bit informations; Ultrasonic frequency is represented of these many bit informations, and the level of a bit of many bit informations representes that just the corresponding ultrasonic frequency of this bit takes place or do not take place.
In an embodiment of the present invention, the scope of said ultrasonic frequency be 20000Hz to 20250Hz, stepping 50Hz.
The present invention also provides a kind of mobile device, comprises processing unit and monitoring unit, and said monitoring unit is monitored the signal that above-mentioned arbitrary fixture is sent, and said processing unit is confirmed the current position of mobile device according to the signal that listens to.
In an embodiment of the present invention, said processing unit is confirmed the current position of mobile device through the question blank inquiry mode by the signal that listens to.
In an embodiment of the present invention, said question blank is configured in the mobile device with hardware or form of software, perhaps is configured in the webserver.
The present invention also provides a kind of navigation system; Comprise fixture and mobile device; Said fixture comprises control unit and one or more signal generating unit that is connected with said control unit; Said signal generating unit in the control of said control unit down, the signal of outside this position, fixture region of transmit identification; Said mobile device comprises processing unit and monitoring unit, and said monitoring unit is monitored the signal that said fixture is sent, and said processing unit is confirmed the current position of mobile device according to the signal that listens to.
The present invention also provides a kind of localization method, comprising:
Different specific regions in orientation range are arranged fixture respectively; Each fixture comprises control unit and one or more signal generating unit that is connected with said control unit; The signal generating unit of each fixture is under control unit control, and outside transmit identification is the signal of position, region separately;
After the monitoring unit of mobile device listened to signal, the processing unit of mobile device confirmed that the signal that listens to comes from the fixture of which specific region, thereby confirmed the current position of mobile device.
The present invention is distributed in the signal of the outside transmit identification self zone of the fixture position of different specific regions through utilization, and mobile device is confirmed the fixture that this signal is corresponding, thereby can be confirmed self position after listening to this signal.
Description of drawings
Fig. 1 is the structure chart of the navigation system of the embodiment of the invention;
Fig. 2 is the basic fixed position principle of embodiment of the invention navigation system;
Fig. 3 is the workflow of signal of the navigation system of the embodiment of the invention.
Embodiment
Combine accompanying drawing that the present invention is done further explain through embodiment below.
As shown in Figure 1, the navigation system of the embodiment of the invention comprises two main nextport hardware component NextPorts, and an assembly is a fixture.Fixing means includes a control unit and one or more sound unit, wherein the control unit is adapted to determine the information to be transmitted, Bing treated using an ultrasonic wave transmitted at different frequencies to encode information to be transmitted ultrasonic signals form.Phonation unit is used for hyperacoustic signal that output control unit forms.In this example, signal adopts the ultrasonic wave form, and penetration of ultrasound waves power is strong, and it is little influenced by indoor environment, can in communication process, keep signal strength signal intensity preferably, thereby can be used to provide good location.Obviously, signal can adopt other signal forms that are suitable for indoor environment too, and promptly phonation unit also can be the signal generating unit of other types.
Another assembly of navigation system is a mobile device.Mobile device for example can be a mobile phone, can certainly be the portable type electronic product of other kinds.Mobile device comprises monitoring unit (microphone) and processing unit, and wherein, microphone is used to receive the ultrasonic signal that fixture produces, and processing unit is decoded to ultrasonic wave, recovers the information of fixture emission.
As shown in Figure 2, suppose in an indoor environment, to comprise a plurality of specific regions; For example a plurality of rooms (illustrated room 1, room 2, room 3); A plurality of fixtures are distributed in these a plurality of rooms, and for example, fixing device for installing 1 in the room 1; Fixing device for installing 2 in the room 2, and fixing device for installing 3 in the room 3.Each fixture is configured to launch different information; For example; Fixture 1 emission information " 000001 ", fixture 2 emission information " 000010 ", fixture 3 emission information " 000011 "; Utilize frequency of ultrasonic that these information are encoded, promptly different coding information is corresponding to different ultrasonic frequencies.Like this, when a mobile device is in certain room of this indoor environment, during for example illustrated room 1; The microphone of this mobile device listens to the ultrasonic signal that fixture 1 is sent, and its processing unit is decoded to the ultrasonic signal that listens to, after the decoding; Can utilize decoded information to confirm the room at this mobile device place, promptly through the mode of in a question blank, inquiring about; After the decoding; Obtain decoded information " 000001 ",, can confirm that its corresponding room is room 1 according to the pairing position of this information that writes down in question blank relation.
Because the information coding uses frequency of ultrasonic, therefore at first should confirm the ultrasonic frequency scope of using.The low-limit frequency of frequency range, the highest frequency that can be set at a little more than human auditory system gets final product, and can be 20000Hz usually.The highest frequency of frequency range can be set at the highest frequency that mobile device can be discerned.
Secondly the ultrasonic frequency that also should confirm to use can be set at the minimum frequency space that mobile device can be distinguished at interval.If minimum frequency space is 50Hz, like this, mobile device can be distinguished the frequency of ultrasonic wave and 20050 (20000+50) Hz of 20000Hz.Then in use, ultrasonic wave promptly uses the frequency interval of 50Hz.
