CN104703130A - Positioning method based on indoor positioning and device for positioning method - Google Patents
Positioning method based on indoor positioning and device for positioning method Download PDFInfo
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Abstract
The invention discloses a positioning method based on indoor positioning. The method comprises the following steps: (a) receiving data packets sent by at least two Bluetooth base stations so as to obtain signal intensity value included in the data packets; (b) according to the signal intensity value, calculating distance value from at least two Bluetooth base stations and a mobile terminal; (c) according to the calculated distance value, obtaining a positioning point coordinate of a user holding with the mobile terminal in relative to the Bluetooth base stations; (d) obtaining the moving distance of the user according to an acceleration sensor, and obtaining the moving direction of the user according to a geomagnetic sensor, so as to obtain an inertial navigation positioning point coordinate corresponding to relative displacement of the user; (e) judging if the user is moving at present; if it is, executing step (f); or, executing step (g); (f), performing the dynamic compensation for many times on the inertial navigation positioning point through the positioning point coordinate of the user in relative to the Bluetooth base stations; (g) alternating the inertial navigation positioning point through the positioning point coordinate of the user in relative to the Bluetooth base stations, and compensating the inertial navigation positioning point coordinate one time.
Description
Technical field
The present invention relates to indoor positioning technologies field, particularly relate to a kind of localization method based on indoor positioning and device thereof, and adopt a kind of mobile terminal of described positioner.
Background technology
Along with the development of current science and technology, the location technology of GPS and cellular base station obtains universal gradually on mobile terminals and uses.User passes through the application using position & navigation, to obtain relevant facility.
GPS location technology is the technology that a kind of synchronised clock sent based on multiple satellite positions, and the prerequisite that can accurately locate is, needing user to be positioned at one can the outdoor free environments of receiving satellite signal; The location technology of cellular base station is the technology that a kind of signal difference utilizing the signal of multiple Base Transmitter to be formed positions, and this technology is applicable to indoor or outdoors, but the location technology of cellular base station has following problem: its positioning precision is not high.
Therefore, need badly and provide one to be applicable to indoor accurate position device and method.
Summary of the invention
The object of the invention is to, provide a kind of localization method based on indoor positioning, it by the Bluetooth base. station in indoor deployment some, to realize indoor positioning more accurately, can compensate for the defect of GPS and cellular base station location technology.In order to improve the stability of location, the packet of the Bluetooth base. station obtained is filtered, in view of filtration can cause location latency issue while improving position stability, therefore adopt the mode that Bluetooth base. station and inertial navigation combine, to solve existing problem.
To achieve these goals, the invention provides a kind of localization method based on indoor positioning, it comprises the following steps: (a) receives the packet that at least two Bluetooth base. station send, to obtain the signal strength values that described packet comprises; (b) calculate according to signal strength values described in the distance value of at least two Bluetooth base. station to mobile terminals; C () holds the anchor point coordinate of a user relative to Bluetooth base. station of described mobile terminal according to the distance value acquisition calculated; D () obtains the displacement of user according to an acceleration transducer, and obtain the moving direction of user according to a geomagnetic sensor, with the inertial navigation anchor point coordinate corresponding to the relative displacement obtaining user; E () judges that user is current and whether is in movement, if so, then perform step (f), otherwise performs step (g); F () carries out repeatedly dynamic compensation relative to the anchor point coordinate of Bluetooth base. station to described inertial navigation anchor point coordinate by described user; G () replaces described inertial navigation anchor point coordinate by described user relative to the anchor point coordinate of Bluetooth base. station, to carry out disposable compensation to described inertial navigation anchor point coordinate.
As optional technical scheme, comprise further in step (f): (f1) calculate described inertial navigation anchor point coordinate and described user relative to Bluetooth base. station anchor point coordinate between location difference; (f2) according to a setting coefficient, to obtain offset corresponding to described location difference; (f3) according to described offset, described inertial navigation anchor point coordinate is compensated and corrected.
As optional technical scheme, comprise further in step (f): in a very first time threshold value, repeat to perform step (f1) successively to step (f3).
As optional technical scheme, when described Bluetooth base. station is at least three Bluetooth base. station, comprise further in step (c): by plane positioning method and least square approximation to obtain the anchor point coordinate of user relative to Bluetooth base. station.
As optional technical scheme, comprise further in step (e): whether the variable quantity being obtained the current displacement of user by acceleration transducer, be in movement to determine that user is current.
As optional technical scheme, comprise further between step (a) and step (b): (b1) filters the signal strength values of described packet;
As optional technical scheme, comprise further in step (b1): (b11) sets up a storage pipeline, be temporary in wherein to make described packet; (b12) when after one second time threshold, corresponding first packet is obtained from described storage pipeline, and the second packet corresponding during obtaining described second time threshold to the 3rd time threshold, after wherein said second time threshold occurs in described 3rd time threshold; (b13) by the method for average, the 3rd packet that the first packet and the second packet are formed is filtered, to obtain the signal strength values after filtration.
