CN104197930A - Indoor positioning device and method based on inertial guidance and radio frequency identification - Google Patents
Indoor positioning device and method based on inertial guidance and radio frequency identification Download PDFInfo
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- CN104197930A CN104197930A CN201410461963.1A CN201410461963A CN104197930A CN 104197930 A CN104197930 A CN 104197930A CN 201410461963 A CN201410461963 A CN 201410461963A CN 104197930 A CN104197930 A CN 104197930A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses an indoor positioning device based on inertial guidance and radio frequency identification. The device comprises a positioning terminal, a radio frequency transmitting module and a server, wherein the positioning terminal comprises a three-dimensional accelerometer, a three-axis gyroscope, a radio frequency signal receiver, a wireless communication module, a microprocessor and a shell, the three-dimensional accelerometer and the three-axis gyroscope are fixed in the shell, the axis Z of the shell is vertical upwards, the communication main line of the three-dimensional accelerometer is connected with the microprocessor, the three-axis gyroscope and a three-dimensional accelerometer coordinate are in coincidence, the communication main line of three-axis gyroscope is connected with the microprocessor, the radio frequency signal receiver and the wireless communication module are respectively fixed on two sides of the inner part of the shell, and the communication main line of the radio frequency signal receiver is communicated with the microprocessor. The invention further discloses an indoor positioning method based on the inertial guidance and radio frequency identification. The indoor positioning technology related in the invention has the advantages of being high in positioning accuracy, not affected by indoor complex structures and electromagnetic interference, low in cost and the like.
Description
Technical field
The invention belongs to mobile positioning technique field, relate to the indoor environment target localization without gps signal, specifically a kind of locating device and method based on inertial guidance and radio-frequency (RF) identification.
Background technology
Along with the quick increase of data service and multimedia service, people increase day by day to the demand of location, especially in complicated indoor environment, in the environment such as airport hall, exhibition room, supermarket, library, underground parking, mine, disaster scene, mobile terminal or its holder, equipment and article seem particularly important in indoor positional information.In open outdoor environment, global position system GPS provides point-device locating information, but due to the singularity of indoor environment, gps signal is difficult in covering chamber, so the algorithm and the system that are currently applied to outdoor environment are difficult to be transplanted in the application of indoor positioning.There is important potential application in indoor target localization, causes in recent years a large amount of research and concern.
The research of existing indoor positioning mainly concentrates on two aspects, the one, the research of indoor locating system; The 2nd, the research of indoor algorithm.Obtaining of above-mentioned positional information need to rely on positioning system, and indoor positioning technology is easily subject to the restriction of the indoor environment of positioning time, positioning precision and complexity.Current indoor positioning technology mainly contains inertial guidance, terrestrial magnetic guidance, infrared, ultrasound wave, bluetooth, ultra broadband, WIFI and radio frequency location technology etc.Wherein, infrared ray, because straight line short distance is propagated, and is easily disturbed the poor effect of indoor positioning by light; Although the overall positioning precision in ultrasound wave location is higher, ultrasound wave is subject to the impact of multipath effect and non-line-of-sight propagation very large, and need to drop into a large amount of hardware facilities, and therefore cost is too high; Bluetooth technology easy discovering device during as indoor short distance location, and signal propagates the impact that is not subject to sighting distance, but that its weak point is is expensive, and in complicated interior space environment, stability is slightly poor, is subject to the interference of noise signal large; UWB indoor location technology be a kind of brand-new, have the New Communication Technology of larger difference with conventional communication techniques, follow the tracks of and navigation the location that can be applicable to stationary indoors or mobile object and people, and can provide point-device indoor position accuracy, but apparatus expensive, cannot large-scale promotion; Location technology based on WIFI can only be used for indoor positioning among a small circle, and is easy to be subject to the interference of other signals, and precision is poor, and the energy consumption of steady arm is also higher; Although ground magnetic orientation can be located each point in the interior space accurately, but first to set up Geomagnetism Information database, and Geomagnetism Information database must upgrade in time, earth magnetism and be easily subject to the impact of the external informations such as geology variation, Changes in weather, electrical network distribution; Inertial guidance technology is not because be subject to the impact of sighting distance, earth magnetism, noise signal, and initial alignment precision is very high, but after use after a while, due to deviation accumulation effect, its precision can obviously decline; Radio-frequency (RF) identification location exists the not high defect of positioning precision under complex indoor environment.
