CN104703130B - Localization method based on indoor positioning and its device - Google Patents
Localization method based on indoor positioning and its device Download PDFInfo
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- CN104703130B CN104703130B CN201410766028.6A CN201410766028A CN104703130B CN 104703130 B CN104703130 B CN 104703130B CN 201410766028 A CN201410766028 A CN 201410766028A CN 104703130 B CN104703130 B CN 104703130B
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Abstract
A kind of localization method based on indoor positioning includes：(a) data packet that at least two Bluetooth base. stations are sent is received, to obtain the signal strength values that data packet is included；(b) distance value of at least two Bluetooth base. stations a to mobile terminal is calculated according to signal strength values；(c) positioning point coordinates of the user relative to Bluetooth base. station for holding mobile terminal is obtained according to calculated distance value；(d) displacement distance of user is obtained according to acceleration transducer, and obtains the moving direction of user according to geomagnetic sensor, and point coordinates is positioned to obtain the inertial navigation corresponding to the relative displacement of user；(e) judge whether user is currently in movement, it is no to then follow the steps (g) if so then execute step (f)；(f) point coordinates is positioned relative to the anchor point coordinate pair inertial navigation of Bluetooth base. station by user and carries out repeatedly dynamic compensation；(g) inertial navigation is replaced relative to the positioning point coordinates of Bluetooth base. station by user and positions point coordinates, point coordinates is positioned with disposable compensation inertial navigation.
Description
Technical field
The present invention relates to indoor positioning technologies field more particularly to a kind of localization methods and its dress based on indoor positioning
It sets, and using a kind of mobile terminal of the positioning device.
Background technology
With the development of current science and technology, the location technology of GPS and cellular base station gradually obtains on mobile terminals
Universal and use.User is by using positioning and the application navigated, to obtain relevant facility.
GPS positioning technology is a kind of technology that the synchronised clock sent based on multiple satellites is positioned, and can be accurate
The premise of positioning is, user is needed to be located at the outdoor free environments that can receive satellite-signal；The positioning skill of cellular base station
Art is that a kind of signal using multiple Base Transmitters is formed by the technology that signal difference is positioned, which is applicable to interior
Or it is outdoor, but the location technology of cellular base station has problems with：Its positioning accuracy is not high.
Therefore it is urgent to provide one kind being suitable for indoor accurate position device and method.
Invention content
The object of the present invention is to provide a kind of localization methods based on indoor positioning, can be by disposing indoors
A certain number of Bluetooth base. stations compensate for lacking for GPS and cellular base station location technology to realize more accurately indoor positioning
It falls into.In order to improve the stability of positioning, the data packet of the Bluetooth base. station of acquisition is filtered, is improving positioning surely in view of filtering
It can cause to position latency issue while qualitative, therefore in such a way that Bluetooth base. station and inertial navigation are combined, to solve to be deposited
The problem of.
To achieve the goals above, the present invention provides a kind of localization methods based on indoor positioning comprising following step
Suddenly：(a) data packet transmitted by least two Bluetooth base. stations is received, to obtain the signal strength values that the data packet is included；
(b) at least two Bluetooth base. station is calculated to the distance value of a mobile terminal according to signal strength values；(c) according to calculated
Distance value obtains positioning point coordinates of the user relative to Bluetooth base. station for holding the mobile terminal；(d) according to an acceleration
Sensor obtains the displacement distance of user, and the moving direction of user is obtained according to a geomagnetic sensor, to obtain user's
Inertial navigation corresponding to relative displacement positions point coordinates；(e) user is judged currently whether in movement, if so, thening follow the steps
(f), no to then follow the steps (g)；(f) inertial navigation anchor point described in the anchor point coordinate pair by the user relative to Bluetooth base. station
Coordinate carries out repeatedly dynamic and compensates；(g) inertial navigation is replaced relative to the positioning point coordinates of Bluetooth base. station by the user to determine
Site coordinate, to carry out disposable compensation to inertial navigation positioning point coordinates.
As optional technical solution, further comprise in step (f)：(f1) calculate inertial navigation positioning point coordinates with
Positioning difference of the user between the positioning point coordinates of Bluetooth base. station；(f2) according to a setting coefficient, to obtain
State the corresponding offset of positioning difference；(f3) inertial navigation positioning point coordinates is compensated and corrected according to the offset.
As optional technical solution, further comprise in step (f)：In a first time threshold, repeat successively
Execute step (f1) to step (f3).
As optional technical solution, when the Bluetooth base. station is at least three Bluetooth base. station, into one in step (c)
Step includes：By plane positioning method and least square approximation to obtain positioning point coordinates of the user relative to Bluetooth base. station.
As optional technical solution, further comprise in step (e)：Working as user is obtained by acceleration transducer
The variable quantity of preceding displacement distance, to determine user currently whether in movement.