The present invention also provides a kind of positioner based on indoor positioning, and it comprises: a packet-receiving module, in order to receive the packet that at least two Bluetooth base. station send, to obtain the signal strength values that described packet comprises; One distance value computing module, is connected with described packet-receiving module, in order to the distance value of at least two Bluetooth base. station to mobile terminals according to signal strength values calculating; One Bluetooth base. station anchor point acquisition module, is connected with described distance value computing module, in order to hold the anchor point coordinate of a user relative to Bluetooth base. station of described mobile terminal according to the distance value acquisition calculated; One inertial navigation anchor point acquisition module, in order to obtain the displacement of user according to an acceleration transducer, and obtains the moving direction of user according to a geomagnetic sensor, with the inertial navigation anchor point coordinate corresponding to the relative displacement obtaining user; One user moves judge module, is connected respectively with described Bluetooth base. station anchor point acquisition module with inertial navigation anchor point acquisition module, whether is in movement in order to judge that user is current, if, then call more than one dynamic compensation module, otherwise, call a disposable compensating module; Described repeatedly dynamic compensation module, moves judge module with described user and is connected, in order to carry out repeatedly dynamic compensation relative to the anchor point coordinate of Bluetooth base. station to described inertial navigation anchor point coordinate by described user; Described disposable compensation module, moves judge module with described user and is connected, in order to replace described inertial navigation anchor point coordinate by described user relative to the anchor point coordinate of Bluetooth base. station, to carry out disposable compensation to described inertial navigation anchor point coordinate.
As optional technical scheme, described repeatedly dynamic compensation module comprises further: a poor location value computing unit, in order to calculate described inertial navigation anchor point coordinate and described user relative to Bluetooth base. station anchor point coordinate between location difference; One offset acquiring unit, is connected with described location difference computational unit, in order to according to a setting coefficient, to obtain offset corresponding to described location difference; One inertial navigation anchor point amending unit, is connected with described offset acquiring unit, in order to compensate and correct described inertial navigation anchor point coordinate according to described offset.
As optional technical scheme, described repeatedly dynamic compensation module comprises further: one repeats call unit, in order in a very first time threshold value, repeat to call described location difference computational unit, described offset acquiring unit and described inertial navigation anchor point amending unit successively.
As optional technical scheme, described user moves judge module and comprises a user further and move determining unit, in order to be obtained the variable quantity of the current displacement of user by acceleration transducer, whether is in movement to determine that user is current.
As optional technical scheme, described positioner comprises a filtering module further, and described filtering module is connected with described distance value computing module with described packet-receiving module respectively, in order to filter the signal strength values of described packet.
As optional technical scheme, described filtering module comprises further: one stores pipeline sets up unit, in order to set up a storage pipeline, is temporary in wherein to make described packet; One packet acquiring unit, set up unit with described storage pipeline to be connected, in order to when after one second time threshold, corresponding first packet is obtained from described storage pipeline, and the second packet corresponding during obtaining described second time threshold to the 3rd time threshold, after wherein said second time threshold occurs in described 3rd time threshold; One Packet Filtering unit, is connected with described packet acquiring unit, in order to be filtered, to obtain the signal strength values after filtration the 3rd packet that the first packet and the second packet are formed by the method for average.
The present invention also provides a kind of mobile terminal, and it comprises above-mentioned arbitrary described positioner based on indoor positioning.
As optional technical scheme, described mobile terminal comprises a 3-axis acceleration sensor and one or three axle geomagnetic sensors further; Described 3-axis acceleration sensor is in order to obtain the displacement of user, and described three axle geomagnetic sensors are in order to obtain the moving direction of user.
As optional technical scheme, described mobile terminal comprises three-axis gyroscope further, and described three-axis gyroscope is located in order to inertial navigation.
As optional technical scheme, the packet that described mobile terminal is sent by bluetooth 4.0 agreement reception Bluetooth base. station.
The invention has the advantages that, method based on the inertial navigation of Bluetooth base. station and mobile terminal is applicable to the indoor environment that GPS location technology cannot cover, especially for large-scale indoor comprehensive body (such as, megastore, large-scale parking garage etc.) with a varied topography, there is its important application value.The present invention, when ensureing positioning precision and Bluetooth base. station low-power consumption, can improve the real-time of location further, make indoor positioning can meet the coherent navigation of user and pinpoint high demand.In addition, indoor orientation method of the present invention to combine mode by adopting the inertial navigation of mobile terminal and the location of Bluetooth base. station, and utilize the absolute position that Bluetooth base. station obtains further, dynamic compensation is carried out with the relative position obtained inertial navigation, thus not only realize indoor positioning accurately, and realize coherent navigation application.