In view of the deficiency of above-mentioned technology, the applicant has done useful design, and inertial guidance technology and REID are combined and become preferred indoor positioning technology.Technical scheme described below produces under this background.
Summary of the invention
Technical matters to be solved by this invention is, for overcoming the shortcoming of prior art, a kind of indoor positioning device and method based on inertial guidance and radio-frequency (RF) identification is provided, it is high that the indoor positioning device and method the present invention relates to has positioning precision, is not subject to structure and electromagnetic interference influence and the low cost and other advantages of indoor complexity.
In order to solve above technical matters, the invention provides a kind of indoor positioning device based on inertial guidance and radio-frequency (RF) identification, comprise locating terminal, radiofrequency emitting module and service end, radiofrequency emitting module has distinctive sequence number and three dimensional local information, radio frequency receiver is equipped with in locating terminal inside, locating terminal is every through a radiofrequency emitting module, radio frequency receiver can obtain positional information accurately, locating terminal comprises three-dimensional accelerometer, three-axis gyroscope, radio frequency signal receiver, wireless communication module, microprocessor and shell, three-dimensional accelerometer and three-axis gyroscope are fixing in the enclosure, the Z axis of shell vertically upward, the communication main line of three-dimensional accelerometer is connected with microprocessor, three-axis gyroscope overlaps with three-dimensional accelerometer coordinate system, the communication main line of three-axis gyroscope is connected with microprocessor, radio frequency signal receiver and wireless communication module are separately fixed at enclosure both sides, its communication main line is all connected with microprocessor,
Acceleration in three-dimensional accelerometer in locating terminal and three-axis gyroscope difference each moment of real time record three coordinate axis and the angle of offset criteria coordinate system, and then obtain the vector velocity in each moment, three-dimensional accelerometer has increased debounce processing to the collection of accekeration, the accekeration that exceeds certain threshold value is rejected as exceptional value, adopt the method for sliding-window filtering to carry out smothing filtering to accekeration.
The technical scheme that the present invention further limits is:
Aforementioned radiofrequency emitting module adopts honeycomb pattern to arrange at each floor, and the stair between floor, elevator, passageway adopt line style to arrange, seamless coverage is accomplished in whole space; And service end is divided described locating terminal according to group, define the Permission Levels of each described locating terminal simultaneously, and the shared scope of set position information.
The present invention adopts inertial guidance principle, by the acceleration in the three-dimensional accelerometer in locating terminal and three-axis gyroscope difference each moment of real time record three coordinate axis and the angle of offset criteria coordinate system, and then can obtain the vector velocity in each moment, thereby the speed in each moment is carried out integration and can be obtained mobile route and the current location of locating terminal.
Use radio-frequency (RF) identification correction principle simultaneously, because the cumulative errors of inertial guidance becomes large along with mobile distance increases, when after suitable distance, the effect meeting variation of inertial guidance; So, in indoor specific position, several radiofrequency emitting modules being set, each radiofrequency emitting module has distinctive sequence number and three dimensional local information; Radio frequency receiver is equipped with in locating terminal inside, and every through a radiofrequency emitting module, radio frequency receiver will obtain positional information accurately, thereby has eliminated piecemeal cumulative errors, has greatly improved omnidistance positioning precision.
Algorithm part of the present invention has also been done further improvement, and first, the collection of accekeration has increased debounce processing, and the accekeration that exceeds certain threshold value is rejected as exceptional value, adopts the method for sliding-window filtering to carry out smothing filtering to accekeration; Secondly, optimized the space layout of radiofrequency launcher, adopted honeycomb pattern to arrange at each floor, the stair between floor, elevator, passageway adopt line style to arrange, seamless coverage is accomplished in whole space; Finally, serve end program can be divided locating terminal according to group, also can define the Permission Levels of each locating terminal, the shared scope of all right set position information.