As optional technical solution, further comprise between step (a) and step (b)：(b1) data are filtered
The signal strength values of packet；
As optional technical solution, further comprise in step (b1)：(b11) a storage pipeline is established, so that institute
Data packet is stated to be temporarily stored into wherein；(b12) after a second time threshold, corresponding first is obtained from the storage pipeline
Data packet, and the second time threshold is obtained to the second data packet corresponding during a third time threshold, wherein institute
Second time threshold is stated to be happened at after the third time threshold；(b13) it is counted by the first data packet of the method for average pair and second
Third data packet is formed by according to packet to be filtered, to obtain filtered signal strength values.
The present invention also provides a kind of positioning devices based on indoor positioning comprising：One packet-receiving module, to connect
The data packet transmitted by least two Bluetooth base. stations is received, to obtain the signal strength values that the data packet is included；One distance value
Computing module is connected with the packet-receiving module, to calculate at least two Bluetooth base. station according to signal strength values
To the distance value of a mobile terminal；One Bluetooth base. station anchor point acquisition module, is connected with the distance value computing module, to root
Positioning point coordinates of the user relative to Bluetooth base. station for holding the mobile terminal is obtained according to calculated distance value；One inertial navigation
Anchor point acquisition module, to obtain the displacement distance of user according to an acceleration transducer, and according to a geomagnetic sensor
The moving direction for obtaining user positions point coordinates to obtain the inertial navigation corresponding to the relative displacement of user；One user, which moves, to be judged
Module is connected with the Bluetooth base. station anchor point acquisition module and inertial navigation anchor point acquisition module respectively, to judge that user works as
It is preceding whether to be in movement, if so, calling more than one dynamic compensation module, otherwise, call a disposable compensating module；It is described more
Secondary dynamic compensation module moves judgment module with the user and is connected, to be determined relative to Bluetooth base. station by the user
Inertial navigation positioning point coordinates described in the coordinate pair of site carries out repeatedly dynamic and compensates；The disposable compensation module is moved with the user
Dynamic judgment module is connected, and is sat to replace the inertial navigation anchor point relative to the positioning point coordinates of Bluetooth base. station by the user
Mark, to carry out disposable compensation to inertial navigation positioning point coordinates.
As optional technical solution, the multiple dynamic compensation module further comprises：One poor location value computing unit,
To calculate the positioning difference of the inertial navigation positioning point coordinates and the user between the positioning point coordinates of Bluetooth base. station；
One offset acquiring unit is connected with the positioning difference computational unit, to set coefficient according to one, to obtain the positioning
The corresponding offset of difference；One inertial navigation anchor point amending unit, is connected with the offset acquiring unit, to according to the benefit
Value is repaid to compensate and correct inertial navigation positioning point coordinates.
As optional technical solution, the multiple dynamic compensation module further comprises：One repeats call unit, to
In a first time threshold, the positioning difference computational unit, the offset acquiring unit and described are called in repetition successively
Inertial navigation anchor point amending unit.
As optional technical solution, the user moves judgment module and further comprises that a user moves determination unit,
By the variable quantity of the current displacement distance of acceleration transducer acquisition user, to be moved with determining whether user is currently in
It is dynamic.
As optional technical solution, the positioning device further comprises a filtering module, the filtering module difference
It is connected with the packet-receiving module and the distance value computing module, to filter the signal strength values of the data packet.
As optional technical solution, the filtering module further comprises：One storage pipeline establishes unit, to establish
One storage pipeline, so that the data packet is temporarily stored into wherein；One data packet acquiring unit establishes unit phase with the storage pipeline
Even, after a second time threshold, to obtain corresponding first data packet from the storage pipeline, and obtain institute
Second time threshold is stated to the second data packet corresponding during a third time threshold, wherein the second time threshold occurs
After the third time threshold；One Packet Filtering unit is connected with the data packet acquiring unit, to by average
The first data packet of method pair and the second data packet are formed by third data packet and are filtered, to obtain filtered signal strength
Value.
The present invention also provides a kind of mobile terminals, and it includes any of the above-described positioning devices based on indoor positioning.
As optional technical solution, the mobile terminal is with further including a 3-axis acceleration sensor and one or three axis
Magnetic Sensor；The 3-axis acceleration sensor is to obtain the displacement distance of user, and the three axis geomagnetic sensor is obtaining
Take the moving direction at family.
As optional technical solution, the mobile terminal further includes three-axis gyroscope, and the three-axis gyroscope is used
It is positioned with inertial navigation.
As optional technical solution, the mobile terminal receives the number transmitted by Bluetooth base. station by 4.0 agreement of bluetooth
According to packet.
Determine it is an advantage of the current invention that the method for the inertial navigation based on Bluetooth base. station and mobile terminal is applicable to GPS
The indoor environment that can not cover of position technology, particularly with large-scale indoor comprehensive body with a varied topography (for example, megastore, greatly
Type parking garage etc.) there is its important application value.The present invention is in the feelings for ensureing positioning accuracy and Bluetooth base. station low-power consumption
Under condition, the real-time of positioning can be further increased so that indoor positioning can meet the coherent navigation of user and be accurately positioned
High demand.In addition, indoor orientation method of the present invention is by using the inertial navigation of mobile terminal and the positioning phase of Bluetooth base. station
Combination, and the absolute position for further utilizing Bluetooth base. station to obtain, are carried out with the relative position obtained to inertial navigation
Dynamic compensates, and to not only realize accurate indoor positioning, but also realizes coherent navigation application.
