CN104656075A - Indoor positioning method and system - Google Patents
Indoor positioning method and system Download PDFInfo
- Publication number
- CN104656075A CN104656075A CN201510044066.5A CN201510044066A CN104656075A CN 104656075 A CN104656075 A CN 104656075A CN 201510044066 A CN201510044066 A CN 201510044066A CN 104656075 A CN104656075 A CN 104656075A
- Authority
- CN
- China
- Prior art keywords
- room
- infrared signal
- transmitting node
- transmitting
- infrared
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
Abstract
The invention discloses an indoor positioning method and system. The method comprises the following steps: searching infrared signals in rooms by utilizing reception equipment; determining emission nodes in the rooms according to the searched infrared signals; obtaining the position of the current room according to the position information of known emission nodes to complete indoor positioning. By means of the infrared signals which cannot pass through the walls, the positioning result is high in correctness and is not influenced by the infrared signals in the next room. When a mobile phone is used as the reception equipment, the method and the system have the advantage of being convenient and rapid.
Description
Technical field
The present invention relates to indoor positioning technologies field, particularly relate to a kind of indoor orientation method and system.
Background technology
Be in strange and in complex environment, as megastore, large hospital, Tall Office Building etc., people are easy to lose orientation, even if there is derivation graph, in the short time, be also difficult to the position residing for judging.Therefore, indoor positioning technologies arises at the historic moment.
Traditional indoor orientation method realizes mainly with bluetooth or WIFI wireless signals broadcast, and its signal can be through walls, but affect either large or small by different wall material, may to the positional information made mistake, such as, in this room positioning result but next door.
Summary of the invention
Based on above-mentioned situation, the present invention proposes a kind of indoor orientation method and system, to improve the accuracy of indoor positioning, for this reason, the technical scheme of employing is as follows.
A kind of indoor orientation method, comprises step:
In room to be positioned, search for infrared signal by receiving equipment;
The transmitting node of this infrared signal is determined according to the infrared signal searched;
Search the positional information of each transmitting node prestored, using the position of the position of determined transmitting node as room to be positioned.
A kind of indoor locating system, comprise transmitting node and receiving equipment, described receiving equipment comprises infrared receiver sensor, infrared signal detuner and room location determination module;
Described transmitting node, for launching infrared signal in room to be positioned;
Described infrared receiver sensor, for searching for infrared signal in room to be positioned;
Described infrared signal detuner, the infrared signal for searching according to described infrared receiver sensor determines the transmitting node of this infrared signal;
Described room location determination module, for searching the positional information of each transmitting node prestored, using the position of the position of the determined transmitting node of wherein said infrared detuner as room to be positioned.
Indoor orientation method of the present invention and system, utilize the infrared signal in receiving equipment search room, according to the transmitting node in the infrared signal determination room searched, then obtain the position of current room according to the positional information of known transmitting node, complete indoor positioning.Due to by can not be through walls infrared signal, thus positioning result accuracy is high, can not be subject to the impact of next room infrared signal.When adopting the mobile phone of staff indispensability as receiving equipment, this method and system also have conveniently advantage.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of indoor orientation method of the present invention;
Fig. 2 is the structural representation of transmitting node;
Fig. 3 is the quorum sensing inhibitor schematic diagram of transmitting node in room;
Fig. 4 is the structural representation of indoor locating system of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is described in further detail.Should be appreciated that embodiment described herein only in order to explain the present invention, do not limit protection scope of the present invention.
Indoor orientation method of the present invention, as shown in Figure 1, comprises step:
Step s101, in room to be positioned, search for infrared signal by receiving equipment.
When user goes to a unknown room, when needing the relevant information understanding room, the infrared receiver function can opening receiving equipment carries out infrared signal search.
The infrared signal that step s102, basis search determines the transmitting node of this infrared signal.
In a preferred embodiment, described transmitting node as shown in Figure 2,3, is installed on roof, room.Each transmitting node comprises control panel, battery, infrared transmitting tube, taper light shield, and certain shell mechanism, light shield for ensure node with preset taper angle theta launch infrared beam.Taper angle theta is adjustable, but unsuitable excessive or too small, if too small, infrared signal overlay area is less, if excessive, infrared signal intensity is less.
