CN102662159A - Method and system of reflection-type indoor positioning - Google Patents
Method and system of reflection-type indoor positioning Download PDFInfo
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Abstract
A method and a system of reflection-type indoor positioning belong to the technical field of the wireless sensor network and positioning navigation. The system comprises a host device, a position calculation device, a moving device, beacon devices, a to-be-positioned target device and a data collector, wherein the to-be-positioned target device emits radio-frequency signals and ultrasonic wave signals, the ultrasonic wave signals reach the beacon devices placed on the ground through reflection of a flat roof, the plurality of beacon devices measure reaching time and environment temperature of the ultrasonic wave signals and transmit the measured reaching time and environment temperature to the data collector, the data collector transmits the received data to the position calculation device, and the position calculation device calculates the position of the to-be-positioned target device according to an indoor coordinate system built in advance. The method and the system have the advantages that the structure is simple, the beacon devices are low in deployment density, self-deploying of the beacon devices can be achieved conveniently, calculating amount is small, accuracy is high and the like.
Description
Technical field
The invention belongs to wireless sensor network and location and navigation technology field, be specifically related to a kind of method and system of reflective indoor positioning.
Background technology
About positioning system, widely used in life is the GPS GPS, and it is several meters positioning service that this system can provide precision in the world; Yet gps signal receives the influence of buildings under indoor environment, signal fading badly, bearing accuracy variation; Even can not position service, and targets such as the people in the indoor environment, object are generally the meter level size, and obviously the bearing accuracy of GPS can not meet the demands; In order better to distinguish object; The estimated position need positioning system that higher bearing accuracy is provided, and the wireless sensor network location technology can satisfy the high-precision location demand just.In sensor network; Positional information is most important to the detected activity of sensor network; Position that incident takes place or the node location that obtains information are the important informations that is comprised in the sensor node supervisory messages, and this is the basis of further taking measures and making a policy.The wireless sensor network location technology all has important status in fields such as environmental monitoring, robot navigation, fire rescue, trackers; Especially home services robot field, people need a kind of be applied to indoor, can carry out pinpoint system to self physical location.In indoor locating system; People usually use ultrasonic signal, utilize ultrasonic signal time of arrival estimated position principle in the indoor accurate position method of the Cricket of Massachusetts Polytechnics system and a kind of following multi-moving target of Chinese invention patent and autonomous indoor ultrasonic locating system, apparatus and method, similar application is arranged all.
In the Cricket system of Massachusetts Polytechnics, comprise some ultrasonic locating beacons that are not connected, each ultrasonic locating beacon all comprises radio frequency and ultrasonic transmitter.Its working method has adopted passive detection mode; During operation; If listening to clearly rf channel, each radiofrequency launcher just launches radio frequency and ultrasonic signal simultaneously; Passive detection receiver at first is used for the radiofrequency signal that receives to set up synchronously with each ultrasonic locating beacon; Received ultrasonic signal then, thus use TDOA (time of arrival is poor) mode to measure the distance between himself and the transmitter, and receiver just can be estimated himself position when receiving more than 3 TDOA samples.But its each beacon emissions is confidential constantly launches the ultrasound wave radiofrequency signal according to its coordination system, has increased system power dissipation; Passive detection receiver once can only carry out the TDOA range finding with a beacon, and accomplishing the location needs three TDOA range findings at least, has increased the time that system accomplishes one-time positioning, has reduced system's location frequency; For the receiver that is placed on the mobile object, carry out the TDOA range finding with different beacons, its position possibly be moved, and causes the moving target distance sample asynchronous, thereby causes the bearing accuracy variation to dynamic object.
In a kind of indoor accurate position method of following multi-moving target; Utilize radio frequency and hyperacoustic TDOA range measurement principle equally; Adopt initiatively radiation pattern of badge, realized tracking, can not obtain the positional information of self but wherein describe badge to a plurality of mobile badges through position calculation unit; Can not realize self-locating function, its structural drawing is seen Fig. 1.Autonomous indoor ultrasonic locating system, apparatus and method have been described a kind of autonomous indoor ultrasonic locating system; With the Cricket system similarity; Adopted the method for passive reception synchronizing signal and ultrasonic signal; Wherein the localizer beacon emitter is configured to after emission comprises the signal of synchronizing information to send out ultrasonic signal according to predefined procedure a plurality of with the predetermined time interval wheel, and the device of wherein launching ultrasonic signal is the ultrasonic transmitter of a plurality of diverse locations on the beacon emissions device; The localizer beacon receiving trap is configured to after detecting synchronizing information to carry out the time synchronized with the localizer beacon emitter; The emission of each ultrasonic signal of confirming based on the lock in time that is obtained to receive is suitable; Infer the launch time of each ultrasonic signal that is received according to shooting sequence; Use the launch time and the time of reception of each received ultrasonic signal to calculate its corresponding TDOA information; Confirm the position of localizer beacon receiving trap oneself based on the position of each ultrasonic transmitter in the localizer beacon emitter and the TDOA information sequence that is calculated; But its beacon location emitter comprises a plurality of ultrasonic transmitters of disposing at diverse location, has increased the complexity and deployment difficulty of system; With the Cricket system class seemingly, when moving target is located, can increase positioning error, its system construction drawing is seen Fig. 2.