Description of the drawings
Fig. 1 is the step flow diagram of the localization method based on indoor positioning described in an embodiment of the present invention.
Fig. 2 is the structure diagram of the positioning device based on indoor positioning described in an embodiment of the present invention.
Fig. 3 is the structure diagram of mobile terminal described in an embodiment of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings to the specific embodiment party of the localization method provided by the invention based on indoor positioning and its device
Formula elaborates.
It is shown in Figure 1, the localization method based on indoor positioning described in an embodiment of the present invention, including：Step
Data packet transmitted by S110, at least two Bluetooth base. stations of reception, to obtain the signal strength values that the data packet is included；Step
Rapid S120, at least two Bluetooth base. station is calculated to the distance value of a mobile terminal according to signal strength values；Step S130, root
Positioning point coordinates of the user relative to Bluetooth base. station for holding the mobile terminal is obtained according to calculated distance value；Step
S140, the displacement distance that user is obtained according to an acceleration transducer, and according to the movement of geomagnetic sensor acquisition user
Direction positions point coordinates to obtain the inertial navigation corresponding to the relative displacement of user；Step S150, judge whether user is currently in
It is mobile, if so, S160 is thened follow the steps, it is no to then follow the steps S170；Step S160, by the user relative to Bluetooth base. station
Anchor point coordinate pair described in inertial navigation positioning point coordinates carry out repeatedly dynamic compensate；Step S170, by the user relative to
The positioning point coordinates of Bluetooth base. station replaces the inertial navigation and positions point coordinates, disposably to be mended to inertial navigation positioning point coordinates
It repays.
Illustrate each step in detail further below.
Step S110, the data packet transmitted by least two Bluetooth base. stations is received, is included to obtain the data packet
Signal strength values.
In this step, if the mobile route of user is route, can two indigo plants need to only be received under certain condition
Data packet transmitted by tooth base station (such as the base stations Beacon).If carrying out plane positioning, need to receive at least three bluetooths
Data packet transmitted by base station.Certainly, the data packet transmitted by more Bluetooth base. stations is received, is more advantageous to the accurate fixed of user
Position, but a large amount of data processing and calculating are needed, so that so that relevant device/terminal need to carry larger load.It is therefore preferable that
, receive the data packet transmitted by three to five Bluetooth base. stations, that is to say, that dispose three to five bluetooths indoors
Base station is preferred version.In the other embodiment of part, the quantity of the Bluetooth base. station can according to on-site actual situations and
It is fixed.
After receiving the data packet transmitted by Bluetooth base. station, corresponding signal strength values can be obtained from the data packet
Identification code corresponding to (or RSSI value) and corresponding Bluetooth base. station.Wherein, the identification code is identifying the bluetooth base
It stands.
It is described after receiving the data packet transmitted by Bluetooth base. station since wireless signal is easy by external interference
The signal strength values that data packet is included have larger fluctuation.In order to make Bluetooth base. station positioning with stable signal, with can
It is accurately positioned, it is therefore desirable to which processing is filtered to received signal strength values.Therefore step S110 and step S120 it
Between can further perform the step of：Filter the signal strength values of the data packet.In this step, it can further wrap
It includes：(11) a storage pipeline is established, so that the data packet is temporarily stored into wherein；(12) after a second time threshold, from
Corresponding first data packet is obtained in the storage pipeline, and obtains the second time threshold to a third time threshold phase
Interior the second corresponding data packet, wherein the second time threshold is happened at after the third time threshold；(13) lead to
It crosses the first data packet of the method for average pair and the second data packet is formed by third data packet and is filtered, to obtain filtered signal
Intensity value.Wherein, it is contemplated that the low-power consumption of Bluetooth base. station, every second the case where transmission data packet negligible amounts, the present invention is logical
Execution above-mentioned steps (11) are crossed to step (13), are solved with determining the filter type of data volume using FIFO (first in first out) timing difference
Filtering data deficiencies certainly under setting time interval and the problem for causing filter effect bad, so as to ensure bluetooth base
It stands and reaches preferable filter effect in the case of low-power consumption.It illustrates and says, it is in the prior art, each according to high-power base station
Second 100 data packets are sent, and 100 data packets is filtered using the method for average.In order to reach identical filter effect
Or more filtering is accomplished by the following way in filter effect, the present invention：First, 100 data packets can be accommodated by establishing one
Pipeline (or fifo channel) is stored, so that the data packet is temporarily stored into wherein, when there is data packet to enter the storage pipeline,
Data packet is in chronological sequence sequentially positioned in the storage pipeline.When by a second time threshold (such as one second)
Afterwards, corresponding (newest) 10 first data packets are obtained from the storage pipeline, and obtain the second time threshold extremely
90 the second data packets corresponding to during one third time threshold is (nine seconds i.e. preceding), then by above-mentioned 10 the first data packets
100 third data packets are combined into above-mentioned 90 data packet groups, then 100 third data packets were carried out by the method for average
Filter.It will produce the delay of certain time (such as 3 seconds) by using above-mentioned filter type, and hereinafter will be further described
How the latency issue is eliminated.
