CN102946635B - Based on room level level indoor orientation method and the navigation system of exciter technology - Google Patents
Based on room level level indoor orientation method and the navigation system of exciter technology Download PDFInfo
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Abstract
The invention discloses a kind of room level level indoor orientation method based on exciter technology and navigation system, comprise S1: the geographical confidence of resolving area to be targeted, build the logic region of indoor locating system; S2: the division of being assisted strengthening key monitoring region further by exciter; S3: the approximate coordinate position being calculated destination apparatus label by RSSI value; S4: check the whether triggered exciter of label is the ID of the locating area of the exciter strengthening of then reading tag triggering; Otherwise be defaulted as non-key monitoring region, disregard; S5: judging approximate coordinate whether in the locating area of the exciter be triggered, is accept the coordinate of current label, and upload; Otherwise according to tag triggers flow process correction changing coordinates, and upload; This localization method effectively can ensure the indoor location service of indoor position accuracy, low cost and " needed for business ", adopts dual low frequency to trigger simultaneously, effectively judges the entering of locating area, event of going out.
Description
Technical field
The present invention relates to indoor orientation method, particularly a kind of room level level indoor orientation method of exciter technology and navigation system.
Background technology
Along with the extensive use of indoor positioning technologies in security protection, medical treatment and traffic etc., the various research based on location technology, intelligent position service-Engine and the research based on real-time locating platform are also more and more general.And utilize the spatial analysis functions of indoor locating system, the behavior that people or object carry out effectively can be analyzed, thus realize scientific and reasonable monitoring and scheduling management and region theft management, improve the efficiency of management and management security.
Localization method, as an important indicator of indoor positioning, district management, can control the particular location of monitored object in real time, for various types of analysis management provides visual information support intuitively on electronic chart.The coordinate position of conventional indoor orientation method generally by adopting various location algorithm to calculate anchored object, to be presented on electronic chart, but because indoor environment is quite complicated, room divides too intensive, between two between room only a wall every, even if its positioning precision is very high, is sometimes also difficult to judge that target is in the inside of certain wall or outside, causes a lot of application based on indoor positioning all to lack practical value.
In addition, the algorithm research higher based on positioning precision also receives much concern all the more, and becomes the important competition element of each businessman.But due to deliberately, pursue positioning precision, a positioning resolution raising with hiding, and have ignored the load capacity of the practical business demand of location technology, cost price and information data, often cause product function redundancy too high, high cost etc., bring obvious financial burden not only to analysis management person, also have impact on the efficiency of security monitoring management.
Summary of the invention
In order to overcome the defect of prior art, the invention discloses a kind of room level level indoor orientation method based on exciter technology and navigation system, this localization method effectively ensures the indoor location service of indoor position accuracy, low cost and " needed for business ", adopt dual low frequency to trigger simultaneously, the entering of effective judgement locating area, event of going out, improve convenience, the accuracy of district management comprehensively
The invention discloses following technical scheme:
Based on a room level level indoor orientation method for exciter technology, comprise the steps:
S1: the geographical confidence of resolving area to be targeted, builds the logic region of indoor locating system;
S2: the division of being assisted strengthening key monitoring region further by exciter;
S3: the approximate coordinate position being calculated destination apparatus label by RSSI value;
S4: check the whether triggered exciter of label is the ID of the locating area of the exciter strengthening of then reading tag triggering; Otherwise be defaulted as non-key monitoring region, disregard;
S5: judging approximate coordinate whether in the locating area of the exciter be triggered, is accept the coordinate of current label, and upload; Otherwise according to tag triggers flow process correction changing coordinates, and upload.
Preferably, described indoor orientation method, its exciter is that dual 125KHz exciter low frequency triggers, and the sequencing be triggered according to exciter effectively judges the behavior direction of label, and its triggering method is:
1), tag triggers exciter, trigger message is recorded in label information table;
2), the new exciter triggered and the last information triggered in inquiry tag information table;
3), whether the exciter that judges twice triggering be a pair, is enter next step, otherwise disregards;
4), whether the actuator position that judges current triggering be in door, is that default label is for entering room; Otherwise be defaulted as and withdraw from a room;
5), refreshed tag coordinate, be recorded in label information table, upload.
Preferably, described indoor orientation method, its exciter is revised location algorithm and is supplemented, and realizes room level level and accurately locates.
Preferably, described indoor orientation method, its exciter ID and region inner room ID binds.