Accompanying drawing explanation
Fig. 1 is the steps flow chart schematic diagram based on the localization method of indoor positioning described in an embodiment of the present invention.
Fig. 2 is the structured flowchart based on the positioner of indoor positioning described in an embodiment of the present invention.
Fig. 3 is the structured flowchart of mobile terminal described in an embodiment of the present invention.
Embodiment
Elaborate based on the localization method of indoor positioning and the embodiment of device thereof to provided by the invention below in conjunction with accompanying drawing.
Shown in Figure 1, based on the localization method of indoor positioning described in an embodiment of the present invention, comprising: the packet that step S110, reception at least two Bluetooth base. station send, to obtain the signal strength values that described packet comprises; Step S120, to calculate according to signal strength values described in the distance value of at least two Bluetooth base. station to mobile terminals; The anchor point coordinate of a user relative to Bluetooth base. station of described mobile terminal is held in the distance value acquisition that step S130, basis calculate; Step S140, obtain the displacement of user according to an acceleration transducer, and obtain the moving direction of user according to a geomagnetic sensor, with the inertial navigation anchor point coordinate corresponding to the relative displacement obtaining user; Step S150, judge that user is current and whether be in movement, if so, then perform step S160, otherwise perform step S170; Step S160, relative to the anchor point coordinate of Bluetooth base. station, repeatedly dynamic compensation is carried out to described inertial navigation anchor point coordinate by described user; Step S170, replace described inertial navigation anchor point coordinate by described user relative to the anchor point coordinate of Bluetooth base. station, to carry out disposable compensation to described inertial navigation anchor point coordinate.
Below will further describe each step.
The packet that step S110, reception at least two Bluetooth base. station send, to obtain the signal strength values that described packet comprises.
In this step, if the mobile route of user is route, the packet that two Bluetooth base. station (such as Beacon base station) send only can need be received under certain condition.If carry out plane positioning, need the packet that reception at least three Bluetooth base. station send.Certainly, receive the packet that more Bluetooth base. station send, be more conducive to the accurate location to user, but need a large amount of data processings and calculating, so that make relevant device/terminal need carry larger load.Therefore, preferably, receiving three packets sent to five Bluetooth base. station, that is, is preferred version at indoor deployment three to five Bluetooth base. station.In other execution modes of part, the quantity of described Bluetooth base. station can be determined according to on-site actual situations.
After receiving the packet that Bluetooth base. station sends, identification code corresponding to corresponding signal strength values (or claiming RSSI value) and corresponding Bluetooth base. station can be obtained from this packet.Wherein, described identification code is in order to identify described Bluetooth base. station.
Because wireless signal is easily subject to external interference, after receiving the packet that Bluetooth base. station sends, the signal strength values that described packet comprises has larger fluctuation.Locate to make Bluetooth base. station and there is stable signal, can accurately locate, therefore need to carry out filtration treatment to received signal strength values.Therefore following steps can be performed further between step S110 and step S120: the signal strength values filtering described packet.In this step, may further include: (11) set up a storage pipeline, be temporary in wherein to make described packet; (12) when after one second time threshold, corresponding first packet is obtained from described storage pipeline, and the second packet corresponding in during obtaining described second time threshold to the 3rd time threshold, after wherein said second time threshold occurs in described 3rd time threshold; (13) by the method for average, the 3rd packet that the first packet and the second packet are formed is filtered, to obtain the signal strength values after filtration.Wherein, consider the low-power consumption of Bluetooth base. station, send the less situation of data packet number each second, the present invention is by performing above-mentioned steps (11) to step (13), the problem causing filter effect not good to adopt the filter type of FIFO (first in first out) timing difference given data amount to solve the filtering data deficiency under setting-up time interval, thus can ensure that the situation of Bluetooth base. station low-power consumption be issued to good filter effect.Illustrate and say, in the prior art, sending 100 packets each second according to high-power base station, and adopting methods of average to filter to these 100 packets.In order to arrive identical filter effect or more filter effect, the present invention realizes filtering in the following manner: first, set up the storage pipeline (or claiming fifo channel) that can hold 100 packets, be temporary in wherein to make described packet, when there being packet to enter described storage pipeline, packet is in chronological sequence sequentially positioned in described storage pipeline.When after one second time threshold (such as a second), corresponding (up-to-date) 10 first packets are obtained from described storage pipeline, and 90 the second packets obtained corresponding to described second time threshold to the 3rd time threshold (i.e. front nine seconds) period, then above-mentioned 10 the first packets and above-mentioned 90 data packet group are combined into 100 the 3rd packets, then by the method for average, described 100 the 3rd packets are filtered.By the time delay adopting above-mentioned filter type can produce certain hour (such as 3 seconds), and can further illustrate how to eliminate this latency issue hereinafter.