Step S120：At least two Bluetooth base. station is calculated to the distance value of a mobile terminal according to signal strength values.
After the signal strength values of acquisition (after filtering), the Bluetooth base. station is calculated to the distance value of a mobile terminal.
The calculating of the distance value can be according to following formula：
Wherein, dmIt is the distance between known bluetooth base station and user；
RSSI1mThe RSSI value tested when being 1 meter of distance between Bluetooth base. station and user；
RSSIcurIt is the RSSI value for the Bluetooth base. station that mobile terminal currently obtains；
N is signal attenuation coefficient.
The case where due to each Bluetooth base. station, is different, cannot meet all Bluetooth base. stations extremely using generic way to realize
The distance value of user calculates, and is otherwise easy to will produce error.Therefore, the present invention is by including multiple distance values in the packet
The parameter of calculating, such as RSSI1mAnd n, to reduce error.Then, while obtaining signal strength values, distance value calculating is received
Parameter corresponding information, and then obtain different Bluetooth base. stations to the respective distance value of user.
Step S130：The user for holding the mobile terminal is obtained relative to Bluetooth base. station according to calculated distance value
Positioning point coordinates.
In a time threshold, obtain at least three or more Bluetooth base. stations data packet after, according to geometrical principle (or
Planar process) and the calculated distance value of institute, and the coordinate of combination Bluetooth base. station in the step s 120, it can obtain described in holding
Positioning point coordinates of one user of mobile terminal relative to Bluetooth base. station.In this step, it is preferred to use least square approximation
Positioning point coordinates of the user relative to Bluetooth base. station is calculated to realize, wherein least square approximation is to make user relative to bluetooth
The difference of the anchor point of base station to distance between known bluetooth base station is minimum.If it is more to receive effective data packets, obtain
Location information it is more reliable and more stable.
Step S140：The displacement distance of user is obtained according to an acceleration transducer, and is obtained according to a geomagnetic sensor
The moving direction for obtaining user positions point coordinates to obtain the inertial navigation corresponding to the relative displacement of user.
Wherein, use an acceleration transducer (such as 3-axis acceleration sensor) to obtain the displacement distance of user.Together
When, use a geomagnetic sensor (such as three axis geomagnetic sensors) to obtain the moving direction of user.In this step, Ke Yijin
One step uses a three-axis gyroscope, to inertial navigation (abbreviation inertial navigation, hereafter identical).
In the present embodiment, by 3-axis acceleration sensor to acquire acceleration information.Specifically, it obtains first
The fluctuation information with certain rule that the acceleration chip of the 3-axis acceleration sensor is exported when user's normal movement,
The frequency of the fluctuation information can be fitted paces frequency when being moved as user.Then, by a signal processing module to institute
It states paces frequency to be handled, to obtain the paces number of user.Common step distance is multiplied by by the paces number again, can be obtained
Obtain the displacement distance of user.Further, by the three axis geomagnetic sensor to obtain the moving direction of user, so as to count
Calculation obtains the relative shift of user, and combines the coordinate of user's starting point, further to obtain corresponding inertial navigation anchor point
Coordinate.
Due to the influence for the factors such as inertial navigation is vulnerable to non-action of walking, step-length is inconsistent, the positioning obtained has one
Fixed error, as time increases, the error can be constantly increasing in theory.In view of Bluetooth base. station positioning is vulnerable to letter
Number stablize the delay of processing, actual position needs the delay of a time threshold (such as 3 seconds or so) that can just obtain, in
It is in embodiments of the present invention, to need to be combined mode by Bluetooth base. station positioning and inertial navigation positioning, it is accurate to be carried out to user
Determine position.Bluetooth base. station positioning and inertial navigation positioning be combined and to user carry out position fixing process in, need through certain benefit
Mode is repaid to be modified the coordinate points information of acquisition.
Step S150, user is judged currently whether in movement, if so, S160 is thened follow the steps, it is no to then follow the steps
S170.Step S160, inertial navigation positioning point coordinates described in the anchor point coordinate pair by the user relative to Bluetooth base. station carries out
Repeatedly dynamic compensates.Step S170, the inertial navigation is replaced relative to the positioning point coordinates of Bluetooth base. station by the user to position
Point coordinates, to carry out disposable compensation to inertial navigation positioning point coordinates.
Wherein, in step S150, the variation of the current displacement distance of user is further obtained by acceleration transducer
Amount, to determine user currently whether in movement.For example, judging the square of three number of axle evidences that the acceleration transducer is exported
Whether root is less than 0.2g (1g is acceleration of gravity), if being less than, then it is assumed that user is currently at static.
When judging that user is in mobile status, S160 is thened follow the steps, when judging that user remains static, is then held
Row step S170.