Summary of the invention
To the deficiency that prior art exists, the present invention provides a kind of method and system of reflective indoor positioning, with reach simple in structure, the beacon apparatus deployment density is low, convenient realize beacon apparatus from dispose, purposes such as calculated amount is little, precision height.A kind of method of reflective indoor positioning, this method may further comprise the steps:
Step 1: start the beacon apparatus that is placed on the flooring, each beacon apparatus temperature inside sensor assembly carries out temperature survey, and gets into the radiofrequency signal accepting state immediately;
Step 2: after the communication module of destination apparatus to be positioned receives the Location Request of its host apparatus, send radiofrequency signal and ultrasonic signal to beacon apparatus, radiofrequency signal is wherein carried the identify label number information of destination apparatus to be positioned;
Step 3: beacon apparatus initialization; Make that the timer record value is zero; And get into monitoring radiofrequency signal state in real time: after beacon apparatus receives radiofrequency signal; Detect immediately whether receive the identify label number information that radiofrequency signal carries identical with the identify label number information of destination apparatus to be positioned,, return wait radio frequency accepting state if inequalityly then abandon; Then once find range as if identical;
Step 4: all beacon apparatus are detecting from destination apparatus transmission to be positioned through behind the ultrasonic signal of roof reflector; Record ultrasound wave time of arrival; And beacon apparatus numbering, temporal information and temperature information be packaged into packet; Successively the form of packet through wireless telecommunications sent to data collector according to the beacon apparatus number order, temperature information wherein is that beacon apparatus measures through beacon apparatus internal temperature sensor module when starting;
Step 5: data collector sends the data message of receiving to position calculating apparatus, and position calculating apparatus at first calculates indoor medial temperature according to the temperature information of each beacon apparatus, calculates the aerial velocity of propagation of ultrasound wave then; Temporal information according to the aerial velocity of propagation of ultrasound wave and each beacon apparatus calculates the roof plan mirror image of device to be positioned and the distance of each beacon apparatus;
Step 6: position calculating apparatus is according to the roof plan mirror image of indoor coordinate system, beacon apparatus coordinate and the beacon apparatus set up in advance and the distance of destination apparatus to be positioned; Calculate the planimetric coordinates of the roof plan mirror point of destination apparatus to be positioned; It has identical planimetric coordinates with destination apparatus to be positioned, so far accomplishes one-time positioning.
The described aerial velocity of propagation of ultrasound wave that calculates of step 5 in the said method, its computing formula is following:
V＝331.5+0.607T
In the formula: V is the aerial velocity of propagation of ultrasound wave;
T is an average indoor temperature;
The described time that records according to the aerial velocity of propagation of ultrasound wave and each beacon apparatus calculates the roof plan mirror image of device to be positioned and the distance of each beacon apparatus, and its computing formula is following:
D
i＝V×Tim
i+ε
In the formula: D
iBe the roof plan mirror image of each beacon apparatus and the distance of destination apparatus to be positioned;
Tim
iFor ultrasonic signal is propagated the time that arrives each beacon apparatus from destination apparatus to be positioned;
ε is the compensated distance factor.
The system of reflective indoor orientation method of the present invention comprises host apparatus, position calculating apparatus and mobile device, also comprises beacon apparatus, destination apparatus to be positioned and data collector, wherein:
Beacon apparatus: be used for received RF signal and through roof plan ultrasonic waves transmitted signal; Measure ultrasonic signal through the beacon apparatus processor inside and propagate into time of arrival of beacon apparatus, and the temperature information that above-mentioned temporal information, beacon apparatus internal temperature sensor module are measured and beacon apparatus number information are packaged into packet and send to data collector from destination apparatus to be positioned;
Destination apparatus to be positioned: be used to receive the positioning command that host apparatus is sent, and send radiofrequency signal and ultrasonic signal to beacon apparatus;
Data collector: be used to receive the radiofrequency signal of sending from beacon apparatus, and above-mentioned radiofrequency signal is sent to position calculating apparatus.
Described beacon apparatus comprises the processor module of temperature sensor module, ultrasound wave receiver module, beacon apparatus and the radio-frequency module of beacon apparatus, wherein:
Temperature sensor module: be used for measures ambient temperature, and temperature information is passed to beacon apparatus processor inside module;
Ultrasound wave receiver module: be used to receive from what destination apparatus to be positioned sent and launch ultrasonic signal, and ultrasonic signal is passed to beacon apparatus processor inside module through roof plan;
The processor module of beacon apparatus: be used to measure the time that arrives beacon apparatus from the ultrasonic propagation of destination apparatus transmission to be positioned, and become data packet delivery to give radio-frequency module above-mentioned temporal information, the temperature information of temperature sensor module measurement and the node serial number information package of beacon apparatus;
The radio-frequency module of beacon apparatus: be used for receiving and sending radiofrequency signal, receive the radiofrequency signal of sending, and radiofrequency signal is passed to beacon apparatus processor inside module from destination apparatus to be positioned; To comprise temporal information, the temperature information of temperature sensor module measurement and the packet of beacon apparatus number information and send to data collector.
Described destination apparatus to be positioned comprises radio-frequency module, ultrasonic emitting module, the communication module of destination apparatus to be positioned and the processor module of destination apparatus to be positioned of destination apparatus to be positioned, wherein:
The radio-frequency module of destination apparatus to be positioned: be used to send radiofrequency signal, the radiofrequency signal that will include the identify label number information sends to beacon apparatus;
Ultrasonic emitting module: be used to send ultrasonic signal to beacon apparatus;
The communication module of destination apparatus to be positioned: be used to realize the processor module of destination apparatus to be positioned and communicating by letter of host apparatus;
The processor module of destination apparatus to be positioned: be used to receive the host apparatus positioning command; The control radio-frequency module sends radiofrequency signal; The control ultrasonic wave module is sent ultrasonic signal.