Further,
The present invention also provides a kind of indoor orientation method based on inertial guidance and radio-frequency (RF) identification, and its working-flow comprises following steps:
Step 1: the three-dimensional map information in the indoor place of needs location is downloaded to locating terminal, at indoor definite initial point of needs location, upwards as Z axis, with any mutually perpendicular direction, X, Y-axis are set taking vertical ground, set up three-dimensional cartesian coordinate system, setting unit length is decimetre;
Step 2: determine the coordinate of locating terminal initial position, the coordinate that locating terminal initial point is set is (x0, y0, z0), and speed is zero, acceleration is zero;
Step 3: user holds locating terminal and moves in this indoor place, locating terminal real time record three-dimensional acceleration and drift angle, three-axis gyroscope real time record X ' axle in terminal and the angle α of X-axis (with X-axis counterclockwise for just), the angle β of Z ' axle and Z axis is (with Z axis counterclockwise for just, scope is positive and negative 180 degree), the three-dimensional accelerometer in locating terminal is recorded a of the acceleration of three change in coordinate axis direction
x', a
y', a
z' and calculate real-time three-dimensional coordinate;
Step 4: several radiofrequency launchers are set in specific position, make its periodically broadcast self-position information, when locating terminal is through out-of-date, the radio frequency receiver on locating terminal will receive the positional information of this radiofrequency launcher broadcast, proofreaies and correct in order to the position to self;
Step 5: real-time three-dimensional coordinate is sent to service end by locating terminal, service end, by data processing, will obtain the positional information of all locating terminals in place, and is distributed to corresponding locating terminal according to group, authority setting.
Wherein, in step 3, the computing method of real-time three-dimensional coordinate are:
First, calculate the component of acceleration a by original X, Y, Z axis direction
x, a
y, a
z:
Then, according to the speed component v in each moment of acceleration calculation in each moment
x', v
y', v
z':
Finally, according to the present coordinate of speed component compute location terminal:
When radio frequency receiver in abovementioned steps four on locating terminal receives the positional information of described radiofrequency launcher broadcast, in the time that reaching threshold values, signal intensity starts to proofread and correct, in the time that signal intensity reaches peak value and starts to decline, be synchronously the coordinate of this radiofrequency launcher by three-dimensional coordinate herein.
The invention has the beneficial effects as follows:
The present invention has applied inertial guidance technology and has positioned, and has eliminated the positioning precision producing when traditional indoor positioning is utilized wireless location low, and poor stability is affected greatly by complicated spatial framework, is subject to the shortcomings such as electromagnetic noise interference.Utilize again REID, at each node, the three-dimensional coordinate of locating terminal has been proofreaied and correct, fundamentally solved inertial guidance initial alignment precision high simultaneously, but the shortcoming that error can progressively be accumulated.In addition, the locating terminal that the present invention uses utilizes inertia and radio frequency location, and system architecture is simple, with low cost, and energy consumption is low, very applicable use on a large scale.
Brief description of the drawings
Fig. 1 is three-dimensional cartesian coordinate system schematic diagram of the present invention;
Fig. 2 is locating terminal model schematic diagram of the present invention;
Wherein, 201-shell, 202-three-dimensional accelerometer, 203-three-axis gyroscope, 204-radio frequency signal receiver, 205-wireless communication module, 206-microprocessor.
Embodiment
By specific embodiment, the specific embodiment of the present invention is described in further detail below.
It is ADXL330 that three-dimensional accelerometer of the present invention is selected model, and sensitivity reaches 300mV/g;
It is MPU-3050 that three-axis gyroscope of the present invention is selected model, module built in A/D converter, and 16 bit digital outputs, sensitivity reaches 131LSBs/dps;
It is S3C2410 that microprocessor of the present invention is selected model;
It is AS3992 that radio frequency receiver of the present invention is selected model, the superelevation receiver sensitivity of its have-86dBm;
It is nRF24L01 that wireless communication module of the present invention is selected model, adopts Zigbee communication protocol to communicate by letter with service end;
What radiofrequency launcher of the present invention adopted is UHF passive RFID tags, and maximum decipherment distance reaches 10 meters;
In the present invention, adopt workstation ThinkStation C30 as service end main frame.
