CN105528908A - Indoor positioning and navigation system and positioning and navigation method thereof - Google Patents
Indoor positioning and navigation system and positioning and navigation method thereof Download PDFInfo
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- CN105528908A CN105528908A CN201510896859.XA CN201510896859A CN105528908A CN 105528908 A CN105528908 A CN 105528908A CN 201510896859 A CN201510896859 A CN 201510896859A CN 105528908 A CN105528908 A CN 105528908A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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Abstract
The present invention provides an indoor positioning and navigation system which comprises a parking lot management system which stores a parking lot map, a signal transmitting and receiving device identifier ID and a position coordinate, a parking place sensor which is arranged in a parking place and detects whether a vehicle is on the parking place, a signal transmitting and receiving device which is installed at a parking lot top ceiling with an interval, a side wall or a garage pillar with an interval and receives a mobile positioning device transmitting communication signal and sends a confirmation signal as a feedback, and mobile positioning devices which are connected to the parking lot management system through a wireless mode, transmit the communication signal and receive the confirmation signal of the signal transmitting and receiving device. The mobile positioning device is positioned according to the time difference of transmitting the communication signal and receiving the confirmation signal by the mobile positioning device, identifies the mobile positioning device and a free parking place in the map, and guides the vehicle to a free parking place. According to the indoor positioning and navigation system, the unification of the time difference of the signal transmitting and receiving device is not needed, each mobile positioning device has an independent signal processing module, and the signals can be processed separately.
Description
Technical field
The present invention relates to field of locating technology, more specifically, relate to a kind of indoor positioning navigational system and positioning navigation method thereof.
Background technology
At present, location technology adopts wireless signal to locate usually, mainly comprise with GPS be representative positioning system and take mobile communications network as the wireless network location system of representative.
In GPS positioning system, the GPS receiving terminal of vehicle by being attached thereto, receive the positioning signal that at least three gps satellites are launched simultaneously, control center's (monitoring station) is according to the reception condition of positioning signal, calculate longitude and latitude residing for this vehicle and height coordinate and realize location, in order to ensure the accuracy of locating, the clock of this kind of system multi-satellite needs unified, make multi-satellite signal occur simultaneously, and be not suitable in the place having shelter (such as indoor, low parking lot etc.) and there is the error being greater than more than 10 meters, be not suitable for accurate location more among a small circle,
In mobile communications network positioning system, comprise the mobile communication terminal (transceiver module of mobile communication) be arranged in car and the multiple base stations be arranged on route, by the communication signal transmissions of mobile communication terminal and base station to control center, control center is by the intensity (such as received signal strength indicator symbol or RSSI) of signal of communication, the position of vehicle is determined in the range finding of the various complexity in calculating target device position in a network, direction finding, and this kind of system is not suitable for bad at base station signal or does not have the remote districts of base station to position.
Mainly there are following two shortcomings in above-mentioned two kinds of systems:
The first, all adopt a control center, the signal that in process vehicle, mobile communication terminal feeds back, when a lot of vehicle uses this system, adds the burden of control center, have impact on the promptness of signal feedback and signal transacting;
The second, at present, the area in a lot of parking lot is very large, find room to become more and more difficult, cause vehicle in the process finding parking stall, waste a large amount of time and the energy, above-mentioned two kinds of systems only position vehicle location, and the vehicle that can not navigate is to room.
Summary of the invention
In view of the above problems, the object of this invention is to provide a kind of without the need to jet lag, signal transacting promptness the good and vehicle that can navigate to the indoor positioning navigational system in room, garage and positioning navigation method thereof.