Preferably, described indoor orientation method, its RSSI technology is according to receiving the intensity of at least 3 signals and the known coordinate of reference node, then adopts trilateration or maximum likelihood estimate to calculate the approximate coordinate of destination node.
Based on a room level level indoor locating system for exciter technology, comprising: network management platform, network concentrator, some network receivers, some network activation devices, some terminal labels; Described network management platform, network concentrator, network receiver, network activation device, terminal labels wireless network connect, wherein:
Network management platform: the wireless sensor network being a 2.4GHz, described network management platform supports graphically managing, for transducer network node deployment, node administration, network monitoring, network security provide intuitively, more fully Managed Solution;
Network concentrator: the order sent for receiving network managing platform, opening network, controls floor all-network receiver, terminal labels, and the action of exciter, completes the convergence of wireless sensor network to local area network (LAN);
Network receiver: for the heat transfer agent of receiving terminal label, and mutual with concentrator, and the information that realizes is assembled, and participates in the networking of whole system, route, data retransmission function;
Exciter: described exciter is 125KH exciter, carries out supplementing and revising to location algorithm, realizes room level level and accurately locates, be provided with ID in described exciter;
The geography information of locating area is parsed to build the logic region of navigation system by navigation system, described logic region is divided into each room unit, corresponding room ID is provided with in described room, described exciter ID and described room ID binds, and effectively can judge the position of terminal labels.
Preferably, described indoor locating system, the interior and exterior wall on its room unit doorway installs exciter, and it is double excitation device, for judging the entering of blind node label, going out the time; Described network receiver is installed on the surrounding corner of room unit, for receiving the signal of blind node, and as the network routing node of wireless sense network, to transmit data and to calculate the position coordinates of blind node; Described network concentrator then must guarantee that all reference nodes, exciter, terminal labels are in useful signal coverage.
Compared with prior art, beneficial effect of the present invention is as follows:
1, one is provided effectively can to ensure the indoor location method of servicing of indoor position accuracy, low cost, " needed for business ";
2, adopt dual low frequency to trigger, effectively can judge the entering of locating area, event of going out, improve convenience, the accuracy of district management comprehensively.
Accompanying drawing explanation
Fig. 1 is the structural representation of specific embodiment of the invention localization method;
Fig. 2 is the flow chart of specific embodiment of the invention double excitation device triggering method;
Fig. 3 is the structural representation of specific embodiment of the invention indoor locating system;
Fig. 4 is the structural representation of specific embodiment of the invention tradition indoor positioning technologies;
Fig. 5 is the indoor positioning schematic diagram of the specific embodiment of the invention based on exciter technology.
embodiment:
Below with the drawings and specific embodiments, the present invention will be further described:
Embodiment
Based on a room level level indoor orientation method for exciter technology, comprise the steps:
S1: the geographical confidence of resolving area to be targeted, builds the logic region of indoor locating system;
S2: the division of being assisted strengthening key monitoring region further by exciter;
S3: the approximate coordinate position being calculated destination apparatus label by RSSI value;
S4: check the whether triggered exciter of label is the ID of the locating area of the exciter strengthening of then reading tag triggering; Otherwise be defaulted as non-key monitoring region, disregard;
S5: judging approximate coordinate whether in the locating area of the exciter be triggered, is accept the coordinate of current label, and upload; Otherwise according to tag triggers flow process correction changing coordinates, and upload.
As Fig. 1, step S1 to S5 is specially:
First need the geography information of resolving area to be targeted, to build the logic region of indoor locating system, this part mainly builds conventional indoor locating system, as the structure of wireless sense network, and the design of reference node, telegon and deployment etc.Secondly, for reaching the object effectively distinguishing key monitoring region and conventional guarded region, on the 2.4GHz indoor locating system basis of routine, special introducing 125KHz exciter technology, location algorithm revised and supplements, realizing room level level and accurately locate.Exciter ID and region inner room ID is bound, be equivalent to, by exciter, whole locating area is divided into effective positioning unit one by one, and according to user's request, locating area can be effectively defined as key monitoring region and non-key monitoring region, the method can effectively reduce location cost on the basis ensureing setting accuracy.Navigation system itself can adopt the approximate coordinate of RSSI technique computes outgoing label, RSSI technology is according to receiving the intensity of at least 3 signals and the known coordinate of reference node, then adopts trilateration or maximum likelihood estimate to calculate the approximate coordinate of destination node.But due in actual applications, also there is the propagation loss phenomenon that the problems such as such as reflection, multipath transmisstion, non line of sight, wireless gain cause in wireless signal, the coordinate figure calculated usually is made to there is sizable error, and precise positioning can not be realized, as when destination node is in room, but because signal attenuation causes the destination node coordinate drawn to exceed the region of room covering, then cannot determine particular location, cause area monitoring to lose efficacy.
