CN103379620A - Positioning method and positioning system - Google Patents
Positioning method and positioning system Download PDFInfo
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- CN103379620A CN103379620A CN2012101154597A CN201210115459A CN103379620A CN 103379620 A CN103379620 A CN 103379620A CN 2012101154597 A CN2012101154597 A CN 2012101154597A CN 201210115459 A CN201210115459 A CN 201210115459A CN 103379620 A CN103379620 A CN 103379620A
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Abstract
The invention discloses a positioning method and a positioning system. According to the technical scheme of the invention, by establishment of a plurality of monitoring terminals, interior position information of a mobile terminal is obtained. A coordinate of the interior position information is calculated and positioning information is generated. Position data are continuously transmitted to the mobile terminal, and therefore navigation and positioning functions are provided in environments which are difficult for signals to penetrate.
Description
Technical field
The present invention relates to moving communicating field, be specifically related to localization method and navigation system.
Background technology
Along with the development of science and technology and human living standard's raising, human activity in the Nature and field is more and more frequent, and in the outdoor environment of especially whether being familiar with out of doors, people more and more navigate with intelligent guidance system and seek target.
Utilize satellite, the system that positions in real time in the world, navigates is called global positioning system, is called for short GPS.
The GPS navigation system is take 24 the location artificial satellites in the whole world as the basis, and a kind of radio positioning system of the information such as three-dimensional position, three-dimensional velocity is provided to all parts of the world round-the-clockly.It is made of three parts, and the one, the ground control section is comprised of master station, ground-plane antenna, indiscriminate survey station and communication auxiliary system.The 2nd, space segment is comprised of 24 satellites, is distributed in 6 orbit planes.The 3rd, the user's set part is comprised of GPS receiver and satellite antenna.Civilian positioning accuracy can reach in 10 meters now.
Since two thousand, China has succeeded in sending up 4 " Big Dipper Navigation Satellites ", has built up Big Dipper navigation experiment system (first generation system).This system can be in the coverage any time, any place, for the user determines the geographical latitude and longitude information at its place, and provide two-way short message communication and accurate time transmission service.At present, system progressively plays a significant role at numerous areas such as mapping, telecommunications, water conservancy, highway communication, railway transportation, fish production, exploration, forest fire protection and national security.
No matter be GPS or the triones navigation system of China, because the limitation of himself, satellite-signal can't can't penetrate barrier fine even at all, cause GPS and the triones navigation system all can't be indoor especially in the large-scale building of picture, as in the bus station, in the station, railway station, underground or on the ground large-scale indoor mall etc. navigates.
Summary of the invention
The invention provides indoor orientation method, system, solved and be difficult to the problem of utilizing the GPS navigation system to position in the zone that satellite-signal maybe can't penetrate a little less than.
The invention provides a kind of method of indoor positioning, method specifically comprises:
Portable terminal sends solicited message;
Monitoring terminal with the described request information conveyance that receives to server;
Described server parses described request information is calculated the distance of described portable terminal and described monitoring terminal, determines portable terminal coordinate information in map, generating positioning information;
Described locating information is sent to monitoring terminal, and by monitoring terminal described locating information is sent to portable terminal.
Further, solicited message comprises: start position information and the final position information of location route.
Further, determine that portable terminal also comprises after the coordinate information in map: according to start position information and final position information, in map, obtain route information.
Further, portable terminal and monitoring terminal utilize radiofrequency signal to carry out data communication.
Further, calculate the distance of described portable terminal and described monitoring terminal, determine portable terminal coordinate information in map, be specially:
Obtain the mobile terminal signal received signal power;
According to the variation relation of received signal power with the signal transmission range, calculate the distance value of portable terminal and monitoring terminal;
Obtain the coordinate information of at least two monitoring terminals that communicate with portable terminal, and calculate the portable terminal coordinate according to the distance value of portable terminal and monitoring terminal.
The present invention also provides a kind of indoor locating system, and described navigation system comprises that server and at least two are located at indoor monitoring terminal;
Described monitoring terminal is used for the solicited message that mobile terminal receive sends, and described request information comprises start position information and the final position information of route to be positioned, and with the described request communication to described server;
Described server is used for resolving described request information, calculates the distance of described portable terminal and described monitoring terminal, determines the current coordinate information of portable terminal in map, and generating positioning information sends to monitoring terminal.