Suppose that we need coded message " 100101 ", frequency range is 20000Hz～20250Hz, and stepping (frequency interval) is 50Hz, and so, we can launch the acoustical signal that comprises 20000Hz, 20150Hz, 20250Hz equifrequent value.The corresponding relation such as the following table 1 of corresponding bit and frequency.
Table 1
Can see that from table 1 information uses 6 bits (bit) to encode, wherein, the 1st respective frequencies value 20000Hz, the 2nd respective frequencies value 20050Hz ..., the 6th respective frequencies value 20250Hz.In this example, the 1st is " 1 ", the then corresponding acoustical signal that produces the 20000Hz frequency; The 2nd is " 0 ", and then the acoustical signal of 20050Hz frequency does not produce, in a word; When bit is " 1 ", then corresponding, the acoustical signal of generation respective frequencies; When bit is " 0 ", then the acoustical signal of respective frequencies does not produce.In addition, coded message can the plain text form be sent, and also can send by encrypted form, to protect the content of this information.
As shown in Figure 3, the positioning flow of the navigation system of the embodiment of the invention mainly comprises:
In the fixing device side, the control unit of the information to be transmitted (such as icons of the "100101", the information for identifying the fixing device is located in a specific area location) with ultrasonic waves of different frequencies are encoded form to be different from the frequency of occurrence ultrasonic signal, Bing passed to the sound unit.
Phonation unit outwards sends ultrasonic signal.
In the mobile device side; Microphone is noted after the ultrasonic signal that listens to; Signal amplitude under the different frequency of this ultrasonic signal of processing unit calculating of mobile device, this can pass through fast Fourier algorithm (FFT, Fast Fourier Transform) and accomplish.
Microphone listens to ultrasonic signal, notes this hyperacoustic time domain amplitude, through the FFT conversion; The time domain amplitude is converted into frequency domain amplitude; Thereby can confirm the signal amplitude under the different frequency, if the amplitude of a certain frequency is high, then the corresponding bit of this frequency is " 1 "; If the amplitude of a certain frequency is low, then the corresponding bit of this frequency is " 0 ".In addition,, then at first decipher, then read the information content again through the decipherment algorithm of correspondence if information is encrypted.
Through processing unit processes; From ultrasonic signal, recover coded message " 100101 ", utilize question blank to inquire about, can confirm the pairing position of this coded message; Thereby mobile device can be confirmed self residing position, realizes good indoor positioning.Wherein, question blank can hardware or form of software be stored in the mobile device; Same, question blank also can be stored in the webserver, and mobile device can obtain the position of himself through the requester network server.
The low-limit frequency of supposing the ultrasonic signal that we use is 20000Hz, and highest frequency is 21500Hz, stepping 50Hz; Then selectable frequency is (21500-20000)/50+1=31; Can the encode signal of 1 bit of each frequency, like this, information can use 31 bits to encode.Thereby, can reach 2^31-1 (remove coded message " 00 ... 0 ",, promptly outwards do not transmit and distinguish mutually) because this information can't not worked with fixture by the position that these coded messages identified.
Simplify in the example at one, in each room of an indoor environment a fixture is set all, each room, fixture sign place also is the position of a certain specific region.The positional information of each fixture sign is different, and according to preamble, these different position information can be encoded with different ultrasonic frequencies, forms the ultrasonic signal with different frequency (combination).In this simplification example, positional information adopts 6 bits to encode, thereby can locate 31 rooms, and concrete corresponding relation sees table 2.
Table 2
| Room | Signal |
| 1 | ‘000001’ |
| 2 | ‘000010’ |
| 3 | ‘000011’ |
| ... | ... |
| 31 | ‘111111’ |
The invention provides a kind of localization method and system; This navigation system comprises fixture and mobile device; Utilize ultrasonic wave as the signal emission medium; The fixture that is distributed in zones of different is outwards launched different ultrasonic signal (frequency is different), and mobile device is confirmed self residing zone according to the ultrasonic signal that receives, thereby can accurately locate mobile device.This method and system are particularly useful in the indoor environment.
Above content is to combine concrete execution mode to the further explain that the present invention did, and can not assert that practical implementation of the present invention is confined to these explanations.For the those of ordinary skill of technical field under the present invention, under the prerequisite that does not break away from the present invention's design, can also make some simple deduction or replace, all should be regarded as belonging to protection scope of the present invention.
Claims (10)
1. fixture; It is characterized in that; Comprise control unit and one or more signal generating unit that is connected with said control unit, said signal generating unit in the control of said control unit down, the signal of outside this position, fixture region of transmit identification.
2. fixture as claimed in claim 1 is characterized in that, said signal is a ultrasonic signal.
3. fixture as claimed in claim 2 is characterized in that, the signal that said signal forms for the ultrasonic wave coding with different frequency.