This method application scenarios as one building in, each room described transmitting node can be installed in case for visitor provide location support.A transmitting node is installed in the room of common size, larger meeting rooms etc. can install multiple transmitting node, each transmitting node has an id information, as ID1, ID2, ID3 ... and preferably utilize the dfundamental-harmonic pair id information of certain frequency F to carry out modulating and broadcasting, and check information can also be comprised in broadcast.The time interval between every twice broadcast of each transmitting node is preferably the random number between 1 second to X second, and the value of X directly affects the average power consumption of average duration needed for each location and single transmitting node.
In order to improve the validity of location, the infrared signal that transmitting node is launched should cover receiving equipment all possible zone of action in room, simultaneously, also should avoid the mutual crosstalk of infrared signal and the wasting of resources of adjacent two transmitting nodes, therefore should make rational setting to the number and position of installing transmitting node in room.And carry out the data that required reference is set, as shown in Figure 3, comprise the size (long and wide) in room to be positioned, the height H in room, the height h of receiving equipment and the default taper angle theta of transmitting node.Such as, be in the room of 3 meters at a height, the mobile phone of user is as receiving equipment, consider height and the mobile phone use habit of adult, mobile phone terrain clearance is generally below 1.2 meters, the transmitting cone angle of transmitting node is generally 120 degree, then each transmitting node is R=(3m-1.2m)/tan30 °=3.12m at the covering radius of 1.2 meters of height.Suppose that this room is less, long and be widely 4 meters, as calculated, all regions that 1 transmitting node can cover less than 1.2 meters are installed in the center on this roof, room.When room becomes large, the transmitting node then more than one needed, total principle is all have the prerequisite covered by infrared signal in the following horizontal space of floor level h in guarantee room under, carry out most rarefaction to transmitting node to arrange, and record is carried out to the positional information of each transmitting node and id information, and be saved in receiving equipment or server.
Above-mentioned example is under the fixed condition of transmitting node cone angle, according to number and the position of installing transmitting node in other information determination rooms.When the transmitting node in room installs, namely in the unmodifiable situation in number and position, if the infrared signal in room does not meet the requirement of all standing, or there is crosstalk between signal, then can improve by regulating the cone angle of transmitting node.
Concrete steps when consideration realizes infrared signal all standing are as follows:
Obtain the room height in room to be positioned and the maximum height of the hand-held receiving equipment of user;
The covering radius of the default cone angle calculating infrared signal of infrared signal is launched according to described room height, maximum height and described transmitting node;
Obtain the size information in room to be positioned, according to the default cone angle of the size information adjustment transmitting node in described covering radius and room to be positioned, the infrared signal that transmitting node is launched reaches described all standing.
Avoid concrete steps during signal cross-talk as follows in consideration:
Judge whether the infrared signal detecting that in room to be positioned, other transmitting nodes are launched;
If, (transmitting information comprises position and cone angle then to obtain the transmitting information of these other transmitting nodes, can be inputted by user), and adjust according to the size information in described covering radius, room to be positioned and the transmitting information of other transmitting nodes the cone angle that this transmitting node launches infrared signal.
Receiving equipment utilizes infrared receiver sensor, preferably only receives with the infrared signal of frequency F modulation, and to its demodulation, obtains id information IDx (as ID3) after verification succeeds.Receiving equipment continuous reception X second, just can obtain No. ID of all transmitting nodes that can receive under normal circumstances at one's side, user also can change the relative position of receiving equipment and human body slightly, blocks effect to avoid human body to infrared signal.
Step s103, search the positional information of each transmitting node prestored, using the position of the position of determined transmitting node as room to be positioned.
Suppose that receiving equipment receives the infrared broadcast of ID3, ID4, ID6 tri-nodes simultaneously, then devices illustrated is in the region of the common covering of these three nodes at present, can know in conjunction with the positional information comprising each transmitting node distribution situation recorded in advance the position that equipment is residing in building.
Indoor locating system of the present invention is the system corresponding with above-mentioned localization method, as shown in Figure 4, comprises transmitting node and receiving equipment, and described receiving equipment comprises infrared receiver sensor, infrared signal detuner and room location determination module.
Described transmitting node, for launching infrared signal in room to be positioned;
Described infrared receiver sensor, for searching for infrared signal in room to be positioned;
Described infrared signal detuner, the infrared signal for searching according to described infrared receiver sensor determines the transmitting node of this infrared signal;
Described room location determination module, for searching the positional information of each transmitting node prestored, using the position of the position of the determined transmitting node of wherein said infrared detuner as room to be positioned.