Step S120: the distance value of at least two Bluetooth base. station to mobile terminals described in calculating according to signal strength values.
After the signal strength values obtaining (after filtering), calculate the distance value of described Bluetooth base. station to mobile terminal.The calculating of this distance value can according to following formula:
Wherein, d
mit is the distance between known bluetooth base station and user;
RSSI
1mthe RSSI value of testing when being the spacing 1 meter of Bluetooth base. station and user;
RSSI
curit is the RSSI value of the Bluetooth base. station of the current acquisition of mobile terminal;
N is signal attenuation coefficient.
Because the situation of each Bluetooth base. station is different, generic way can not be adopted realize and meet all Bluetooth base. station to the distance value of user and calculate, otherwise easily can produce error.Therefore, the parameter that the present invention calculates by including multiple distance value in the packet, as RSSI
1mand n, to reduce error.So, while acquisition signal strength values, receive the corresponding information of the parameter that distance value calculates, and then obtain the respective distance value of different Bluetooth base. station to user.
Step S130: the anchor point coordinate of a user relative to Bluetooth base. station holding described mobile terminal according to the distance value acquisition calculated.
In a time threshold, after obtaining the packet of more than at least three Bluetooth base. station, according to geometrical principle (or claiming planar process) and distance value calculated in the step s 120, and in conjunction with the coordinate of Bluetooth base. station, can obtain hold described mobile terminal a user relative to the anchor point coordinate of Bluetooth base. station.In this step, preferably adopt least square approximation to realize calculating the anchor point coordinate of user relative to Bluetooth base. station, wherein least square approximation makes user be minimum relative to anchor point to the difference of the spacing of known bluetooth base station of Bluetooth base. station.If it is more to receive effective data packets, then the locating information obtained is more reliable and more stable.
Step S140: obtain the displacement of user according to an acceleration transducer, and obtain the moving direction of user according to a geomagnetic sensor, with the inertial navigation anchor point coordinate corresponding to the relative displacement obtaining user.
Wherein, adopt an acceleration transducer (such as 3-axis acceleration sensor) to obtain the displacement of user.Meanwhile, adopt a geomagnetic sensor (such as three axle geomagnetic sensors) to obtain the moving direction of user.In this step, a three-axis gyroscope can be adopted further, in order to inertial navigation (being called for short inertial navigation, hereafter identical).
In the present embodiment, by 3-axis acceleration sensor to gather acceleration information.Specifically, first obtain user's fluctuation information with certain rule that the acceleration chip of described 3-axis acceleration sensor exports when normally moving, the frequency of this fluctuation information matching can become paces frequency when user moves.Then, by a signal processing module, described paces frequency is processed, to obtain the paces number of user.Be multiplied by common step distance by described paces number again, the displacement of user can be obtained.Further, by described three axle geomagnetic sensors to obtain the moving direction of user, thus the relative shift of user can be calculated, and in conjunction with the coordinate of user's starting point, to obtain corresponding inertial navigation anchor point coordinate further.
Because inertial navigation is vulnerable to the impact of the factors such as non-walk action, step-length be inconsistent, the location therefore obtained has certain error, and along with the increase of time, this error can constantly increase in theory.Consider that Bluetooth base. station location is vulnerable to the delay of signal stabilization process, actual position needs the time delay of a time threshold (such as about 3 seconds) just can obtain, so, in embodiments of the present invention, need to locate the mode that combines, accurately to locate user by Bluetooth base. station location and inertial navigation.Combine in Bluetooth base. station location and inertial navigation location and position in process to user, need to be revised the coordinate points information obtained by certain compensation way.
Step S150, judge that user is current and whether be in movement, if so, then perform step S160, otherwise perform step S170.Step S160, relative to the anchor point coordinate of Bluetooth base. station, repeatedly dynamic compensation is carried out to described inertial navigation anchor point coordinate by described user.Step S170, replace described inertial navigation anchor point coordinate by described user relative to the anchor point coordinate of Bluetooth base. station, to carry out disposable compensation to described inertial navigation anchor point coordinate.
Wherein, in step S150, obtain the variable quantity of the current displacement of user further by acceleration transducer, whether be in movement to determine that user is current.Such as, judge whether the root mean square of three number of axle certificates that described acceleration transducer exports is less than 0.2g (1g is acceleration of gravity), if be less than, then think user current be in static.
When judging that user is in mobile status, then performing step S160, when judging that user remains static, then performing step S170.