Described data collector comprises the radio-frequency module of data collector, the communication module of data collector and the processor module of data collector, wherein:
The radio-frequency module of data collector: be used to receive the radiofrequency signal that comprises packet of sending, and radiofrequency signal is passed to data collector internal processor module from beacon apparatus;
The communication module of data collector: be used to realize communicating by letter of processor module and position calculating apparatus;
The processor module of data collector: receive the beacon apparatus packet, the node serial number information of temporal information, temperature information and beacon apparatus is sent to position calculating apparatus.
Advantage of the present invention:
The method and system of a kind of reflective indoor positioning of the present invention, wherein, beacon apparatus is placed on ground location, is convenient to realize the beacon apparatus deployment, can wait device to realize from deployment through the mobile robot; Arrive beacon apparatus after the reflection of ultrasonic signal through the roof, plane, ultrasonic signal is twice in the reach expansion on ground, has reduced the deployment density of beacon apparatus; Data transmission is all through wireless, and beacon apparatus can work alone, and a little less than the system, coupled property, is convenient to dispose; Identify label number (ID) through to signal is discerned, and has increased the antijamming capability of system; This system accuracy is high, and average positioning error is less than 5cm; This system's locating speed is fast, has higher location frequency; Beacon apparatus and destination apparatus to be positioned are simple in structure, and volume is little, conveniently install and carry.
Description of drawings
Fig. 1 is a kind of indoor accurate position method system construction drawing of following multi-moving target;
Fig. 2 is autonomous indoor ultrasonic locating system, apparatus and method system construction drawing;
Fig. 3 is that the system of an embodiment of the present invention forms and the principle of work synoptic diagram;
Fig. 4 is the beacon apparatus sensing range schematic diagram of an embodiment of the present invention;
Fig. 5 is the beacon apparatus structured flowchart of an embodiment of the present invention;
Fig. 6 is the beacon apparatus power module circuitry schematic diagram of an embodiment of the present invention;
Fig. 7 is the beacon apparatus temperature sensor module circuit theory diagrams of an embodiment of the present invention;
Fig. 8 is the beacon apparatus processor module circuit theory diagrams of an embodiment of the present invention;
Fig. 9 is the beacon apparatus ultrasound wave receiver module circuit theory diagrams of an embodiment of the present invention;
Figure 10 is the destination apparatus structured flowchart to be positioned of an embodiment of the present invention;
Figure 11 is the destination apparatus ultrasonic emitting modular circuit schematic diagram to be positioned of an embodiment of the present invention;
Figure 12 is destination apparatus to be positioned, the data collector power module circuitry schematic diagram of an embodiment of the present invention;
Figure 13 is the data collector structured flowchart of an embodiment of the present invention;
Figure 14 is the process flow diagram of the method for the reflective indoor positioning of an embodiment of the present invention;
Figure 15 be an embodiment of the present invention destination apparatus to be positioned roof, plane mirror image and each beacon apparatus apart from synoptic diagram;
Figure 16 is the beacon apparatus workflow diagram of an embodiment of the present invention;
Figure 17 is the destination apparatus workflow diagram to be positioned of an embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are further described.
Like Fig. 3 is the system's composition and the principle of work synoptic diagram of an embodiment of the present invention, and this system comprises beacon apparatus, destination apparatus to be positioned, host apparatus, mobile device, data collector and position calculating apparatus.Wherein, Host apparatus (can be the processor on handheld personal computer machine, embedded device or the mobile robot; What adopt in the present embodiment is the processor on the mobile robot) the destination apparatus data input pin to be positioned that positioning command passed to through data output end; Described host apparatus is installed in an end of mobile device, and destination apparatus to be positioned is installed in the other end of mobile device.Destination apparatus to be positioned sends radiofrequency signal and ultrasonic signal to beacon apparatus; After described ultrasonic signal is reflected by indoor roof plan; Pass to beacon apparatus, beacon apparatus is placed on flooring (placement location does not have specific requirement), and its position is measured acquisition in advance; And the coordinate data of beacon apparatus is kept in the coordinate system that position calculating apparatus (can be handheld personal computer or embedded computer, calculation element adopts embedded computer in the present embodiment) sets up.Data collector passes to the information of the beacon apparatus of collecting through data output end the data input pin of position calculating apparatus.In embodiments of the present invention, obtain positional information accurately in order to make destination apparatus to be positioned, destination apparatus to be positioned needs at least in the sensing range of three beacon apparatus.The sensing range of radiofrequency signal generally can be full of whole room; So its sensing range can be ignored; And ultrasonic signal generally has the certain function angle; Ultrasonic signal is twice through its radius of action expansion behind the roof reflector, and concrete dispositions method is different and different with the position of beacon apparatus.