Embodiment 1
The present embodiment provides a kind of indoor positioning device based on inertial guidance and radio-frequency (RF) identification, structure is as Fig. 1, shown in Fig. 2, comprise locating terminal, radiofrequency emitting module and service end, radiofrequency emitting module has distinctive sequence number and three dimensional local information, radio frequency receiver is equipped with in locating terminal inside, locating terminal is every through a radiofrequency emitting module, radio frequency receiver can obtain positional information accurately, locating terminal comprises three-dimensional accelerometer 202, three-axis gyroscope 203, radio frequency signal receiver 204, wireless communication module 205, microprocessor 206 and shell 201, three-dimensional accelerometer 202 is fixed in shell 201 with three-axis gyroscope 203, the Z axis of shell 201 vertically upward, the communication main line of three-dimensional accelerometer 202 is connected with microprocessor 206, three-axis gyroscope 203 overlaps with three-dimensional accelerometer 202 coordinate systems, the communication main line of three-axis gyroscope 203 is connected with microprocessor 206, radio frequency signal receiver 204 and wireless communication module 205 are separately fixed at the inner both sides of shell 201, its communication main line is all connected with microprocessor 206,
Acceleration in three-dimensional accelerometer 202 in aforementioned locating terminal and three-axis gyroscope 203 difference each moment of real time record three coordinate axis and the angle of offset criteria coordinate system, and then obtain the vector velocity in each moment, three-dimensional accelerometer 202 has increased debounce processing to the collection of accekeration, the accekeration that exceeds certain threshold value is rejected as exceptional value, adopt the method for sliding-window filtering to carry out smothing filtering to accekeration; Radiofrequency emitting module adopts honeycomb pattern to arrange at each floor, and the stair between floor, elevator, passageway adopt line style to arrange, seamless coverage is accomplished in whole space; Service end is divided locating terminal according to group, define the Permission Levels of each described locating terminal simultaneously, and the shared scope of set position information.
Embodiment 2
The present embodiment provides a kind of indoor orientation method based on inertial guidance and radio-frequency (RF) identification, and its working-flow comprises following steps:
Step 1: the three-dimensional map information in the indoor place of needs location is downloaded to locating terminal, at indoor definite initial point of needs location, upwards as Z axis, with any mutually perpendicular direction, X, Y-axis are set taking vertical ground, set up three-dimensional cartesian coordinate system, setting unit length is decimetre;
Step 2: determine the coordinate of locating terminal initial position, the coordinate that locating terminal initial point is set is (x0, y0, z0), and speed is zero, acceleration is zero;
Step 3: user holds locating terminal and moves in this indoor place, locating terminal real time record three-dimensional acceleration and drift angle, three-axis gyroscope real time record X ' axle in terminal and the angle α of X-axis (with X-axis counterclockwise for just), the angle β of Z ' axle and Z axis is (with Z axis counterclockwise for just, scope is positive and negative 180 degree), the three-dimensional accelerometer in locating terminal is recorded a of the acceleration of three change in coordinate axis direction
x', a
y', a
z', and calculate real-time three-dimensional coordinate;
Step 4: several radiofrequency launchers are set in specific position, make its periodically broadcast self-position information, when locating terminal is through out-of-date, the radio frequency receiver on locating terminal will receive the positional information of this radiofrequency launcher broadcast, proofreaies and correct in order to the position to self;
Step 5: real-time three-dimensional coordinate is sent to service end by locating terminal, service end, by data processing, will obtain the positional information of all locating terminals in place, and is distributed to corresponding locating terminal according to group, authority setting.
Wherein, in step 3, the computing method of real-time three-dimensional coordinate are:
First, calculate the component of acceleration a by original X, Y, Z axis direction
x, a
y, a
z:
Then, according to the speed component v in each moment of acceleration calculation in each moment
x', v
y', v
z':
Finally, according to the present coordinate of speed component compute location terminal:
When radio frequency receiver in step 4 on locating terminal receives the positional information of described radiofrequency launcher broadcast, in the time that reaching threshold values, signal intensity starts to proofread and correct, in the time that signal intensity reaches peak value and starts to decline, be synchronously the coordinate of this radiofrequency launcher by three-dimensional coordinate herein.
Above embodiment only, for explanation technological thought of the present invention, can not limit protection scope of the present invention with this, every technological thought proposing according to the present invention, and any change of doing on technical scheme basis, within all falling into protection domain of the present invention.
Claims (7)
1. the indoor positioning device based on inertial guidance and radio-frequency (RF) identification, comprise locating terminal, radiofrequency emitting module and service end, described radiofrequency emitting module has distinctive sequence number and three dimensional local information, radio frequency receiver is equipped with in described locating terminal inside, described locating terminal is every through a radiofrequency emitting module, radio frequency receiver can obtain positional information accurately, it is characterized in that, described locating terminal comprises three-dimensional accelerometer (202), three-axis gyroscope (203), radio frequency signal receiver (204), wireless communication module (205), microprocessor (206) and shell (201), described three-dimensional accelerometer (202) is fixed in described shell (201) with three-axis gyroscope (203), the Z axis of described shell (201) vertically upward, the communication main line of described three-dimensional accelerometer (202) is connected with described microprocessor (206), described three-axis gyroscope (203) overlaps with described three-dimensional accelerometer (202) coordinate system, the communication main line of three-axis gyroscope (203) is connected with described microprocessor (206), described radio frequency signal receiver (204) and described wireless communication module (205) are separately fixed at the inner both sides of shell (201), its communication main line is all connected with described microprocessor (206).