When user is in mobile status, relative to the anchor point coordinate of Bluetooth base. station, repeatedly dynamic compensation is carried out to described inertial navigation anchor point coordinate to make described user by performing following step.Wherein step comprises: (a) calculate described inertial navigation anchor point coordinate and described user relative to Bluetooth base. station anchor point coordinate between location difference; B (), according to a setting coefficient, to obtain offset corresponding to described location difference, wherein setting coefficient is 1/2 ~ 1/20, preferably 1/5; C () compensates and corrects described inertial navigation anchor point coordinate according to described offset.So, not only solve Bluetooth base. station location and there is certain time-delay sex chromosome mosaicism, and do not have influence on the continuity of user's navigation.Preferably, in a very first time threshold value (such as each second), repeat to perform step (a) successively to step (c).
Further illustrate how to perform step (a) to (c) below by way of an example.
Such as, first time, user was (13.00,25.00) relative to the anchor point coordinate of Bluetooth base. station, and inertial navigation anchor point coordinate is (18.00,15.00).Calculate described inertial navigation anchor point coordinate and described user relative to Bluetooth base. station anchor point coordinate between location difference, namely can obtain difference in X-axis is 5, and in Y-axis, difference is 10.According to a setting coefficient, as 1/5, so obtaining offset is (1.00 ,-2.00).
After a second, revised inertial navigation anchor point coordinate is (17.00,17.00).Again after a second, second time user is (7.00,7.00) relative to the anchor point coordinate of Bluetooth base. station, and revised inertial navigation anchor point coordinate is (17.00,17.00).Recalculate described inertial navigation anchor point coordinate and described user relative to Bluetooth base. station anchor point coordinate between location difference, namely can obtain difference in X-axis is 10, and in Y-axis, difference is 10.According to setting coefficient, as 1/5, so obtaining offset is (2.00,2.00).Again after a second, the revised inertial navigation anchor point coordinate of second time is (15.00,15.00).By that analogy, often through a second, repeat above-mentioned steps (a) to step (c).
When user remains static, described inertial navigation anchor point coordinate is replaced to make described user relative to the anchor point coordinate of Bluetooth base. station by performing following step, and then disposable compensation is carried out to described inertial navigation anchor point coordinate, thus reach the physical location of user fast.
Below be described by an example again.When judging that user remains static, and when confirming that Bluetooth base. station location time delay (such as 3 seconds) is crossed, by the anchor point coordinate (such as (13.00 of user relative to Bluetooth base. station, 25.00)) replacing inertial navigation anchor point coordinate is (18.00,15.00), to carry out disposable compensation correction.Namely revised inertial navigation anchor point coordinate is (13.00,25.00).
Shown in Figure 2, the present invention also provides a kind of positioner 200 based on indoor positioning, and it comprises: packet-receiving module 210, distance value computing module 230, Bluetooth base. station anchor point acquisition module 240, inertial navigation anchor point acquisition module 250, user moves judge module 260, more than one dynamic compensation module 270 and a disposable compensating module 280.
Wherein, described packet-receiving module 210, in order to receive the packet that at least two Bluetooth base. station send, to obtain the signal strength values that described packet comprises.If the mobile route of user is route, the packet that two Bluetooth base. station (such as Beacon base station) send only can need be received under certain condition.If carry out plane positioning, need the packet that reception at least three Bluetooth base. station send.Certainly, receive the packet that more Bluetooth base. station send, be more conducive to the accurate location to user, but need a large amount of data processings and calculating, so that make relevant device/terminal need carry larger load.Therefore, preferably, receiving three packets sent to five Bluetooth base. station, that is, is preferred version at indoor deployment three to five Bluetooth base. station.
Described distance value computing module 230, can be connected with described packet-receiving module 210, in order to the distance value of at least two Bluetooth base. station to mobile terminals according to signal strength values calculating.After acquisition signal strength values, calculate the distance value of described Bluetooth base. station to mobile terminal.The calculating of this distance value can according to following formula:
wherein, d
mit is the distance between known bluetooth base station and user; RSSI
1mthe RSSI value of testing when being the spacing 1 meter of Bluetooth base. station and user; RSSI
curit is the RSSI value of the Bluetooth base. station of the current acquisition of mobile terminal; N is signal attenuation coefficient.Because the situation of each Bluetooth base. station is different, generic way can not be adopted realize and meet all Bluetooth base. station to the distance value of user and calculate, otherwise easily can produce error.Therefore, the parameter that the present invention calculates by including multiple distance value in the packet, as RSSI
1mand n, to reduce error.So, while acquisition signal strength values, receive the corresponding information of the parameter that distance value calculates, and then obtain the respective distance value of different Bluetooth base. station to user.