Further, portable terminal and described monitoring terminal utilize radiofrequency signal to carry out data communication.
Further, described server comprises:
Processing module is used for resolving the solicited message that described monitoring terminal is carried, and calculates the distance of described portable terminal and described monitoring terminal, and definite portable terminal coordinate information in map, and the coordinate information of described portable terminal is sent to processing module;
Data module is used for storing map information, and the coordinate information of the portable terminal that receives is positioned in the map of correspondence, and generating positioning information is sent to monitoring terminal.
Further, processing module also is used for according to start position information and final position information, obtains route information in map.
Further, described server is used for calculating the distance of described portable terminal and described monitoring terminal, determines portable terminal coordinate information in map, is specially:
Obtain the mobile terminal signal received signal power;
According to the variation relation of received signal power with the signal transmission range, calculate the distance value of portable terminal and monitoring terminal;
Obtain the coordinate information of at least two monitoring terminals that communicate with portable terminal, and calculate the portable terminal coordinate according to the distance value of portable terminal and monitoring terminal.
By technical scheme of the present invention, a plurality of monitoring terminals are set up in utilization, constantly obtain the indoor positional information of portable terminal, calculate its coordinate, and at the map demonstration location of correspondence route, realized that GPS and triones navigation system in indoor situation about all can't navigate, provide the indoor positioning function.
Description of drawings
The flow chart of the localization method that Fig. 1 provides for one embodiment of the invention;
Fig. 2 is the schematic diagram that portable terminal is positioned at monitoring terminal signal intersection point place;
Fig. 3 is the schematic diagram that portable terminal is positioned at monitoring terminal signal overlap district;
Fig. 4 is the schematic diagram that portable terminal is positioned at the monitoring terminal signal blind zone;
The structural representation of the navigation system that Fig. 5 provides for one embodiment of the invention.
Embodiment
By reference to the accompanying drawings the present invention is described in further detail below by embodiment.
Please refer to Fig. 1, shown the flow chart of the localization method that one embodiment of the invention provides, this localization method comprises: portable terminal sends positioning request information; Monitoring terminal with the described request information conveyance that receives to server; Server parses described request information is calculated the distance of described portable terminal and described monitoring terminal, determines the coordinate information of portable terminal in indoor whole zone, generating positioning information; Described locating information is sent to monitoring terminal, and monitoring terminal constantly sends to portable terminal to described locating information, and shows by portable terminal.
In the localization method that one embodiment of the invention provides, described portable terminal and monitoring terminal all comprise radio-frequency communication module, such as the 2.4GHz communication module.Described radio-frequency communication module can SIM card or TF card form be installed in portable terminal and the monitoring terminal, or directly be integrated in portable terminal and the checkout equipment.Described portable terminal can be mobile phone, panel computer or portable computer, and it is equipped with indoor map software.Described server stores the positional information of indoor Zone Full, all route informations and cartographic information.Described monitoring terminal has two at least, is separately positioned on each indoor monitoring terminal, and namely indoor have two monitoring terminals at least, and location coordinate information is known in server.
In a kind of execution mode of indoor orientation method provided by the invention, the solicited message that portable terminal sends comprises: move described indoor map software, determine start position information and the final position information of route to be positioned by described map software.
In a kind of execution mode of indoor orientation method provided by the invention, determine that portable terminal also comprises after the coordinate information in map: according to start position information and final position information, in map, obtain route information.
In a kind of execution mode of indoor orientation method provided by the invention, portable terminal and monitoring terminal utilize radiofrequency signal such as 2.4GHZ radiofrequency signal to carry out data communication.
In a kind of execution mode of indoor orientation method provided by the invention, calculate the distance of described portable terminal and described monitoring terminal, determine portable terminal coordinate information in map, be specially: monitoring terminal obtains the mobile terminal signal received signal power; Server calculates the distance value of portable terminal and monitoring terminal according to the variation relation of described received signal power with the signal transmission range; Obtain the coordinate information of at least two monitoring terminals that communicate with portable terminal, and calculate the portable terminal coordinate according to the distance value of portable terminal and monitoring terminal.