As a preferred embodiment, described transmitting node, is installed on roof, comprises control panel, battery, infrared transmitting tube, taper light shield and shell mechanism, and described infrared transmitting tube launches infrared signal with cone angle under the effect of described taper light shield.
As a preferred embodiment, described transmitting node is under the prerequisite meeting all standing, and roof is arranged in most rarefaction, and described all standing is: Zone Full when infrared signal covers that in room, the hand-held receiving equipment of user is movable.
As a preferred embodiment, described transmitting node also comprises:
Height acquisition module, for the maximum height of the hand-held receiving equipment of room height and user that obtains room to be positioned;
Covering radius determination module, the default cone angle for launching infrared signal according to described room height, maximum height and described transmitting node calculates the covering radius of infrared signal;
Cone angle adjustment module, for obtaining the size information in room to be positioned, according to the default cone angle of the size information adjustment transmitting node in described covering radius and room to be positioned, the infrared signal that transmitting node is launched reaches described all standing.
As a preferred embodiment, described cone angle adjustment module, also for judging whether the infrared signal detecting that in room to be positioned, other transmitting nodes are launched; If, (transmitting information comprises position and cone angle then to obtain the transmitting information of these other transmitting nodes, can be inputted by user), and adjust according to the size information in described covering radius, room to be positioned and the transmitting information of other transmitting nodes the cone angle that this transmitting node launches infrared signal.
As a preferred embodiment, described transmitting node, the id information also for this transmitting node of dfundamental-harmonic pair according to preset frequency carries out modulating and broadcasting; The search of described infrared receiver sensor be the infrared signal of described preset frequency.
As a preferred embodiment, the positional information of each transmitting node that described room location determination module prestores comprises floor and room number.
Because this indoor locating system is corresponding with the technical characteristic of above-mentioned indoor orientation method, identical explanation repeats no more.
To sum up, the present invention utilizes the transmission feature of infrared signal to carry out indoor positioning, overcomes the impact of signal cross-talk on location, improves Position location accuracy.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (13)
1. an indoor orientation method, is characterized in that, comprises step:
In room to be positioned, search for infrared signal by receiving equipment;
The transmitting node of this infrared signal is determined according to the infrared signal searched;
Search the positional information of each transmitting node prestored, using the position of the position of determined transmitting node as room to be positioned.
2. indoor orientation method according to claim 1, is characterized in that,
Described transmitting node is the infrared signal emitter being installed on roof, and launches infrared signal in cone angle.
3. indoor orientation method according to claim 2, is characterized in that,
Described transmitting node, under the prerequisite meeting all standing, roof is arranged in most rarefaction;
Described all standing is: Zone Full when the hand-held receiving equipment of user is movable in infrared signal covering room.
4. indoor orientation method according to claim 3, is characterized in that, also comprises step:
Obtain the room height in room to be positioned and the maximum height of the hand-held receiving equipment of user;
The covering radius of the default cone angle calculating infrared signal of infrared signal is launched according to described room height, maximum height and described transmitting node;
Obtain the size information in room to be positioned, according to the default cone angle of the size information adjustment transmitting node in described covering radius and room to be positioned, the infrared signal that transmitting node is launched reaches described all standing.
5. indoor orientation method according to claim 4, is characterized in that, also comprises step:
Judge whether the infrared signal detecting that in room to be positioned, other transmitting nodes are launched;
If so, then obtain the transmitting information of these other transmitting nodes, and adjust according to the size information in described covering radius, room to be positioned and the transmitting information of other transmitting nodes the cone angle that this transmitting node launches infrared signal.
6. the indoor orientation method according to claim 1 to 5 any one, is characterized in that,
Described transmitting node is carry out modulating and the transmitting node of broadcasting according to the id information of this transmitting node of dfundamental-harmonic pair of preset frequency;
What searched for by receiving equipment is the infrared signal of described preset frequency.
7. the indoor orientation method according to claim 1 to 5 any one, is characterized in that,
The positional information of each transmitting node prestored comprises floor and room number.