Described Bluetooth base. station anchor point acquisition module 240, is connected with described distance value computing module 230, in order to hold the anchor point coordinate of a user relative to Bluetooth base. station of described mobile terminal according to the distance value acquisition calculated.In a time threshold, obtain the packet of more than at least three Bluetooth base. station.Further according to geometrical principle (or claim planar process), and the distance value calculated, and in conjunction with the coordinate of Bluetooth base. station, the anchor point coordinate of user relative to Bluetooth base. station can be obtained.Preferred employing least square approximation realizes calculating user relative to the anchor point coordinate of Bluetooth base. station, and wherein least square approximation makes user be minimum relative to anchor point to the difference of the spacing of known bluetooth base station of Bluetooth base. station.If it is more to receive effective data packets, then the locating information obtained is more reliable and more stable.
Described inertial navigation anchor point acquisition module 250, in order to obtain the displacement of user according to an acceleration transducer, and obtains the moving direction of user according to a geomagnetic sensor, with the inertial navigation anchor point coordinate corresponding to the relative displacement obtaining user.In the present embodiment, described inertial navigation anchor point acquisition module 250 passes through described acceleration transducer (such as 3-axis acceleration sensor) to gather acceleration information.Specifically, first the fluctuation information with certain rule that when user normally moves, the acceleration chip of described 3-axis acceleration sensor exports is obtained, the frequency of this fluctuation information matching can become paces frequency when user moves, then, by a signal processing module (not shown), described paces frequency is processed, to obtain the paces number of user, then be multiplied by common step distance by described paces number, the mobile distance of user can be obtained.Further, described inertial navigation anchor point acquisition module 250 passes through described three axle geomagnetic sensors to obtain the moving direction of user, thus the relative shift of user can be calculated, and in conjunction with the coordinate of user's starting point, to obtain corresponding inertial navigation anchor point coordinate further.
Described user moves judge module 260, be connected with inertial navigation anchor point acquisition module 250 with described Bluetooth base. station anchor point acquisition module 240 respectively, whether movement is in order to judge that user is current, if, repeatedly dynamic compensation module 270 described in then calling, otherwise, call described disposable compensation module 280.Should be noted, because inertial navigation is vulnerable to the impact of the factors such as non-walk action, step-length be inconsistent, therefore the anchor point coordinate obtained by above-mentioned Bluetooth base. station anchor point acquisition module 240 and inertial navigation anchor point acquisition module 250 has certain error, along with the increase of time, this error can constantly increase in theory.Consider that Bluetooth base. station location is vulnerable to the delay of signal stabilization process, actual position needs the time delay of a time threshold (such as about 3 seconds) just can obtain, so, in embodiments of the present invention, need to locate the mode that combines, accurately to locate user by Bluetooth base. station location and inertial navigation.Combine in Bluetooth base. station location and inertial navigation location and position in process to user, need to be revised the coordinate points information obtained by certain compensation way.In a preferred embodiment, described user moves judge module 260 and comprises a user further and move determining unit 261, in order to be obtained the variable quantity of the current displacement of user by acceleration transducer, whether is in movement to determine that user is current.When judging that user is in mobile status, then repeatedly dynamic compensation module 270 described in calling, when judging that user remains static, then calls described disposable compensation module 280.
Described repeatedly dynamic compensation module 270, moves judge module 260 with described user and is connected, in order to carry out repeatedly dynamic compensation relative to the anchor point coordinate of Bluetooth base. station to described inertial navigation anchor point coordinate by described user.In a preferred embodiment, described repeatedly dynamic compensation module 270 comprises further: a poor location value computing unit 271, in order to calculate described inertial navigation anchor point coordinate and described user relative to Bluetooth base. station anchor point coordinate between location difference; One offset acquiring unit 272, is connected with described location difference computational unit 271, in order to according to a setting coefficient, to obtain offset corresponding to described location difference; One inertial navigation anchor point amending unit 273, is connected with described offset acquiring unit 272, in order to compensate and correct described inertial navigation anchor point coordinate according to described offset.So, not only solve Bluetooth base. station location and there is certain time-delay sex chromosome mosaicism, and do not have influence on the continuity of user's navigation.Preferably, described repeatedly dynamic compensation module 270 comprises further: one repeats call unit 275, in order in a very first time threshold value, repeat to call described location difference computational unit 271, described offset acquiring unit 272 and described inertial navigation anchor point amending unit 273 successively.
Described disposable compensation module 280, move judge module 260 with described user to be connected, in order to replace described inertial navigation anchor point coordinate by described user relative to the anchor point coordinate of Bluetooth base. station, to carry out disposable compensation to described inertial navigation anchor point coordinate, thus reach the physical location of user fast.