Fig. 4 is the beacon apparatus sensing range schematic diagram of the embodiment of the invention, and beacon apparatus is placed on the situation of ceiling relatively, and the perception radius expansion of ultrasonic sensor is twice, and deployment density reduces greatly.For example: for same area to be positioned, if beacon apparatus on ceiling, positioning system needs 100 beacon apparatus, then the beacon apparatus of present embodiment is placed on ground only needs 25 and can meet the demands.Because destination apparatus to be positioned is placed on ground, it is convenient to dispose, and realizes the dynamic deployment of beacon apparatus easily, especially is fit to the mobile robot and dynamically disposes fixer network at zone of ignorance.
Fig. 5 is the beacon apparatus structured flowchart of an embodiment of the present invention, the processor adopting in the present embodiment in the beacon apparatus processor module 503 the CC2430 cake core of TI company.Because the embedded high performance 2.4GHz DSSS of CC2430 chip (DSSS) RF transceiver core, so no longer need independent radio-frequency module 504 in the present embodiment; The ultrasound wave receiving circuit of present embodiment ultrasound wave receiver module 505 has adopted the CX20106A type infrared radiation receiving circuit special integrated chip of Sony Corporation, and processor P 1_5 pin connects the output terminal of ultrasound wave receiving circuit; The DS18B20 type one line system digital temperature sensor that present embodiment temperature sensor module 502 adopts DALLAS company to produce, processor P 1_4 pin connects the output terminal of temperature sensor module 502; Power module 501 adopts the LM7805 power supply voltage stabilizing chip of National Semiconductor, the LM1117 power supply voltage stabilizing chip of National Semiconductor; And adopt 7.2V lithium battery or 5 to save the 1.5V batteries; Through the 3.3V voltage output end is that processor module 503, the temperature sensor module 502 of beacon apparatus provides WV, is that ultrasound wave receiver module 505 provides WV through the 5V voltage output end.
Fig. 6 is beacon apparatus power module 501 circuit theory diagrams of an embodiment of the present invention, and present embodiment adopts 7.2V lithium battery input power supply, at first carries out filtering through electric capacity, again through the stable 5V voltage of LM7805 power supply voltage stabilizing chip output.The 5V power supply is one tunnel CX20106A chip exported in the ultrasound wave receiver module 505 wherein, and another road is through the stable 3.3V voltage of LM1117 power supply voltage stabilizing chip output, for the processor module 503 and the temperature sensor module 502 of beacon apparatus provides WV.
Fig. 7 is present embodiment beacon apparatus temperature sensor module 502 circuit theory diagrams.This temperature sensor relatively obtains to measure temperature through the counting of low-temperature coefficient crystal oscillator and high-temperature coefficient crystal oscillator; And through slope totalizer compensation with revise non-linear in the thermometric process; Finally measure temperature, above-mentioned measurement temperature is exported to the P1_4 pin of processor CC2430 chip through the output terminal of temperature sensor module 502 through simple line system Data Transport Protocol output.
Beacon apparatus processor module 503 circuit theory diagrams of Fig. 8 an embodiment of the present invention, in the present embodiment processor adopting CC2430 chip of TI company; Through the time of arrival of the inner 16 bit timing devices measurement ultrasonic signal of processor; And the temperature information that above-mentioned temporal information, DS18B20 are measured and the number information (example: three beacon apparatus number information then are respectively No. 1, No. 2, No. 3) of beacon apparatus be packaged into packet, and pass to radio-frequency module.The principle of work that said radio-frequency module receives signal is: after receiving radiofrequency signal; The low noise amplifier inner through processor amplifies; And with in-phase signal of receiving and quadrature phase signal frequency downconversion is intermediate-freuqncy signal; After filtering out I/Q (inphase quadrature) signal that remains in the intermediate-freuqncy signal, amplify intermediate-freuqncy signal, then through ADC (A-D converter) digitizing, automatic gain control, the filtration of channel, despreader, symbol is relevant and byte of sync is handled; And the set frame begins to define symbol, and processor can begin to define symbol through frame and judge whether to receive radiofrequency signal.Processor module 503 inner CC2430 chips deposit the data buffering of receiving in RX FIFO (reception FIFO) formation of 128 bytes; The user reads the data in the RX fifo queue through the inner special function register of processor, accomplishes the reception of radio-frequency signal detection and data.Radiofrequency signal is sent by the radio-frequency module in the CC2430 chip of processor module 503 inside equally; Its principle of work is: with deposit data among the TX of 128 bytes FIFO (transmission FIFO); Frame homing sequence that sends and frame begin to define symbol and are produced automatically by the radio-frequency module in the processor module 503 inner CC2430 chips; Each symbol uses IEEE (Institute of Electrical and Electric Engineers) 802.15.4 sequence spreading to expand to 32 bit code sheet sequences; Output among the inner DAC of processor; Through the signal of DAC conversion, deliver to the inner 90 ° of I/Q phase shift frequency upconversion frequency mixer of radio-frequency module through radio-frequency module internal simulation low-pass filter, last radiofrequency signal is fed to antenna through radio-frequency module internal power amplifier it is sent.
Fig. 9 is beacon apparatus ultrasound wave receiver module 505 circuit theory diagrams of an embodiment of the present invention, and processor receives the signal from ultrasound wave receiver module 505 through the P1_5 pin.Ultrasound wave receiving transducer in the ultrasound wave receiver module 505 has adopted customized wide-angle ultrasound wave receiving transducer; Its center resonant frequency is 40 ± 2.0KHz; Acoustic pressure in transmission is greater than 105dB, and receiving sensitivity is greater than-74dB, and the launching beam angle is 60 °; Working temperature is-40～+ 80 ℃, and WV is 300～500VP-P.In order to increase the stability of system; Present embodiment ultrasound wave receiving circuit has adopted the CX20106A type infrared radiation receiving circuit special integrated chip of Sony Corporation; Behind prime amplifier, limiting amplifier, BPF., wave detector, integrator and the shaping circuit of signal through chip internal, signal is passed to processor CC2430 chip.