When user is in mobile status, by executing following step so that the user determines relative to Bluetooth base. station
Inertial navigation positioning point coordinates described in the coordinate pair of site carries out repeatedly dynamic and compensates.Wherein step includes：(a) the inertial navigation positioning is calculated
The positioning difference of point coordinates and the user between the positioning point coordinates of Bluetooth base. station；(b) coefficient is set according to one, with
The corresponding offset of the positioning difference is obtained, wherein setting coefficient as 1/2~1/20, preferably 1/5；(c) according to the compensation
Value compensates and corrects inertial navigation positioning point coordinates.Then, not only solving Bluetooth base. station positioning, there is certain time-delay to ask
Topic, and do not interfere with the continuity of user's navigation.Preferably, in a first time threshold (such as every second), it repeats
Step (a) is executed successively to step (c).
It further explains how to execute step (a) to (c) below by way of an example.
For example, first time user is (13.00,25.00) relative to the positioning point coordinates of Bluetooth base. station, inertial navigation anchor point is sat
It is designated as (18.00,15.00).Calculate the inertial navigation positioning point coordinates and positioning point coordinates of the user relative to Bluetooth base. station
Between positioning difference, you can with obtain in X-axis difference be 5, in Y-axis difference be 10.Coefficient, such as 1/5 are set according to one,
Then it is (1.00, -2.00) to obtain offset.
After one second, revised inertial navigation positioning point coordinates is (17.00,17.00).After one second,
Second of user is (7.00,7.00) relative to the positioning point coordinates of Bluetooth base. station, and revised inertial navigation positioning point coordinates is
(17.00,17.00).Recalculate the inertial navigation positioning point coordinates and positioning point coordinates of the user relative to Bluetooth base. station
Between positioning difference, you can with obtain in X-axis difference be 10, in Y-axis difference be 10.According to setting coefficient, such as 1/5,
Then it is (2.00,2.00) to obtain offset.Again after one second, second of revised inertial navigation positioning point coordinates is
(15.00,15.00).And so on, often pass through one second, repeats the above steps (a) to step (c).
When user remains static, by executing following step so that positioning of the user relative to Bluetooth base. station
Point coordinates replaces the inertial navigation and positions point coordinates, and then carries out disposable compensation to inertial navigation positioning point coordinates, to quickly
Reach the physical location of user.
It is illustrated again by an example below.When judging that user remains static, and confirm Bluetooth base. station positioning
Delay (such as 3 seconds) be already expired in the case of, by user relative to Bluetooth base. station positioning point coordinates (such as (13.00,
25.00) it is (18.00,15.00)) to replace inertial navigation positioning point coordinates, to carry out disposable compensation amendment.I.e. revised inertial navigation
It is (13.00,25.00) to position point coordinates.
It is shown in Figure 2, the positioning device 200 based on indoor positioning that the present invention also provides a kind of comprising：One data packet
Receiving module 210, a distance value computing module 230, a Bluetooth base. station anchor point acquisition module 240, an inertial navigation anchor point obtain
Module 250, a user move judgment module 260, more than one dynamic compensation module 270 and a disposable compensating module 280.
Wherein, the packet-receiving module 210, to receive the data packet transmitted by least two Bluetooth base. stations, with
Obtain the signal strength values that the data packet is included.It, under certain condition can be with if the mobile route of user is route
The data packet transmitted by two Bluetooth base. stations (such as the base stations Beacon) need to only be received.If carrying out plane positioning, need to connect
Receive the data packet transmitted by least three Bluetooth base. stations.Certainly, the data packet transmitted by more Bluetooth base. stations is received, is more advantageous to
User is accurately positioned, but needs a large amount of data processing and calculating, so that it is larger so that relevant device/terminal need to carry
Load.It is preferred, therefore, that receiving the data packet transmitted by three to five Bluetooth base. stations, that is to say, that dispose indoors
Three to five Bluetooth base. stations are preferred version.
The distance value computing module 230 can be connected with the packet-receiving module 210, to strong according to signal
Angle value calculates at least two Bluetooth base. station to the distance value of a mobile terminal.After obtaining signal strength values, institute is calculated
Bluetooth base. station is stated to the distance value of a mobile terminal.The calculating of the distance value can be according to following formula：Wherein, dmIt is the distance between known bluetooth base station and user；RSSI1mIt is Bluetooth base. station and use
The RSSI value tested when 1 meter of distance between family；RSSIcurIt is the RSSI value for the Bluetooth base. station that mobile terminal currently obtains；N is
Signal attenuation coefficient.The case where due to each Bluetooth base. station, is different, cannot meet all bluetooths using generic way to realize
The distance value of base station to user calculate, and are otherwise easy to will produce error.Therefore, the present invention is by including multiple in the packet
The parameter that distance value calculates, such as RSSI1mAnd n, to reduce error.Then, while obtaining signal strength values, distance is received
It is worth the corresponding information of the parameter calculated, and then obtains different Bluetooth base. stations to the respective distance value of user.