In a preferred embodiment of the invention, described positioner 200 may further include a filtering module 220, described filtering module 220 is connected with described distance value computing module 230 with described packet-receiving module 210 respectively, in order to filter the signal strength values of described packet.Described filtering module 220 comprises further: one stores pipeline sets up unit 221, in order to set up a storage pipeline, is temporary in wherein to make described packet; One packet acquiring unit 222, set up unit 221 with described storage pipeline to be connected, in order to when after one second time threshold, corresponding first packet is obtained from described storage pipeline, and the second packet corresponding in during obtaining described second time threshold to the 3rd time threshold, after wherein said second time threshold occurs in described 3rd time threshold; One Packet Filtering unit 223, is connected with described packet acquiring unit 222, in order to be filtered, to obtain the signal strength values after filtration the 3rd packet that the first packet and the second packet are formed by the method for average.
Shown in Figure 3, the present invention also provides a kind of mobile terminal 300, and it comprises above-mentioned arbitrary described positioner 200 based on indoor positioning.In a preferred embodiment, described mobile terminal 300 also comprises a 3-axis acceleration sensor 301 and 1 axle geomagnetic sensor 302.Described 3-axis acceleration sensor 301 is in order to obtain the displacement of user, and described three axle geomagnetic sensors 302 are in order to obtain the moving direction of user.Optionally, described mobile terminal 300 comprises three-axis gyroscope 303 further, and described three-axis gyroscope 303 is located in order to inertial navigation.In addition, described mobile terminal 300 receives the packet that sends of Bluetooth base. station by bluetooth 4.0 agreement.The version of described Bluetooth protocol is also not used to limit the present invention.Preferably adopt bluetooth 4.0 agreement, mobile terminal can be made to have good performance to user location and navigation.
In embodiments of the present invention, the installation site of the described positioner based on indoor positioning is not in order to limit the present invention.The described positioner based on indoor positioning, except being arranged in above-mentioned mobile terminal, can also be arranged in a server or other equipment, in order to complete accurate location to user and coherent navigation.
The method of the inertial navigation based on Bluetooth base. station and mobile terminal of the present invention is applicable to the indoor environment that GPS location technology cannot cover, especially for large-scale indoor comprehensive body (such as, megastore, large-scale parking garage etc.) with a varied topography, there is its important application value.The present invention, when ensureing positioning precision and Bluetooth base. station low-power consumption, can improve the real-time of location further, make indoor positioning can meet the coherent navigation of user and pinpoint high demand.In addition, indoor orientation method of the present invention to combine mode by adopting the inertial navigation of mobile terminal and the location of Bluetooth base. station, and utilize the absolute position that Bluetooth base. station obtains further, dynamic compensation is carried out with the relative position obtained inertial navigation, thus not only realize indoor positioning accurately, and realize coherent navigation application.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (17)
1. based on a localization method for indoor positioning, it is characterized in that, comprise the following steps:
A () receives the packet that at least two Bluetooth base. station send, to obtain the signal strength values that described packet comprises;
(b) calculate according to signal strength values described in the distance value of at least two Bluetooth base. station to mobile terminals;
C () holds the anchor point coordinate of a user relative to Bluetooth base. station of described mobile terminal according to the distance value acquisition calculated;
D () obtains the displacement of user according to an acceleration transducer, and obtain the moving direction of user according to a geomagnetic sensor, with the inertial navigation anchor point coordinate corresponding to the relative displacement obtaining user;
E () judges that user is current and whether is in movement, if so, then perform step (f), otherwise performs step (g);
F () carries out repeatedly dynamic compensation relative to the anchor point coordinate of Bluetooth base. station to described inertial navigation anchor point coordinate by described user;
G () replaces described inertial navigation anchor point coordinate by described user relative to the anchor point coordinate of Bluetooth base. station, to carry out disposable compensation to described inertial navigation anchor point coordinate.
2. the localization method based on indoor positioning according to claim 1, is characterized in that, comprise further in step (f):
(f1) calculate described inertial navigation anchor point coordinate and described user relative to Bluetooth base. station anchor point coordinate between location difference;
(f2) according to a setting coefficient, to obtain offset corresponding to described location difference;
(f3) according to described offset, described inertial navigation anchor point coordinate is compensated and corrected.
3. the localization method based on indoor positioning according to claim 2, is characterized in that, comprise further in step (f): in a very first time threshold value, repeats to perform step (f1) successively to step (f3).
4. the localization method based on indoor positioning according to claim 1, it is characterized in that, when described Bluetooth base. station is at least three Bluetooth base. station, comprise further in step (c): by plane positioning method and least square approximation to obtain the anchor point coordinate of user relative to Bluetooth base. station.
5. the localization method based on indoor positioning according to claim 1, it is characterized in that, comprise further in step (e): whether the variable quantity being obtained the current displacement of user by acceleration transducer, be in movement to determine that user is current.
6. the localization method based on indoor positioning according to claim 1, is characterized in that, comprise further between step (a) and step (b): (b1) filters the signal strength values of described packet.