Figure 10 is the destination apparatus structured flowchart to be positioned of present embodiment; Processor in the processor module 1003 of destination apparatus to be positioned has adopted the CC2430 cake core of TI company equally; An embedded high performance 2.4GHz RF transceiver core uses its embedded radio-frequency module to replace independent radio-frequency module; In addition, inner UART (universal asynchronous reception/dispensing device) realizes and the command communication of host apparatus through processor CC2430 cake core, replaces independent communication module 1005; Processor CC2430 chip sends signal through the P1_4 pin to ultrasonic emitting module 1001; Calculation element is that power module 1002 provides 5V power supply, and power module 1002 adopts LM1117 voltage stabilizing chip, and the 3.3V output terminal provides stable 3.3V WV for processor CC2430 chip, and calculation element is that ultrasound emission module 1001 provides 5V WV.
The processor module 1003 of the destination apparatus to be positioned of present embodiment is the same with processor module 503 in the beacon apparatus, has all adopted the CC2430 chip of TI company; P1_4 mouth control ultrasonic emitting module 1001 through processor CC2430 chip is sent ultrasonic signal; Inner UART (universal asynchronous reception/dispensing device) realizes and the command communication of host apparatus through processor, replaces independent communication module 1005; Send radiofrequency signal through the control radio-frequency module to beacon apparatus, its principle of work is consistent with the processor module 503 in the beacon apparatus, no longer repeats at this.
Figure 11 is destination apparatus ultrasonic emitting module 1001 circuit theory diagrams to be positioned of an embodiment of the present invention.Processor CC2430 chip is through P1_5 pin control ultrasonic emitting module 1001 emission ultrasonic signals.Ultrasonic emitting module 1001 has adopted customized wide-angle ultrasonic emitting probe equally; Its center resonant frequency is 40 ± 2.0KHz; Acoustic pressure in transmission is greater than 105dB, and receiving sensitivity is greater than-74dB, and the launching beam angle is 60 °; Working temperature is-40～+ 80 ℃, and WV is 300～500VP-P.Processor CC2430 chip produces the 40KHz square-wave pulse in 20 cycles; Send to ultrasonic emitting module 1001 through the P1_4 pin; Square-wave pulse signal is sent into transistor base in ultrasonic emitting module 1001 circuit; Then its pulse signal is added to ultrasonic emitting module 1001 inner high-frequency step-up transformers and carries out the amplification of voltage signal; Make voltage magnitude be increased to 300V, the secondary coil of high-frequency step-up transformer and transmitter constitute resonant tank, thereby make transmitter send ultrasonic signal.This circuit has improved the moment emissive power of ultrasonic emitting sensor, and lower system power dissipation is arranged.
Figure 12 is destination apparatus to be positioned, the data collector power module circuitry schematic diagram of an embodiment of the present invention.Because power module 1002 is used with host apparatus; So can obtain the 5V power supply from host apparatus; The 5V power supply of the power circuit input of device to be positioned is exported to the stable 3.3V WV of processor CC2430 chip through LM1117 voltage stabilizing chip at first through capacitor filtering.Host apparatus is that ultrasonic emitting module 1001 provides 5V WV.
Figure 13 is the data collector structured flowchart of an embodiment of the present invention.Processor in the data collector internal processor module 1302 has adopted the CC2430 cake core of TI company equally; In addition; Inner UART (universal asynchronous reception/dispensing device) realizes and the data communication of position calculating apparatus through processor CC2430 cake core, replaces independent communication module 1304; Processor CC2430 chip sends signal through the P1_4 pin to ultrasonic emitting module 1303; Position calculating apparatus is that power module 1301 provides 5V power supply, and power module 1301 adopts LM1117 voltage stabilizing chip, and the 3.3V output terminal provides stable 3.3V WV for processor CC2430 chip.
The data collector processor inside module 1302 of present embodiment is the same with the processor module 503 in the beacon apparatus, has all adopted the CC2430 chip of TI company; Receive the radiofrequency signal of sending from beacon apparatus through the control radio-frequency module, its principle of work is consistent with the processor module 503 in the beacon apparatus, no longer repeats at this.