According to an aspect of the present invention, a kind of indoor positioning navigational system is provided, comprises: parking lot detector, be arranged on each parking stall in parking lot, on unloading lot detection, whether there is vehicle, when parking stall is occupied, parking stall Seize ACK message is sent to managing system of car parking, managing system of car parking, store identifier ID and the position coordinates thereof of parking lot map and each parking stall, parking lot map carries out free mark to idle parking stall, when managing system of car parking receives the parking stall Seize ACK message that parking lot detector sends, parking lot map is upgraded, eliminates the free mark of this parking stall, multiple signal receiving/transmission device, interval (please provide numerical range) is arranged on the ceiling in parking lot, on sidewall or garage pillar, be connected with managing system of car parking and moving positioning device, wherein, managing system of car parking also stores identifier ID and the position coordinates thereof of each signal receiving/transmission device, after managing system of car parking wirelessly communicates with moving positioning device, moving positioning device is made to start to launch communication signal, signal receiving/transmission device receive described communication signal and feedback acknowledgment signal give described moving positioning device, the mistiming of communication signal and confirmation of receipt signal is launched according to described moving positioning device, time difference method is adopted to position moving positioning device, parking lot map identifies mobile device and idle parking stall and shows the driving path of described mobile device to idle parking stall, mobile device is navigate to idle parking stall, wherein, described communication signal comprises the identifier ID of mobile device, described confirmation signal comprises the identifier ID of the mobile device launching communication signal, the identifier ID receiving the signal receiving/transmission device of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal.
According to another aspect of the present invention, a kind of indoor positioning navigational system is provided, comprises: parking lot detector, be arranged on each parking stall in parking lot, on unloading lot detection, whether there is vehicle, when parking stall is occupied, parking stall Seize ACK message is sent to managing system of car parking, managing system of car parking, store identifier ID and the position coordinates thereof of parking lot map and each parking stall, parking lot map carries out free mark to idle parking stall, when managing system of car parking receives the parking stall Seize ACK message that parking lot detector sends, parking lot map is upgraded, eliminates the free mark of this parking stall, multiple signal receiving/transmission device, interval is arranged on ceiling, sidewall or the garage pillar in parking lot, be connected with managing system of car parking and mobile device, each signal receiving/transmission device has an identifier ID, the identifier ID of multiple signal receiving/transmission device and position coordinates thereof are stored in managing system of car parking, receive mobile device launch communication signal and feedback acknowledgment signal to mobile device, mobile device, wirelessly be connected with managing system of car parking, parking lot map is downloaded from managing system of car parking, launch communication signal to signal receiving/transmission device and receive the confirmation signal of its feedback, the mistiming of communication signal and confirmation of receipt signal is launched according to mobile device, adopt the position coordinates of time difference method determination mobile device, parking lot map identifies mobile device and idle parking stall and shows the driving path of described mobile device to idle parking stall, mobile device is navigate to idle parking stall, wherein, described communication signal comprises the identifier ID of mobile device, described confirmation signal comprises the identifier ID of the mobile device launching communication signal, the identifier ID receiving the signal receiving/transmission device of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal.
According to a third aspect of the invention we, a kind of signal receiving/transmission device is provided, for being arranged on the ceiling in parking lot, on sidewall or garage pillar, be connected with managing system of car parking and moving positioning device, each signal receiving/transmission device has unique identifier ID, the position coordinates in parking lot of this signal receiving/transmission device can be obtained by identifier ID, this identifier ID and its position coordinates are stored in managing system of car parking, this signal generation apparatus comprises: the first signal transmitting and receiving module, can receive and transmit, can receive enter parking lot moving positioning device launch communication signal and feedback acknowledgment signal give described moving positioning device, first clock module, receive reflected signal to the first signal transmitting and receiving module and carry out timing with two moment sending confirmation signal, to measure the delay time in above-mentioned two moment, wherein, described communication signal comprises the identifier ID of mobile device, described confirmation signal comprises the identifier ID of the mobile device launching communication signal, the identifier ID receiving the signal receiving/transmission device of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal.
According to a forth aspect of the invention, a kind of moving positioning device is provided, for being arranged on the handheld device of vehicle or such as mobile phone, comprise: secondary signal transceiver module, respectively with vehicle management system and signal receiving/transmission device wireless connections, after being connected with managing system of car parking, start launch communication signal in critical dimensions mode to the multiple signal receiving/transmission devices be arranged in parking lot and accept the confirmation signal of its feedback, wherein, each mobile device has unique identifier ID, and described communication signal comprises the identifier ID of mobile device; Described confirmation signal comprises the identifier ID of the mobile device launching communication signal, the identifier ID receiving the signal receiving/transmission device of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal; Second clock module, the moment of secondary signal transceiver module being launched to communication signal and confirmation of receipt signal carries out timing; Signal processing module, the mistiming of communication signal and confirmation of receipt signal is launched by secondary signal transceiver module, time difference method is adopted to determine the distance of moving positioning device and described multiple signal receiving/transmission device respectively, utilize the position coordinates of the position coordinates determination moving positioning device of described multiple signal receiving/transmission device, and the position coordinates of this moving positioning device is transferred to display module; Display module, parking lot map is downloaded from managing system of car parking by secondary signal transceiver module, the position coordinates of the moving positioning device that Received signal strength processing module transmits, and in the enterprising row labels display of parking lot map, using moving positioning device and idle parking stall as starting point and destination, display driving path between the two, navigates to idle parking stall by moving positioning device.