The Bluetooth base. station anchor point acquisition module 240, is connected with the distance value computing module 230, to according to meter
The distance value of calculating obtains positioning point coordinates of the user relative to Bluetooth base. station for holding the mobile terminal.In a time threshold
In value, the data packet of at least three or more Bluetooth base. stations is obtained.Further according to geometrical principle (or planar process), and calculate
The distance value gone out, and the coordinate of Bluetooth base. station is combined, positioning point coordinates of the user relative to Bluetooth base. station can be obtained.It is preferred that adopting
It is to realize the positioning point coordinates for calculating user relative to Bluetooth base. station, wherein least square approximation with least square approximation
Make user relative to Bluetooth base. station anchor point to distance between known bluetooth base station difference be minimum.If receiving significant figure
More according to Bao Yue, then the location information obtained is more reliable and more stable.
The inertial navigation anchor point acquisition module 250, to obtain the displacement distance of user according to an acceleration transducer, and
And the moving direction of user is obtained according to a geomagnetic sensor, it is sat with obtaining the inertial navigation anchor point corresponding to the relative displacement of user
Mark.In the present embodiment, the inertial navigation anchor point acquisition module 250 by the acceleration transducer (such as three axis accelerate
Spend sensor) to acquire acceleration information.Specifically, 3-axis acceleration sensor when user's normal movement is obtained first
The fluctuation information with certain rule that is exported of acceleration chip, the frequency of the fluctuation information can be fitted moves as user
Paces frequency when dynamic is then handled the paces frequency by a signal processing module (not shown), to obtain
The paces number of user, then common step distance is multiplied by by the paces number, can obtain the movement of user away from.Further, institute
Inertial navigation anchor point acquisition module 250 is stated by the three axis geomagnetic sensor to obtain the moving direction of user, so as to count
Calculation obtains the relative shift of user, and combines the coordinate of user's starting point, further to obtain corresponding inertial navigation anchor point
Coordinate.
The user moves judgment module 260, is positioned respectively with the Bluetooth base. station anchor point acquisition module 240 and inertial navigation
Point acquisition module 250 is connected, to judge user currently whether in movement, if so, the multiple dynamic is called to compensate mould
Otherwise block 270 calls the disposable compensation module 280.It is noted that since inertial navigation is vulnerable to non-action, the step-length of walking
The influence of the factors such as inconsistent, therefore pass through above-mentioned Bluetooth base. station anchor point acquisition module 240 and inertial navigation anchor point acquisition module
The 250 positioning point coordinates obtained have certain error, and as time increases, which can constantly increase in theory
Add.In view of Bluetooth base. station positioning is vulnerable to the delay of signal stabilization processing, actual position needs a time threshold (example
Such as 3 seconds or so) delay can just obtain, then, in embodiments of the present invention, need through Bluetooth base. station positioning and inertial navigation
Positioning is combined mode, user to be accurately positioned.Bluetooth base. station positioning and inertial navigation positioning be combined and to user into
In row position fixing process, need to be modified the coordinate points information of acquisition by certain compensation way.In preferred embodiment party
In formula, the user moves judgment module 260 and further comprises that a user moves determination unit 261, to be passed by acceleration
Whether sensor obtains the variable quantity of the current displacement distance of user, to determine user currently in movement.When judging at user
In mobile status, then call the multiple dynamic compensation module 270, when judging that user remains static, then call described in
Disposable compensation module 280.
The multiple dynamic compensation module 270 moves judgment module 260 with the user and is connected, to pass through the use
Inertial navigation positioning point coordinates described in anchor point coordinate pair of the family relative to Bluetooth base. station carries out repeatedly dynamic and compensates.In preferred implementation side
In formula, the multiple dynamic compensation module 270 further comprises：One poor location value computing unit 271, to calculate the inertial navigation
Position the positioning difference of point coordinates and the user between the positioning point coordinates of Bluetooth base. station；One offset acquiring unit
272, it is connected with the positioning difference computational unit 271, it is corresponding to obtain the positioning difference to set coefficient according to one
Offset；One inertial navigation anchor point amending unit 273, is connected with the offset acquiring unit 272, to according to the offset
Inertial navigation positioning point coordinates is compensated and corrected.Then, not only solving Bluetooth base. station positioning has certain time-delay sex chromosome mosaicism,
And the continuity of user's navigation is not interfered with.Preferably, the multiple dynamic compensation module 270 further comprises：One repeats
Call unit 275, in a first time threshold, the positioning difference computational unit 271, the benefit are called in repetition successively
Repay value acquiring unit 272 and the inertial navigation anchor point amending unit 273.
The disposable compensation module 280 moves judgment module 260 with the user and is connected, to pass through the user
Positioning point coordinates relative to Bluetooth base. station replaces the inertial navigation and positions point coordinates, to carry out one to inertial navigation positioning point coordinates
Secondary property compensation, to be rapidly achieved the physical location of user.