Figure 14 is the process flow diagram of the method for the reflective indoor positioning of an embodiment of the present invention; This method utilize ultrasound wave and radio-frequency technique and based on by beacon apparatus, destination apparatus to be positioned, host apparatus, system that mobile device, data collector and position calculating apparatus constituted to realize self-align to indoor mobile device, may further comprise the steps:
Step 1: start the beacon apparatus that is placed on the flooring, each beacon apparatus temperature inside sensor assembly carries out temperature survey, and gets into the radiofrequency signal accepting state immediately;
Step 2: after the communication module of destination apparatus to be positioned receives the Location Request of its host apparatus, send radiofrequency signal and ultrasonic signal to beacon apparatus, radiofrequency signal is wherein carried the identify label number information of destination apparatus to be positioned;
Step 3: beacon apparatus initialization; Make that the timer record value is zero; And get into monitoring radiofrequency signal state in real time: after beacon apparatus receives radiofrequency signal; Detect immediately whether receive the identify label number information that radiofrequency signal carries identical with the identify label number information of destination apparatus to be positioned,, return wait radio frequency accepting state if inequalityly then abandon; Then once find range as if identical;
Step 4: all beacon apparatus are detecting from destination apparatus transmission to be positioned through behind the ultrasonic signal of roof reflector; Record ultrasound wave time of arrival; And beacon apparatus numbering, temporal information and temperature information be packaged into packet; Successively the form of packet through wireless telecommunications sent to data collector according to the beacon apparatus number order, temperature information wherein is that beacon apparatus measures through beacon apparatus internal temperature sensor module when starting;
Step 5: data collector sends the data message of receiving to position calculating apparatus, and position calculating apparatus at first calculates indoor medial temperature according to the temperature information of each beacon apparatus, calculates the aerial velocity of propagation of ultrasound wave then; Temporal information according to the aerial velocity of propagation of ultrasound wave and each beacon apparatus calculates the roof plan mirror image of device to be positioned and the distance of each beacon apparatus;
Step 6: position calculating apparatus is according to the roof plan mirror image of indoor coordinate system, beacon apparatus coordinate and the beacon apparatus set up in advance and the distance of destination apparatus to be positioned; Calculate the planimetric coordinates of the roof plan mirror point of destination apparatus to be positioned; It has identical planimetric coordinates with destination apparatus to be positioned, so far accomplishes one-time positioning.
In the present embodiment, data collector sends to position calculating apparatus with the packet of collecting, i the environment temperature T that beacon apparatus is measured that position calculating apparatus obtains
i, average through measurement temperature to each beacon, obtain environment medial temperature T.Concrete computing formula such as formula (1), n are the beacon apparatus number of the beacon apparatus data received,
In the formula: T is the environment medial temperature, unit degree centigrade;
T
iBe i the environment temperature that beacon apparatus is measured, unit degree centigrade;
N is the beacon apparatus number of the beacon apparatus data received.
Calculate hyperacoustic velocity of propagation under this temperature according to formula (2),
V＝331.5+0.607T (2)
In the formula: V: be the aerial velocity of propagation of ultrasound wave, the m/s of unit.
Figure 15 be an embodiment of the present invention destination apparatus to be positioned roof, plane mirror image and each beacon apparatus apart from synoptic diagram; The time T imi that the records (S of unit according to the aerial velocity of propagation of ultrasound wave and each beacon apparatus; Wherein i is a beacon apparatus numbering) calculate roof, the plane mirror image of destination apparatus to be positioned and the distance B i (m of unit of each beacon apparatus; Wherein i is the beacon apparatus numbering), its computing formula (3) is:
D
i＝V×Tim
i+ε (3)
In the formula: ε: be the compensated distance factor;
D
i: the level crossing picture of destination apparatus to be positioned and the computed range of i beacon apparatus are destination apparatus to be positioned and the beacon apparatus bee-line through roof reflector;
Tim
i: be the transmission time of ultrasonic signal from destination apparatus to be positioned to beacon apparatus.
When system works, because circuit devcie postpones and software delay can produce a fixing distance error,, be difficult to direct measurement because influence factor is more and complicated, present embodiment has adopted the experimental technique acquisition.Demarcate the count values of the last timer of distance through being recorded in difference, and go out straight-line equation L, thereby obtain compensated distance factor ε apart from d and time t through least square fitting.Experiment through too much organizing under the different temperatures finds that relatively the compensated distance factor ε that finally tries to achieve differs less than 0.5cm.Through many group experiment averaged, finally try to achieve ε=5.24 at last.Test data in the time of 14.6 ℃ is as shown in table 1, exists under the situation of measuring error, calculates through L and tries to achieve distance and to demarcate between the distance error less than 1cm.
Table 1 is demarcated the test data and the error of calculation under the distance
The distance calculation formula of finally trying to achieve in the present embodiment, does
d＝340.36t+5.24 (4)
In the formula: d is: under 14.6 ℃, destination apparatus to be positioned is to the computed range of a certain beacon apparatus;
T is: under 14.6 ℃, and the travel-time of ultrasonic signal from destination apparatus to be positioned to a certain beacon apparatus.
The beacon apparatus coordinate of known acquisition coverage information be (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) ..., (xn, yn, zn), because beacon apparatus is placed on ground location, so z1=z2=z3 ...=zn; Destination apparatus to be positioned is respectively d1 about the distance that the roof is mirrored between the respective beacon device, d2, and d3 ..., dn.Suppose destination apparatus to be positioned about the coordinate of roof mirror image for (z), the X axle of destination apparatus coordinate then to be positioned, the numerical value of Y axle equates with destination apparatus mirror image to be positioned for x, y, its two dimensional surface coordinate be (x, y).Then there is formula by cartesian coordinate system middle distance formula:
Beginning to deduct respectively thereafter from first equation, an equation gets:
The linear equation of following formula representes that mode is: AX=b, wherein:
Use the least square estimation method to get
A
TAX＝A
Tb (7)
The coordinate of trying to achieve destination apparatus to be positioned according to formula (7) is:
In the present embodiment; Step 5 adopts arrival mistiming distance-finding method (TDOA) to find range; Ranging process is: the initiation beacon device, and in predefined detection time of section (in the present embodiment detection time section is 30ms), detect ultrasonic signal in real time and whether arrive, arrive if detect ultrasonic signal; Then write down the time this moment, be designated as Tim
i, and wait for section arrival finish time detection time; Before detection time, section finished, if do not detect ultrasonic signal, this seasonal Tim
i=0, be invalid data.