The most important effect of exciter is exactly by binding room area, effectively judges the position of label, revises the mistake of location algorithm in time.After calculating label myopia coordinate, whether system has triggered exciter before checking this label, this information spinner will be kept in label information table and (preserve the ID etc. of the ID of label, coordinate, last trigger activator device in table), if label information table does not have trigger recording, then be defaulted as non-key monitoring region, disregard.If there is triggered exciter before label, then judges approximate coordinate whether in the locating area coordinate domain of this exciter, be accept changing coordinates, and upload; Otherwise by the trigger flow correction changing coordinates of exciter, and upload.
The present invention ensures effectively to judge the entering of same room interior label, event of going out, and specially adopts the triggering of dual 125KHz exciter low frequency, and the sequencing be triggered according to exciter effectively judges the behavior direction of label.
As the trigger flow figure that Fig. 2 is double excitation device, it is specially:
The behavior of tag triggers exciter, will be recorded in label information table.When exciter is triggered, system can inquire about this label information table content, judges whether the exciter of current triggering is a pair with the last exciter triggered, and namely judges the whether corresponding same room ID of two exciter ID.If not a pair, system is then disregarded, a refreshed tag information table; If a pair, then judging whether the position of current excitations device is be in house interior, be, judging that label is for getting the hang of, otherwise for leaving state.Now, if when the tag coordinate that location algorithm draws departs from and accurately cannot judge the particular location of label, then can the error brought of correction algorithm very accurately; Refreshed tag coordinate, is recorded in label information table again, uploads.
As Fig. 3, a kind of room level level indoor locating system based on exciter technology, comprising: network management platform, network concentrator, some network receivers, some network activation devices, some terminal labels; Described network management platform, network concentrator, network receiver, network activation device, terminal labels wireless network connect, wherein:
Network management platform: the wireless sensor network being a 2.4GHz, described network management platform supports graphically managing, for transducer network node deployment, node administration, network monitoring, network security provide intuitively, more fully Managed Solution;
Network concentrator: the order sent for receiving network managing platform, opening network, controls floor all-network receiver, terminal labels, and the action of exciter, completes the convergence of wireless sensor network to local area network (LAN);
Network receiver: for the heat transfer agent of receiving terminal label, and mutual with concentrator, and the information that realizes is assembled, and participates in the networking of whole system, route, data retransmission function;
Exciter: described exciter is 125KH exciter, carries out supplementing and revising to location algorithm, realizes room level level and accurately locates, be provided with ID in described exciter;
The geography information of locating area is parsed to build the logic region of navigation system by navigation system, described logic region is divided into each room unit, corresponding room ID is provided with in described room, described exciter ID and described room ID binds, and effectively can judge the position of terminal labels.
As Fig. 3, the interior and exterior wall on described room unit doorway installs exciter, it is double excitation device, for judging the entering of blind node label, going out the time; Described network receiver is installed on the surrounding corner of room unit, for receiving the signal of blind node, and as the network routing node of wireless sense network, to transmit data and to calculate the position coordinates of blind node; Described network concentrator then must guarantee that all reference nodes, exciter, terminal labels are in useful signal coverage.
The present invention applies conveniently, and accuracy is high, practical, can be widely used in various indoor locating system.As the antitheft system for babies of hospital and mental patient look after system etc.Traditional indoor positioning technologies schematic diagram such as redness in Fig. 4, figure is the position of anchored object label, and blueness is locating area.By this figure can obviously find out do not adopt method of the present invention time, system cannot be told label and specifically belong to which room.Based on the room level level indoor positioning schematic diagram of exciter technology as Fig. 5, obviously can find out the particular location of monitored object, truer rationally, accuracy is higher.
The preferred embodiment of the present invention just sets forth the present invention for helping.Preferred embodiment does not have all details of detailed descriptionthe, does not limit the embodiment that this invention is only described yet.Obviously, according to the content of this specification, can make many modifications and variations.This specification is chosen and is specifically described these embodiments, is to explain principle of the present invention and practical application better, thus makes art technical staff can utilize the present invention well.The present invention is only subject to the restriction of claims and four corner and equivalent.