7. the localization method based on indoor positioning according to claim 6, is characterized in that, comprises further in step (b1):
(b11) set up a storage pipeline, be temporary in wherein to make described packet;
(b12) when after one second time threshold, corresponding first packet is obtained from described storage pipeline, and the second packet corresponding during obtaining described second time threshold to the 3rd time threshold, after wherein said second time threshold occurs in described 3rd time threshold;
(b13) by the method for average, the 3rd packet that the first packet and the second packet are formed is filtered, to obtain the signal strength values after filtration.
8. based on a positioner for indoor positioning, it is characterized in that, comprising:
One packet-receiving module, in order to receive the packet that at least two Bluetooth base. station send, to obtain the signal strength values that described packet comprises;
One distance value computing module, is connected with described packet-receiving module, in order to the distance value of at least two Bluetooth base. station to mobile terminals according to signal strength values calculating;
One Bluetooth base. station anchor point acquisition module, is connected with described distance value computing module, in order to hold the anchor point coordinate of a user relative to Bluetooth base. station of described mobile terminal according to the distance value acquisition calculated;
One inertial navigation anchor point acquisition module, in order to obtain the displacement of user according to an acceleration transducer, and obtains the moving direction of user according to a geomagnetic sensor, with the inertial navigation anchor point coordinate corresponding to the relative displacement obtaining user;
One user moves judge module, is connected respectively with described Bluetooth base. station anchor point acquisition module with inertial navigation anchor point acquisition module, whether is in movement in order to judge that user is current, if, then call more than one dynamic compensation module, otherwise, call a disposable compensating module;
Described repeatedly dynamic compensation module, moves judge module with described user and is connected, in order to carry out repeatedly dynamic compensation relative to the anchor point coordinate of Bluetooth base. station to described inertial navigation anchor point coordinate by described user;
Described disposable compensation module, moves judge module with described user and is connected, in order to replace described inertial navigation anchor point coordinate by described user relative to the anchor point coordinate of Bluetooth base. station, to carry out disposable compensation to described inertial navigation anchor point coordinate.
9. the positioner based on indoor positioning according to claim 8, is characterized in that, described repeatedly dynamic compensation module comprises further:
One poor location value computing unit, in order to calculate described inertial navigation anchor point coordinate and described user relative to Bluetooth base. station anchor point coordinate between location difference;
One offset acquiring unit, is connected with described location difference computational unit, in order to according to a setting coefficient, to obtain offset corresponding to described location difference;
One inertial navigation anchor point amending unit, is connected with described offset acquiring unit, in order to compensate and correct described inertial navigation anchor point coordinate according to described offset.
10. the positioner based on indoor positioning according to claim 9, it is characterized in that, described repeatedly dynamic compensation module comprises further: one repeats call unit, in order in a very first time threshold value, repeat to call described location difference computational unit, described offset acquiring unit and described inertial navigation anchor point amending unit successively.
11. positioners based on indoor positioning according to claim 8, it is characterized in that, described user moves judge module and comprises a user further and move determining unit, in order to be obtained the variable quantity of the current displacement of user by acceleration transducer, whether be in movement to determine that user is current.
12. positioners based on indoor positioning according to claim 8, it is characterized in that, described positioner comprises a filtering module further, described filtering module is connected with described distance value computing module with described packet-receiving module respectively, in order to filter the signal strength values of described packet.
13. positioners based on indoor positioning according to claim 12, it is characterized in that, described filtering module comprises further:
One stores pipeline sets up unit, in order to set up a storage pipeline, is temporary in wherein to make described packet;
One packet acquiring unit, set up unit with described storage pipeline to be connected, in order to when after one second time threshold, corresponding first packet is obtained from described storage pipeline, and the second packet corresponding during obtaining described second time threshold to the 3rd time threshold, after wherein said second time threshold occurs in described 3rd time threshold;
One Packet Filtering unit, is connected with described packet acquiring unit, in order to be filtered, to obtain the signal strength values after filtration the 3rd packet that the first packet and the second packet are formed by the method for average.
14. 1 kinds of mobile terminals, is characterized in that, comprise the arbitrary described positioner based on indoor positioning of the claims 8 to 13.
15. mobile terminals according to claim 14, is characterized in that, described mobile terminal comprises a 3-axis acceleration sensor and one or three axle geomagnetic sensors further; Described 3-axis acceleration sensor is in order to obtain the displacement of user, and described three axle geomagnetic sensors are in order to obtain the moving direction of user.
16. mobile terminals according to claim 15, it is characterized in that, described mobile terminal comprises three-axis gyroscope further, described three-axis gyroscope is located in order to inertial navigation.
17. mobile terminals according to claim 14, is characterized in that, the packet that described mobile terminal is sent by bluetooth 4.0 agreement reception Bluetooth base. station.
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