The maximum distance that the described ultrasound examination time period can be propagated in receiving transducer receiving sensitivity scope by the transmitting probe ultrasonic waves transmitted and time of consuming is confirmed.Because it is indoor that native system generally is applied in, so the ultimate range of measuring generally in 10m, is calculated with hyperacoustic velocity of propagation under the normal temperature, the ultrasound examination time period is about 30ms.This window time is more little, and measuring distance is short more; More greatly then can cause positioning time elongated, location frequency reduces.
Select for use radiofrequency signal as time synchronizing signal in the present embodiment; The aerial velocity of propagation of radio frequency is 3.0 * 108m/s; Propagating the used time of 10m is 0.033us; This section in the period hyperacoustic propagation distance be 1.1 * 10-3cm, be far smaller than the distance accuracy of 1cm, thus with it as time synchronizing signal.
Figure 16 is the beacon apparatus workflow diagram of an embodiment of the present invention.
Step 1: after beacon apparatus powers on, carry out initialization, after beacon apparatus powers on; Receiving trap is accomplished initialization; Start the processor internal clocking, ultrasound wave reception IO (I/O) mouthful P1_5 that processor is set is an input pattern, and P0_2, P0_3 mouth that processor is set are the serial communication multiplexer mode; It is 16 bit timing patterns that the processor timer internal is set, and starts USART and radio-frequency module;
Step 2: through beacon apparatus internal temperature sensor module testing environment temperature;
Step 3: initialization processor timer internal record value is 0;
Step 4: processor get into to detect the receiving mode state that frame begins to define symbol (being detected in the CC2430 chip interrupt flag bit IRQ_SFD); When detecting interrupt flag bit; Then starting timer picks up counting; Thereby judge whether to receive radiofrequency signal, if receive, then execution in step 5; If do not receive, then return step 4 and continue to wait for reception;
Step 5: judge whether identify label number (ID) information in the radiofrequency signal data receive is correct, if mistake then abandon this range finding is returned and waited for received RF signal state, execution in step 4; If correct, then execution in step 6;
Step 6: start timer;
Step 7: processor judges whether to receive ultrasonic signal, if detect ultrasonic signal, then preserves timer numerical value, and waits for that overflow value (being the value of ultrasound examination time period, value 30ms in the present embodiment) arrives; If do not detect ultrasonic signal, then timer is waited for the arrival of overflow value;
Step 8: timer value is composed to timer preservation variable;
Step 9: judge whether timer overflow value 30ms arrives, if do not arrive, then repeated execution of steps 9 waits for that overflow value arrives; If arrive, then timer gets into and overflows interruption, stops to detect ultrasonic signal, execution in step 10;
Step 10: the order according to the beacon apparatus numbering is carried out corresponding delay;
Step 11: send beacon apparatus numbering, temperature and time information to data collector, described temporal information equates with timer record value information;
Step 12: after carrying out corresponding delay according to beacon apparatus numbering, circulation gets into the next round distance measuring states.
Figure 17 is the destination apparatus workflow diagram to be positioned of an embodiment of the present invention.
Step 1: after host apparatus is given destination apparatus power supply to be positioned; Initialization CC2430 chip system at first; Startup processor internal clocking, the P0_2 that processor is set, P0_3 mouth are the serial communication multiplexer mode; Start radio-frequency module and communication module etc., and identify label number (ID) information of this destination apparatus to be positioned of initialization, destination apparatus to be positioned gets into serial ports and waits for the range finding coomand mode after accomplishing;
Step 2: processor judges whether to receive the range finding order of host apparatus, if do not receive, then returns and continues execution in step 2 wait receptions, if receive, then execution in step 3;
Step 3: send radiofrequency signal;
Step 4: after radiofrequency signal was sent completion, it was the pulse signal of 40KHz that processor sends the frequency in 20 cycles to the ultrasonic emitting module immediately, control ultrasonic emitting module emission ultrasonic signal;
Step 5: time-delay 50ms.So far a ranging process is accomplished, and destination apparatus to be positioned gets into launch readiness and waits for range finding order next time.
Claims (6)
1. the method for a reflective indoor positioning, it is characterized in that: this method may further comprise the steps:
Step 1: start the beacon apparatus that is placed on the flooring, each beacon apparatus temperature inside sensor assembly carries out temperature survey, and gets into the radiofrequency signal accepting state immediately;
Step 2: after the communication module of destination apparatus to be positioned receives the Location Request of its host apparatus, send radiofrequency signal and ultrasonic signal to beacon apparatus, radiofrequency signal is wherein carried the identify label number information of destination apparatus to be positioned;
Step 3: beacon apparatus initialization; Make that the timer record value is zero; And get into monitoring radiofrequency signal state in real time: after beacon apparatus receives radiofrequency signal; Detect immediately whether receive the identify label number information that radiofrequency signal carries identical with the identify label number information of destination apparatus to be positioned,, return wait radio frequency accepting state if inequalityly then abandon; Then once find range as if identical;
Step 4: all beacon apparatus are detecting from destination apparatus transmission to be positioned through behind the ultrasonic signal of roof reflector; Record ultrasound wave time of arrival; And beacon apparatus numbering, temporal information and temperature information be packaged into packet; Successively the form of packet through wireless telecommunications sent to data collector according to the beacon apparatus number order, temperature information wherein is that beacon apparatus measures through beacon apparatus internal temperature sensor module when starting;
Step 5: data collector sends the data message of receiving to position calculating apparatus, and position calculating apparatus at first calculates indoor medial temperature according to the temperature information of each beacon apparatus, calculates the aerial velocity of propagation of ultrasound wave then; Temporal information according to the aerial velocity of propagation of ultrasound wave and each beacon apparatus calculates the roof plan mirror image of device to be positioned and the distance of each beacon apparatus;
Step 6: position calculating apparatus is according to the roof plan mirror image of indoor coordinate system, beacon apparatus coordinate and the beacon apparatus set up in advance and the distance of destination apparatus to be positioned; Calculate the planimetric coordinates of the roof plan mirror point of destination apparatus to be positioned; It has identical planimetric coordinates with destination apparatus to be positioned, so far accomplishes one-time positioning.