Below in conjunction with above-mentioned several execution modes localization method provided by the invention is elaborated.At first portable terminal carries out the route location in the built-in map software of startup self, when namely navigating, portable terminal carries out the data packing with origin information and endpoint information and self unique identification information, and the packet after will pack sends as the solicited message employing 2.4G communication technology; Monitoring terminal and portable terminal carry out data communication, the solicited message that receives portable terminal is delivered to server resolves; Server calculates the distance between portable terminal and the monitoring terminal, then determines the coordinate information of portable terminal in map, and generating positioning information sends to monitoring terminal, and utilizes the 2.4G communication technology to send to portable terminal by monitoring terminal; Portable terminal is received after the described locating information at self built-in map and is shown route information.In the process that portable terminal moves with the user, server constantly calculates the distance of portable terminal and monitoring terminal, determine the coordinate information of portable terminal on map, generating positioning information also sends to portable terminal continuously, show with definite user's moving direction and in the built-in map software of portable terminal self, so repeat abovementioned steps, the position until the user reaches home.
Distance between described calculating portable terminal and the monitoring terminal comprises: usually can be subject to the impact of path loss, shadow fading according to the server by utilizing wireless signal in transmission course, received signal power can calculate with the variation relation of distance.For example can determine mobile terminal locations by the signal transmission attenuation model, detailed process is:
Signal transmission attenuation model (RSS model) can be simplified as follows,
P
r(d)＝K-10εlg(d)(dBm)
K is following constant:
Wherein, d, d
0Be the distance between the Receiver And Transmitter, in the present embodiment, receiver is mobile device, and ε represents non-free-space loss coefficient, and transmitter is monitoring terminal.
Therefore, the received signal power of can be first measuring mobile device by monitoring terminal just can record mobile device to and its each monitoring terminal that communicates between distance.Because the position coordinates of each monitoring terminal is all definite, therefore utilize the co-ordinate position information of any two portable terminals wherein and portable terminal just can calculate the two-dimensional coordinate information of portable terminal to the distance of corresponding monitoring terminal, then utilize this two-dimensional coordinate information in the built-in map of portable terminal, to position.
In actual applications, because the impact of the series of factors such as error, the general accurate situation that seldom can occur among Fig. 2, it more is situation about occurring among Fig. 3 and Fig. 4, portable terminal is arranged in the overlapping region of three circles among Fig. 3, and the portable terminal among Fig. 4 is arranged in the zone that three circles of portable terminal enclose.In above-mentioned rear two kinds of situations, can calculate from the intersection point of three nearest circles of portable terminal, then calculate the coordinate information of portable terminal by weighted average, euclidean distance, strengthen the accuracy of detection and localization.
As shown in Figure 5, be a kind of Position Fixing Navigation System that one embodiment of the invention provides, this system comprises server and at least two monitoring terminals, and wherein monitoring terminal carries out data communication with portable terminal and server respectively.Monitoring terminal is used for the solicited message of mobile terminal receive emission and the solicited message that receives is delivered to server processing, and the locating information that server returns is sent to portable terminal.Server is used for the solicited message that monitoring terminal is carried is resolved, calculate the distance of described portable terminal and described monitoring terminal, determine portable terminal coordinate information in map, mark portable terminal position in map, generating positioning information sends monitoring terminal.
Particularly, server comprises data module and processing module.Described data module is used for resolving the solicited message that described monitoring terminal is carried, calculate the distance of described portable terminal and described monitoring terminal, and definite portable terminal coordinate information in map, the coordinate information of described portable terminal is sent to the data module of processing module.Described processing module is used for positional information and all route informations of cartographic information, indoor Zone Full in the locker room, and the coordinate information of the portable terminal that receives is positioned in the map of correspondence, and generating positioning information is sent to monitoring terminal.
Particularly, solicited message has comprised start position information and the final position information of location route.
Particularly, in the location of navigation, the user is in the origin information of portable terminal input navigation and the endpoint information part as solicited message, and origin information and endpoint information that processing module is obtained after according to resolution request message are obtained route information in the map of correspondence.