8. an indoor locating system, is characterized in that,
Comprise transmitting node and receiving equipment, described receiving equipment comprises infrared receiver sensor, infrared signal detuner and room location determination module;
Described transmitting node, for launching infrared signal in room to be positioned;
Described infrared receiver sensor, for searching for infrared signal in room to be positioned;
Described infrared signal detuner, the infrared signal for searching according to described infrared receiver sensor determines the transmitting node of this infrared signal;
Described room location determination module, for searching the positional information of each transmitting node prestored, using the position of the position of the determined transmitting node of wherein said infrared detuner as room to be positioned.
9. indoor locating system according to claim 8, is characterized in that,
Described transmitting node, is installed on roof, comprises control panel, battery, infrared transmitting tube, taper light shield and shell mechanism, and described infrared transmitting tube launches infrared signal with cone angle under the effect of described taper light shield.
10. indoor locating system according to claim 9, is characterized in that,
Described transmitting node, under the prerequisite meeting all standing, roof is arranged in most rarefaction,
Described all standing is: Zone Full when the hand-held receiving equipment of user is movable in infrared signal covering room.
11. indoor locating systems according to claim 10, is characterized in that, described transmitting node also comprises:
Height acquisition module, for the maximum height of the hand-held receiving equipment of room height and user that obtains room to be positioned;
Covering radius determination module, the default cone angle for launching infrared signal according to described room height, maximum height and described transmitting node calculates the covering radius of infrared signal;
Cone angle adjustment module, for obtaining the size information in room to be positioned, according to the default cone angle of the size information adjustment transmitting node in described covering radius and room to be positioned, the infrared signal that transmitting node is launched reaches described all standing.
12. indoor locating systems according to claim 11, is characterized in that,
Described cone angle adjustment module, also for judging whether the infrared signal detecting that in room to be positioned, other transmitting nodes are launched; If so, then obtain the transmitting information of these other transmitting nodes, and adjust according to the size information in described covering radius, room to be positioned and the transmitting information of other transmitting nodes the cone angle that this transmitting node launches infrared signal.
Indoor locating system described in 13. according to Claim 8 to 12 any one, is characterized in that,
Described transmitting node, the id information also for this transmitting node of dfundamental-harmonic pair according to preset frequency carries out modulating and broadcasting;
The search of described infrared receiver sensor be the infrared signal of described preset frequency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510044066.5A CN104656075A (en) | 2015-01-28 | 2015-01-28 | Indoor positioning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510044066.5A CN104656075A (en) | 2015-01-28 | 2015-01-28 | Indoor positioning method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104656075A true CN104656075A (en) | 2015-05-27 |
Family
ID=53247431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510044066.5A Pending CN104656075A (en) | 2015-01-28 | 2015-01-28 | Indoor positioning method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104656075A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105208510A (en) * | 2015-08-12 | 2015-12-30 | 小米科技有限责任公司 | Method and device of intelligent alarm clock |
| CN106093922A (en) * | 2016-05-31 | 2016-11-09 | 河南航飞光电科技有限公司 | A kind of indoor orientation method sensed based on RSSI and infrared human body |
| CN107976196A (en) * | 2017-11-30 | 2018-05-01 | 惠州Tcl家电集团有限公司 | Mobile robot, method for positioning mobile robot and system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1979211A (en) * | 2005-12-06 | 2007-06-13 | 马克 | Positioning system and positioning method |
| US20100090899A1 (en) * | 2008-10-09 | 2010-04-15 | Nec (China) Co., Ltd. | Method and system for positioning object with adaptive resolution |
| CN102033222A (en) * | 2010-11-17 | 2011-04-27 | 吉林大学 | Large-scale multiple-object ultrasonic tracking and locating system and method |
| CN102279384A (en) * | 2011-04-25 | 2011-12-14 | 上海路歌信息技术有限公司 | Indoor infrared positioning system based on wireless function |