2. the method for reflective indoor positioning according to claim 1 is characterized in that: the described aerial velocity of propagation of ultrasound wave that calculates of step 5, and its computing formula is following:
V＝331.5+0.607T
In the formula: V is the aerial velocity of propagation of ultrasound wave;
T is an average indoor temperature;
The described time that records according to the aerial velocity of propagation of ultrasound wave and each beacon apparatus calculates the roof plan mirror image of device to be positioned and the distance of each beacon apparatus, and its computing formula is following:
D
i＝V×Tim
i+ε
In the formula: D
iBe the roof plan mirror image of each beacon apparatus and the distance of destination apparatus to be positioned;
Tim
iFor ultrasonic signal is propagated the time that arrives each beacon apparatus from destination apparatus to be positioned;
ε is the compensated distance factor.
3. realize the system of the described reflective indoor orientation method of claim 1, comprise host apparatus, position calculating apparatus and mobile device, it is characterized in that: also comprise beacon apparatus, destination apparatus to be positioned and data collector, wherein:
Beacon apparatus: be used to receive from the radiofrequency signal of destination apparatus transmission to be positioned with through roof plan ultrasonic waves transmitted signal; Measure ultrasonic signal through the beacon apparatus processor inside and propagate into time of arrival of beacon apparatus, and the temperature information that above-mentioned temporal information, beacon apparatus internal temperature sensor module are measured and beacon apparatus number information are packaged into packet and send to data collector from destination apparatus to be positioned;
Destination apparatus to be positioned: be used to receive the positioning command that host apparatus is sent, and send radiofrequency signal and ultrasonic signal to beacon apparatus;
Data collector: be used to receive the radiofrequency signal of sending from beacon apparatus, and above-mentioned radiofrequency signal is sent to position calculating apparatus.
4. the system of reflective indoor positioning according to claim 3, it is characterized in that: described beacon apparatus comprises the processor module of temperature sensor module, ultrasound wave receiver module, beacon apparatus and the radio-frequency module of beacon apparatus, wherein:
Temperature sensor module: be used for measures ambient temperature, and temperature information is passed to beacon apparatus processor inside module;
Ultrasound wave receiver module: be used to receive from what destination apparatus to be positioned sent and launch ultrasonic signal, and ultrasonic signal is passed to beacon apparatus processor inside module through roof plan;
The processor module of beacon apparatus: be used to measure the time that arrives beacon apparatus from the ultrasonic propagation of destination apparatus transmission to be positioned, and temperature information and the beacon apparatus number information that above-mentioned temporal information, temperature sensor module are measured is packaged into data packet delivery to radio-frequency module;
The radio-frequency module of beacon apparatus: be used for receiving and sending radiofrequency signal, receive the radiofrequency signal of sending, and radiofrequency signal is passed to beacon apparatus processor inside module from destination apparatus to be positioned; To comprise temporal information, the temperature information of temperature sensor module measurement and the packet of beacon apparatus number information and send to data collector.
5. the system of reflective indoor positioning according to claim 3; It is characterized in that: described destination apparatus to be positioned comprises radio-frequency module, ultrasonic emitting module, the communication module of destination apparatus to be positioned and the processor module of destination apparatus to be positioned of destination apparatus to be positioned, wherein:
The radio-frequency module of destination apparatus to be positioned: be used to send radiofrequency signal, the radiofrequency signal that will include the identify label number information sends to beacon apparatus;
Ultrasonic emitting module: be used to send ultrasonic signal to beacon apparatus;
The communication module of destination apparatus to be positioned: be used to realize the processor module of destination apparatus to be positioned and communicating by letter of host apparatus;
The processor module of destination apparatus to be positioned: be used to receive the host apparatus positioning command; The control radio-frequency module sends radiofrequency signal; The control ultrasonic wave module is sent ultrasonic signal.
6. the system of reflective indoor positioning according to claim 3, it is characterized in that: described data collector comprises the radio-frequency module of data collector, the communication module of data collector and the processor module of data collector, wherein:
The radio-frequency module of data collector: be used to receive the radiofrequency signal that comprises packet of sending, and radiofrequency signal is passed to data collector internal processor module from beacon apparatus;
The communication module of data collector: be used to realize communicating by letter of processor module and position calculating apparatus;
The processor module of data collector: receive the beacon apparatus packet, temporal information, temperature information and beacon apparatus number information are sent to position calculating apparatus.
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