Claims (6)
1., based on a room level level indoor orientation method for exciter technology, it is characterized in that, comprise the steps:
S1: the geography information of resolving area to be targeted, builds the logic region of indoor locating system;
S2: the division of being assisted strengthening key monitoring region further by exciter;
S3: the approximate coordinate position being calculated destination apparatus label by RSSI value;
S4: check the whether triggered exciter of label is the ID of the locating area of the exciter strengthening of then reading tag triggering; Otherwise be defaulted as non-key monitoring region, disregard;
S5: judging approximate coordinate whether in the locating area of the exciter be triggered, is accept the coordinate of current label, and upload; Otherwise according to tag triggers flow process correction changing coordinates, and upload; Wherein:
Described exciter is that dual 125KHz exciter low frequency triggers, and the sequencing be triggered according to exciter effectively judges the behavior direction of label, and its triggering method is:
1), tag triggers exciter, trigger message is recorded in label information table;
2), the new exciter triggered and the last information triggered in inquiry tag information table;
3), whether the exciter that judges twice triggering be a pair, is enter next step, otherwise disregards;
4), whether the actuator position that judges current triggering be in door, is that default label is for entering room; Otherwise be defaulted as and withdraw from a room;
5), refreshed tag coordinate, be recorded in label information table, upload.
2. indoor orientation method according to claim 1, is characterized in that, described exciter is revised location algorithm and supplemented, and realizes room level level and accurately locates.
3. indoor orientation method according to claim 1, is characterized in that, described exciter ID and region inner room ID binds.
4. indoor orientation method according to claim 1, it is characterized in that, it is according to receiving the intensity of at least 3 signals and the known coordinate of reference node that described RSSI value calculates, then adopts trilateration or maximum likelihood estimate to calculate the approximate coordinate of destination node.
5. one kind for realizing the roomlevel level indoor locating system based on exciter technology of indoor orientation method according to claim 1, it is characterized in that, comprising: network management platform, network concentrator, some network receivers, some network activation devices, some terminal labels; Described network management platform, network concentrator, network receiver, network activation device, terminal labels wireless network connect, wherein:
Network management platform: the wireless sensor network being a 2.4GHz, described network management platform supports graphically managing, for the network node of transducer dispose, node administration, network monitoring, network security provide intuitively, more fully Managed Solution;
Network concentrator: the order sent for receiving network managing platform, opening network, controls floor all-network receiver, terminal labels, and the action of exciter, completes the convergence of wireless sensor network to local area network (LAN);
Network receiver: for the heat transfer agent of receiving terminal label, and mutual with described network concentrator, and the information that realizes is assembled, and participates in the networking of whole system, route, data retransmission function;
Exciter: described exciter is 125KHz exciter, carries out supplementing and revising to location algorithm, realizes room level level and accurately locates, be provided with ID in described exciter;
The geography information of locating area is parsed to build the logic region of navigation system by navigation system, and divide key monitoring region and non-key monitoring region, described logic region is divided into each room unit, corresponding room ID is provided with in described room, described exciter ID and described room ID binds, and effectively can judge the position of terminal labels.
6. indoor locating system according to claim 5, is characterized in that, the interior and exterior wall on described room unit doorway installs exciter, and it is double excitation device, for judging the entering of blind node label, going out the time; Described network receiver is installed on the surrounding corner of room unit, for receiving the signal of blind node, and as the network routing node of wireless sense network, to transmit data and to calculate the position coordinates of blind node; Described network concentrator then must guarantee that all reference nodes, exciter, terminal labels are in useful signal coverage.
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| CN103905992B (en) * | 2014-03-04 | 2017-04-19 | 华南理工大学 | Indoor positioning method based on wireless sensor networks of fingerprint data |
| CN106662632A (en) * | 2014-06-06 | 2017-05-10 | Zih公司 | Method, apparatus, and computer program product improving real time location systems with multiple location technologies |
| CN104459605B (en) * | 2014-11-27 | 2017-11-14 | 上海京颐科技股份有限公司 | A kind of indoor floor location system and method |
| CN110365358B (en) * | 2019-07-15 | 2021-01-01 | 常州爱索电子有限公司 | RFID (radio frequency identification) super positioning exciter |
| CN113645564B (en) * | 2021-07-05 | 2022-04-08 | 南京邮电大学 | Hybrid excitation method for crowd funding of indoor position information |
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