Particularly, server is used for obtaining the mobile terminal signal received power; According to receiving the variation relation of signal with the signal transmission range, calculate the distance value of portable terminal and monitoring terminal; Obtain the coordinate information of at least two monitoring terminals that communicate with portable terminal, and calculate the portable terminal coordinate according to the distance value of portable terminal and monitoring terminal.
Portable terminal is used for solicited message is sent to monitoring terminal, monitoring terminal is used for that the solicited message that receives is delivered to server to be processed, data module is used for by obtaining the power of the 2.4G signal that portable terminal receives, utilize the method for the loss model of signal to calculate portable terminal to the distance of monitoring terminal, and further determine the coordinate position of portable terminal, and this coordinate information sent to processing module, the map of the correspondence that stores in processing module positions, and obtain the route information of the location in the corresponding requests, then Query Result and the packing of mobile phone unique identification information are sent to monitoring terminal, monitoring terminal sends to portable terminal by the 2.4G communication technology with locating information again.Monitoring terminal constantly sends in this process, and by the locating information that server transports, mobile device is constantly revised the positional information of mobile device until the location end in mobile process.
Above content is the further description of the present invention being done in conjunction with concrete execution mode, can not assert that implementation of the present invention is confined to these explanations; Therefore, for the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (9)
1. a localization method is characterized in that, described method comprises:
Portable terminal sends solicited message, and described request information comprises start position information and the final position information of locating route;
Monitoring terminal with the described request information conveyance that receives to server;
Server parses described request information is calculated the distance of described portable terminal and monitoring terminal, determines the coordinate information of described portable terminal in indoor map, generating positioning information; Described locating information is sent to monitoring terminal;
The described locating information that monitoring terminal will receive sends to portable terminal.
2. localization method as claimed in claim 1, it is characterized in that, described localization method also comprises: in map after the coordinate information, server is according to start position information and final position information at definite portable terminal, obtains route information from the map of self storage.
3. localization method as claimed in claim 1 is characterized in that, described portable terminal and described monitoring terminal utilize radiofrequency signal to carry out data communication.
4. localization method as claimed in claim 1 is characterized in that the distance of the described portable terminal of described calculating and described monitoring terminal is determined portable terminal coordinate information in map, comprising:
Obtain the mobile terminal signal received signal power;
According to the variation relation of received signal power with the signal transmission range, calculate the distance value of portable terminal and monitoring terminal;
Obtain the coordinate information of at least two monitoring terminals that communicate with portable terminal, and calculate the portable terminal coordinate according to the distance value of portable terminal and monitoring terminal.
5. a navigation system is characterized in that, described navigation system comprises that server and at least two are located at indoor monitoring terminal;
Described monitoring terminal is used for the solicited message that mobile terminal receive sends, and described request information comprises start position information and the final position information of route to be positioned, and with the described request communication to described server;
Described server is used for resolving described request information, calculates the distance of described portable terminal and described monitoring terminal, determines the current coordinate information of portable terminal in map, and generating positioning information sends monitoring terminal.
6. navigation system as claimed in claim 5 is characterized in that, described portable terminal and described monitoring terminal utilize radiofrequency signal to carry out data communication.
7. navigation system as claimed in claim 5 is characterized in that, described server comprises:
Data module be used for to be resolved described request information, calculates the distance of described portable terminal and described monitoring terminal, determines portable terminal coordinate information in map, and the coordinate information of described portable terminal is sent to processing module;
Processing module is used for storing map information, and the coordinate information of the portable terminal that receives is positioned in the map of correspondence, and generating positioning information is sent to monitoring terminal.
8. navigation system as claimed in claim 7 is characterized in that, described processing module also is used for according to start position information and final position information, obtains route information in map.
9. navigation system as claimed in claim 5 is characterized in that, described server calculates the distance of described portable terminal and described monitoring terminal, determines portable terminal coordinate information in map, comprising:
Obtain the mobile terminal signal received power;
According to the variation relation of received signal power with the signal transmission range, calculate the distance value of portable terminal and monitoring terminal;
Obtain the coordinate information of at least two monitoring terminals that communicate with portable terminal, and calculate the portable terminal coordinate according to the distance value of portable terminal and monitoring terminal.
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Application publication date: 20131030 |