4. fixture as claimed in claim 3; It is characterized in that; Said signal identifies this position, fixture region as follows: the fixture region is position encoded to be many bit informations; Ultrasonic frequency is represented of these many bit informations, and the level of a bit of many bit informations representes that just the corresponding ultrasonic frequency of this bit takes place or do not take place.
5. fixture as claimed in claim 4 is characterized in that, the scope of said ultrasonic frequency be 20000Hz to 20250Hz, stepping 50Hz.
6. mobile device; It is characterized in that; Comprise processing unit and monitoring unit, said monitoring unit is monitored the signal that sends like the arbitrary described fixture of claim 1-5, and said processing unit is confirmed the current position of mobile device according to the signal that listens to.
7. mobile device as claimed in claim 6 is characterized in that, said processing unit is confirmed the current position of mobile device through the question blank inquiry mode by the signal that listens to.
8. mobile device as claimed in claim 7 is characterized in that said question blank is configured in the mobile device with hardware or form of software, perhaps is configured in the webserver.
9. navigation system; It is characterized in that; Comprise fixture and mobile device; Said fixture comprises control unit and one or more signal generating unit that is connected with said control unit, said signal generating unit in the control of said control unit down, the signal of outside this position, fixture region of transmit identification; Said mobile device comprises processing unit and monitoring unit, and said monitoring unit is monitored the signal that said fixture is sent, and said processing unit is confirmed the current position of mobile device according to the signal that listens to.
10. localization method; It is characterized in that; Comprise: the different specific regions in orientation range are arranged fixture respectively; Each fixture comprises control unit and one or more signal generating unit that is connected with said control unit, and the signal generating unit of each fixture is under control unit control, and outside transmit identification is the signal of position, region separately; After the monitoring unit of mobile device listened to signal, the processing unit of mobile device confirmed that the signal that listens to comes from the fixture of which specific region, thereby confirmed the current position of mobile device.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102833855A (en) * | 2012-09-23 | 2012-12-19 | 友泰讯科(北京)科技有限公司 | Indoor positioning method and system |
| CN106788588A (en) * | 2016-12-05 | 2017-05-31 | 渤海大学 | A kind of logistics information Transmission system |
| CN106888052A (en) * | 2017-02-15 | 2017-06-23 | 深圳前沿通信技术开发有限公司 | The communication means of visible ray indoor positioning, device and system |
| CN106908765A (en) * | 2017-02-27 | 2017-06-30 | 广东小天才科技有限公司 | Spatial positioning method and system based on ultrasonic signal and VR (virtual reality) equipment |
| CN110176963A (en) * | 2018-07-27 | 2019-08-27 | 上海英翼通讯科技有限公司 | A kind of variable-length ultrasonic wave audio coding method and coding/decoding method |
| CN114364018A (en) * | 2021-12-24 | 2022-04-15 | 盒马(中国)有限公司 | Positioning method and device |
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| US20090190441A1 (en) * | 2008-01-29 | 2009-07-30 | Nec (China) Co., Ltd. | Autonomous ultrasonic indoor tracking system |
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| CN1979211B (en) * | 2005-12-06 | 2011-09-14 | 马克 | Positioning system and positioning method |
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| CN1979211B (en) * | 2005-12-06 | 2011-09-14 | 马克 | Positioning system and positioning method |
| US20090190441A1 (en) * | 2008-01-29 | 2009-07-30 | Nec (China) Co., Ltd. | Autonomous ultrasonic indoor tracking system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102833855A (en) * | 2012-09-23 | 2012-12-19 | 友泰讯科(北京)科技有限公司 | Indoor positioning method and system |
| CN102833855B (en) * | 2012-09-23 | 2015-09-16 | 苏惠 | A kind of indoor orientation method and system |
| CN106788588A (en) * | 2016-12-05 | 2017-05-31 | 渤海大学 | A kind of logistics information Transmission system |
| CN106888052A (en) * | 2017-02-15 | 2017-06-23 | 深圳前沿通信技术开发有限公司 | The communication means of visible ray indoor positioning, device and system |
| CN106908765A (en) * | 2017-02-27 | 2017-06-30 | 广东小天才科技有限公司 | Spatial positioning method and system based on ultrasonic signal and VR (virtual reality) equipment |
| CN106908765B (en) * | 2017-02-27 | 2019-07-09 | 广东小天才科技有限公司 | Spatial positioning method and system based on ultrasonic signal and VR (virtual reality) equipment |
| CN110176963A (en) * | 2018-07-27 | 2019-08-27 | 上海英翼通讯科技有限公司 | A kind of variable-length ultrasonic wave audio coding method and coding/decoding method |
| WO2020019425A1 (en) * | 2018-07-27 | 2020-01-30 | 上海英翼文化传播有限公司 | Variable-length ultrasonic audio encoding method and decoding method |
| CN114364018A (en) * | 2021-12-24 | 2022-04-15 | 盒马(中国)有限公司 | Positioning method and device |
| CN114364018B (en) * | 2021-12-24 | 2023-10-13 | 盒马(中国)有限公司 | Positioning method and device |
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Application publication date: 20120718 |