| CN102419178A (en) * | 2011-09-05 | 2012-04-18 | 中国科学院自动化研究所 | Mobile robot positioning system and method based on infrared road sign |
| CN102520394A (en) * | 2011-12-09 | 2012-06-27 | 南京大学 | Method for realizing indoor positioning by utilizing lighting system |
| CN104020445A (en) * | 2014-06-10 | 2014-09-03 | 西安电子科技大学 | Indoor laser positioning system based on frequency labeling method |
| CN204115738U (en) * | 2014-10-15 | 2015-01-21 | 华北电力大学 | Based on the large-scale indoor locating system of infrared coordinate code |
-
2015
- 2015-01-28 CN CN201510044066.5A patent/CN104656075A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1979211A (en) * | 2005-12-06 | 2007-06-13 | 马克 | Positioning system and positioning method |
| US20100090899A1 (en) * | 2008-10-09 | 2010-04-15 | Nec (China) Co., Ltd. | Method and system for positioning object with adaptive resolution |
| CN102033222A (en) * | 2010-11-17 | 2011-04-27 | 吉林大学 | Large-scale multiple-object ultrasonic tracking and locating system and method |
| CN102279384A (en) * | 2011-04-25 | 2011-12-14 | 上海路歌信息技术有限公司 | Indoor infrared positioning system based on wireless function |
| CN102419178A (en) * | 2011-09-05 | 2012-04-18 | 中国科学院自动化研究所 | Mobile robot positioning system and method based on infrared road sign |
| CN102520394A (en) * | 2011-12-09 | 2012-06-27 | 南京大学 | Method for realizing indoor positioning by utilizing lighting system |
| CN104020445A (en) * | 2014-06-10 | 2014-09-03 | 西安电子科技大学 | Indoor laser positioning system based on frequency labeling method |
| CN204115738U (en) * | 2014-10-15 | 2015-01-21 | 华北电力大学 | Based on the large-scale indoor locating system of infrared coordinate code |
Non-Patent Citations (1)
| Title |
|---|
| 卢荣德: "《大学物理演示实验》", 30 September 2014 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105208510A (en) * | 2015-08-12 | 2015-12-30 | 小米科技有限责任公司 | Method and device of intelligent alarm clock |
| CN105208510B (en) * | 2015-08-12 | 2018-11-30 | 小米科技有限责任公司 | The method and device of intelligent alarm |
| CN106093922A (en) * | 2016-05-31 | 2016-11-09 | 河南航飞光电科技有限公司 | A kind of indoor orientation method sensed based on RSSI and infrared human body |
| CN106093922B (en) * | 2016-05-31 | 2018-05-22 | 河南航飞光电科技有限公司 | A kind of indoor orientation method sensed based on RSSI and infrared human body |
| CN107976196A (en) * | 2017-11-30 | 2018-05-01 | 惠州Tcl家电集团有限公司 | Mobile robot, method for positioning mobile robot and system |
| CN107976196B (en) * | 2017-11-30 | 2021-04-16 | 深圳Tcl新技术有限公司 | Mobile robot, mobile robot positioning method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104767726B (en) | Apparatus and method for automatic device selection for wireless media devices | |
| US10175338B2 (en) | Location information determination system | |
| CN107631732B (en) | Bluetooth, Wi-Fi and sound wave based hybrid indoor positioning method and system | |
| US20200072937A1 (en) | Location-based voice recognition system with voice command | |
| US9879980B2 (en) | Light based positioning | |
| US20140087752A1 (en) | Bluetooth beacon based location determination | |
| EP3135079B1 (en) | Zone based lighting access | |
| US8805409B2 (en) | Using wired endpoints to determine position information for wireless endpoints in a network | |
| US10545724B2 (en) | Method and apparatus for proximity detection for device control | |
| US10009734B2 (en) | Indoor location measurement system and method using radio signal transmitters | |
| EP3287808B1 (en) | Apparatus for providing position information, and node network | |
| CN106872943B (en) | A kind of mobile object indoor tracking and positioning method based on visible light communication | |
| CN104656075A (en) | Indoor positioning method and system | |
| KR20160096742A (en) | Indoor measuring system using a radio signal transmitter and methord thereof | |
| US20170090477A1 (en) | Indoor positioning system training | |
| JP6946002B2 (en) | How to detect medical device systems, as well as medical devices and mobile control units in medical device systems | |
| WO2008088332A1 (en) | Wireless sensor based camera location and orientation | |
| US11570743B2 (en) | Control system, control program, control method, and transmitter used in control system | |
| KR102084203B1 (en) | Apparatus, method and computer readable recording medium for provide indoor location information using visible light communication | |
| CN215268740U (en) | Beacon micro base station vehicle positioning system | |
| KR101165001B1 (en) | System for measuring location using fixed reference node and moved reference node | |
| KR101773084B1 (en) | Space-based positioning system of the hybrid | |
| KR102083377B1 (en) | Method and apparatus for estimating position of terminal in a wireless communication system | |
| CN107976196B (en) | Mobile robot, mobile robot positioning method and system | |
| JP2011203129A (en) | Position estimation system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150527 |