In a preferred embodiment of the invention, the positioning device 200 may further include a filtering module 220,
The filtering module 220 is connected with the packet-receiving module 210 and the distance value computing module 230 respectively, to mistake
Filter the signal strength values of the data packet.The filtering module 220 further comprises：One storage pipeline establishes unit 221, to
A storage pipeline is established, so that the data packet is temporarily stored into wherein；One data packet acquiring unit 222 is built with the storage pipeline
Vertical unit 221 is connected, after a second time threshold, corresponding first data are obtained from the storage pipeline
Packet, and corresponding the second data packet during the second time threshold to a third time threshold is obtained, wherein described
Second time threshold is happened at after the third time threshold；One Packet Filtering unit 223 obtains single with the data packet
Member 222 is connected, and is filtered to be formed by third data packet by the first data packet of the method for average pair and the second data packet, with
Obtain filtered signal strength values.
Shown in Figure 3, the present invention also provides a kind of mobile terminals 300, and it includes any of the above-described described based on indoor fixed
The positioning device 200 of position.In a preferred embodiment, the mobile terminal 300 also includes a 3-axis acceleration sensor 301
With one or three axis geomagnetic sensors 302.The 3-axis acceleration sensor 301 is obtaining the displacement distance of user, three axis
Geomagnetic sensor 302 is obtaining the moving direction of user.Optionally, the mobile terminal 300 further includes three axis accelerometer
Instrument 303, the three-axis gyroscope 303 position to inertial navigation.In addition, the mobile terminal 300 receives indigo plant by 4.0 agreement of bluetooth
Data packet transmitted by tooth base station.The version of the Bluetooth protocol is not limited to the present invention.It is assisted preferably by bluetooth 4.0
View, mobile terminal can be made, which to position and navigate to user, has good performance.
In embodiments of the present invention, the installation site of the positioning device based on indoor positioning is not limiting
The present invention.It is described based on the positioning device of indoor positioning in addition to may be disposed in above-mentioned mobile terminal, a clothes can also be set to
It is engaged in device or other equipment, to complete the navigation for being accurately positioned and linking up to user.
The method of inertial navigation of the present invention based on Bluetooth base. station and mobile terminal is suitable for GPS positioning technology institute nothing
The indoor environment of method covering, particularly with large-scale indoor comprehensive body with a varied topography (for example, megastore, large-scale indoor parking
Etc.) there is its important application value.The present invention is in the case where ensureing positioning accuracy and Bluetooth base. station low-power consumption, Neng Goujin
One step improves the real-time of positioning so that indoor positioning can meet the coherent navigation of user and pinpoint high demand.Separately
Outside, indoor orientation method of the present invention is combined mode by using the positioning of the inertial navigation and Bluetooth base. station of mobile terminal, and
And the absolute position for further utilizing Bluetooth base. station to obtain, it is compensated into Mobile state with the relative position obtained to inertial navigation, from
And not only realize accurate indoor positioning, but also realize coherent navigation application.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (15)
1. a kind of localization method based on indoor positioning, which is characterized in that include the following steps：
(a) data packet transmitted by least two Bluetooth base. stations is received, to obtain the signal strength values that the data packet is included；
(b) at least two Bluetooth base. station is calculated to the distance value of a mobile terminal according to signal strength values；
(c) the anchor point seat for holding a user of the mobile terminal relative to Bluetooth base. station is obtained according to calculated distance value
Mark；
(d) displacement distance of user is obtained according to an acceleration transducer, and the shifting of user is obtained according to a geomagnetic sensor
Dynamic direction positions point coordinates to obtain the inertial navigation corresponding to the relative displacement of user；
(e) user is judged currently whether in movement, if so, (f) is thened follow the steps, it is no to then follow the steps (g)；(f) pass through institute
It states inertial navigation positioning point coordinates described in anchor point coordinate pair of the user relative to Bluetooth base. station and carries out repeatedly dynamic compensation, in step
(f) further comprise：
(f1) positioning of the inertial navigation positioning point coordinates and the user between the positioning point coordinates of Bluetooth base. station is calculated
Difference；
(f2) according to a setting coefficient, to obtain the corresponding offset of the positioning difference, wherein setting coefficient as 1/2~1/
20；
(f3) inertial navigation positioning point coordinates is compensated and corrected according to the offset；
(g) inertial navigation is replaced relative to the positioning point coordinates of Bluetooth base. station by the user and positions point coordinates, with to described
Inertial navigation positions point coordinates and carries out disposable compensation.
2. the localization method according to claim 1 based on indoor positioning, which is characterized in that in step (f) further
Including：In a first time threshold, repeat to execute step (f1) to step (f3) successively.
3. the localization method according to claim 1 based on indoor positioning, which is characterized in that when the Bluetooth base. station is extremely
When few three Bluetooth base. stations, further comprise in step (c)：By plane positioning method and least square approximation to obtain use
Positioning point coordinates of the family relative to Bluetooth base. station.
4. the localization method according to claim 1 based on indoor positioning, which is characterized in that in step (e) further
Including：The variable quantity that the current displacement distance of user is obtained by acceleration transducer, to determine user currently whether in shifting
It is dynamic.