2. the indoor positioning device based on inertial guidance and radio-frequency (RF) identification according to claim 1, it is characterized in that, acceleration in three-dimensional accelerometer (202) in described locating terminal and three-axis gyroscope (203) difference each moment of real time record three coordinate axis and the angle of offset criteria coordinate system, and then obtain the vector velocity in each moment, described three-dimensional accelerometer (202) has increased debounce processing to the collection of accekeration, the accekeration that exceeds certain threshold value is rejected as exceptional value, adopt the method for sliding-window filtering to carry out smothing filtering to accekeration.
3. the indoor positioning device based on inertial guidance and radio-frequency (RF) identification according to claim 1, it is characterized in that, described radiofrequency emitting module adopts honeycomb pattern to arrange at each floor, and the stair between floor, elevator, passageway adopt line style to arrange, seamless coverage is accomplished in whole space.
4. the indoor positioning device based on inertial guidance and radio-frequency (RF) identification according to claim 1, it is characterized in that, described service end is divided described locating terminal according to group, define the Permission Levels of each described locating terminal simultaneously, and the shared scope of set position information.
5. for the indoor orientation method based on inertial guidance and radio-frequency (RF) identification of device described in claim 1, it is characterized in that, working-flow comprises following steps:
Step 1: the three-dimensional map information in the indoor place of needs location is downloaded to locating terminal, at indoor definite initial point of needs location, upwards as Z axis, with any mutually perpendicular direction, X, Y-axis are set taking vertical ground, set up three-dimensional cartesian coordinate system, setting unit length is decimetre;
Step 2: determine the coordinate of locating terminal initial position, the coordinate that locating terminal initial point is set is (x0, y0, z0), and speed is zero, acceleration is zero;
Step 3: user holds locating terminal and moves in this indoor place, locating terminal real time record three-dimensional acceleration and drift angle, three-axis gyroscope real time record X ' axle in terminal and the angle α of X-axis, with counterclockwise for just, the angle β of Z ' axle and Z axis, the three-dimensional accelerometer in locating terminal is recorded a of the acceleration of three change in coordinate axis direction
x', a
y', a
z', and calculate real-time three-dimensional coordinate;
Step 4: several radiofrequency launchers are set in specific position, make its periodically broadcast self-position information, when locating terminal is through out-of-date, the radio frequency receiver on locating terminal will receive the positional information of this radiofrequency launcher broadcast, proofreaies and correct in order to the position to self;
Step 5: real-time three-dimensional coordinate is sent to service end by locating terminal, service end, by data processing, will obtain the positional information of all locating terminals in place, and is distributed to corresponding locating terminal according to group, authority setting.
6. the indoor orientation method based on inertial guidance and radio-frequency (RF) identification according to claim 5, is characterized in that, in described step 3, the computing method of real-time three-dimensional coordinate are:
First, calculate the component of acceleration a by original X, Y, Z axis direction
x, a
y, a
z:
Then, according to the speed component v in each moment of acceleration calculation in each moment
x', v
y', v
z':
Finally, according to the present coordinate of speed component compute location terminal:
。
7. the indoor orientation method based on inertial guidance and radio-frequency (RF) identification according to claim 5, it is characterized in that, when radio frequency receiver in described step 4 on locating terminal receives the positional information of described radiofrequency launcher broadcast, in the time that reaching threshold values, signal intensity starts to proofread and correct, in the time that signal intensity reaches peak value and starts to decline, be synchronously the coordinate of this radiofrequency launcher by three-dimensional coordinate herein.
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Cited By (13)
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| CN105509736A (en) * | 2015-12-03 | 2016-04-20 | 北京机械设备研究所 | Indoor composite locating method for fire rescue |
| WO2016180060A1 (en) * | 2015-05-08 | 2016-11-17 | 深圳市华颖泰科电子技术有限公司 | Calibration method |
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| CN104569909A (en) * | 2014-12-31 | 2015-04-29 | 深圳市鼎泰富科技有限公司 | Indoor positioning system and method |
| CN106662631A (en) * | 2015-01-22 | 2017-05-10 | 广州艾若博机器人科技有限公司 | Rfid-based localization and mapping method and device thereof |
| WO2016180060A1 (en) * | 2015-05-08 | 2016-11-17 | 深圳市华颖泰科电子技术有限公司 | Calibration method |
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