5. the localization method according to claim 1 based on indoor positioning, which is characterized in that in step (a) and step (b)
Between further comprise：(b1) signal strength values of the data packet are filtered.
6. the localization method according to claim 5 based on indoor positioning, which is characterized in that in step (b1) further
Including：
(b11) a storage pipeline is established, so that the data packet is temporarily stored into wherein；
(b12) after a second time threshold, corresponding first data packet is obtained from the storage pipeline, and obtain
The second time threshold is to the second data packet corresponding during a third time threshold, wherein the second time threshold is sent out
Life is after the third time threshold；
(b13) it is formed by third data packet by the first data packet of the method for average pair and the second data packet to be filtered, to obtain
Filtered signal strength values.
7. a kind of positioning device based on indoor positioning, which is characterized in that including：
One packet-receiving module, to receive the data packet transmitted by least two Bluetooth base. stations, to obtain the data packet
Including signal strength values；
One distance value computing module, is connected with the packet-receiving module, to according to signal strength values calculate described at least
Two Bluetooth base. stations to a mobile terminal distance value；
One Bluetooth base. station anchor point acquisition module, is connected with the distance value computing module, to according to calculated distance value
Obtain positioning point coordinates of the user relative to Bluetooth base. station for holding the mobile terminal；
One inertial navigation anchor point acquisition module, to obtain the displacement distance of user according to an acceleration transducer, and according to one
Geomagnetic sensor obtains the moving direction of user, and point coordinates is positioned to obtain the inertial navigation corresponding to the relative displacement of user；
One user move judgment module, respectively with the Bluetooth base. station anchor point acquisition module and inertial navigation anchor point acquisition module phase
Even, to judge user currently whether in movement, if so, calling more than one dynamic compensation module, otherwise, calling one is primary
Property compensating module；
The multiple dynamic compensation module, with the user move judgment module be connected, to by the user relative to indigo plant
Inertial navigation positioning point coordinates described in the anchor point coordinate pair of tooth base station carries out repeatedly dynamic and compensates,
The wherein described multiple dynamic compensation module further comprises：
One poor location value computing unit is determined with the user relative to Bluetooth base. station to calculate the inertial navigation positioning point coordinates
Positioning difference between the coordinate of site；
One offset acquiring unit is connected with the positioning difference computational unit, to set coefficient according to one, described in acquisition
The corresponding offset of difference is positioned, wherein the coefficient that sets is 1/2~1/20；
One inertial navigation anchor point amending unit, is connected with the offset acquiring unit, to be used to described according to the offset
Positioning point coordinates is led to compensate and correct；
The disposable compensation module, with the user move judgment module be connected, to by the user relative to bluetooth
The positioning point coordinates of base station replaces the inertial navigation and positions point coordinates, to carry out disposable compensation to inertial navigation positioning point coordinates.
8. the positioning device according to claim 7 based on indoor positioning, which is characterized in that the multiple dynamic compensates mould
Block further comprises：One repeats call unit, in a first time threshold, the positioning difference meter is called in repetition successively
Calculate unit, the offset acquiring unit and the inertial navigation anchor point amending unit.
9. the positioning device according to claim 7 based on indoor positioning, which is characterized in that user's movement judges mould
Block further comprises that a user moves determination unit, to pass through the change of the current displacement distance of acceleration transducer acquisition user
Change amount, to determine user currently whether in movement.
10. the positioning device according to claim 7 based on indoor positioning, which is characterized in that the positioning device is into one
Step includes a filtering module, the filtering module respectively with the packet-receiving module and the distance value computing module phase
Even, to filter the signal strength values of the data packet.
11. the positioning device according to claim 10 based on indoor positioning, which is characterized in that the filtering module is into one
Step includes：
One storage pipeline establishes unit, to establish a storage pipeline, so that the data packet is temporarily stored into wherein；
One data packet acquiring unit establishes unit with the storage pipeline and is connected, to after a second time threshold, from
Corresponding first data packet is obtained in the storage pipeline, and obtains the second time threshold to a third time threshold phase
Between corresponding the second data packet, wherein the second time threshold is happened at after the third time threshold；
One Packet Filtering unit is connected with the data packet acquiring unit, to pass through the first data packet of the method for average pair and
Two data packets are formed by third data packet and are filtered, to obtain filtered signal strength values.
12. a kind of mobile terminal, which is characterized in that any described based on indoor positioning comprising the claims 7 to 11
Positioning device.
13. mobile terminal according to claim 12, which is characterized in that the mobile terminal further includes one or three axis and adds
Velocity sensor and one or three axis geomagnetic sensors；The 3-axis acceleration sensor is described to obtain the displacement distance of user
Three axis geomagnetic sensors are obtaining the moving direction of user.
14. mobile terminal according to claim 13, which is characterized in that the mobile terminal further includes three axis accelerometer
Instrument, the three-axis gyroscope position to inertial navigation.
15. mobile terminal according to claim 12, which is characterized in that the mobile terminal is connect by 4.0 agreement of bluetooth
Receive the data packet transmitted by Bluetooth base. station.
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