According to a fourth aspect of the present invention, a kind of indoor positioning air navigation aid is provided, comprise: when vehicle enters parking lot, moving positioning device wireless connections in managing system of car parking and vehicle, send parking lot map to this moving positioning device, this moving positioning device starts to launch communication signal, and wherein, described transmitting communication signal comprises the identifier ID of moving positioning device; The multiple signal receiving/transmission devices be arranged on the ceiling in parking lot, sidewall or garage pillar receive above-mentioned moving positioning device launch communication signal and feedback acknowledgment signal give this moving positioning device, wherein, described confirmation signal comprises the identifier ID of the mobile device launching communication signal, the identifier ID receiving the signal receiving/transmission device of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal; The confirmation signal of multiple stage signal receiving/transmission device is received by above-mentioned moving positioning device, launches the mistiming of communication signal and confirmation of receipt signal according to moving positioning device, adopts time difference method to determine the distance L of each signal receiving/transmission device and moving positioning device; According to the position coordinates of above-mentioned each signal receiving/transmission device, determine the position coordinates of moving positioning device, that is, vehicle is positioned; By mobile device, idle parking stall and driving path between the two at the enterprising line identifier of parking lot map, the automobile navigation of this mobile device will be installed to idle parking stall.
Unified clock is not needed between the signal receiving/transmission device of indoor positioning navigational system of the present invention, time difference method can be adopted accurately to locate vehicle, and each moving positioning device can both process the signal received separately, avoid the signal that in employing control center's process vehicle, mobile communication terminal feeds back, improve the promptness of signal feedback and signal transacting.
In addition, this system not only can the position of positioned vehicle, can also locate the position of people, as long as car owner holds the handheld device (mobile phone or flat board) of installing moving positioning device, just can find the parking spot of oneself car easily.
Accompanying drawing explanation
By reference to following embodiment and claims content and by reference to the accompanying drawings, other object of the present invention and result will be understood and easy to understand more.In the accompanying drawings:
Fig. 1 is the formation block diagram of indoor positioning navigational system of the present invention;
Fig. 2 is the formation block diagram of signal receiving/transmission device of the present invention;
Fig. 3 is the schematic diagram that signal receiving/transmission device of the present invention is installed;
Fig. 4 is the formation block diagram of moving positioning device of the present invention;
Fig. 5 is the schematic diagram at the interface of the display module of moving positioning device of the present invention;
Fig. 6 is the schematic diagram of an indoor positioning navigational system of the present invention embodiment;
Fig. 7 is the process flow diagram of indoor positioning air navigation aid of the present invention;
Fig. 8 is the schematic diagram of vehicle location in indoor positioning air navigation aid of the present invention;
Fig. 9 is that car owner finds the process flow diagram of vehicle parking position method by indoor positioning navigational system of the present invention.
In the accompanying drawings, identical Reference numeral indicates similar or corresponding feature or function.
Embodiment
In the following description, for purposes of illustration, in order to provide the complete understanding to one or more embodiment, many details have been set forth.But, clearly, also these embodiments can be realized when there is no these details.In other example, one or more embodiment for convenience of description, known structure and equipment illustrate in block form an.
Come below with reference to accompanying drawings to be described in detail each embodiment according to the present invention.
Fig. 1 is the formation block diagram of indoor positioning navigational system of the present invention, and as shown in Figure 1, described indoor positioning navigational system 100 comprises
Parking lot detector 110, is arranged on each parking stall in parking lot, on unloading lot detection, whether has vehicle, when parking stall is occupied, parking stall Seize ACK message is sent to managing system of car parking 120;
Managing system of car parking 120, store identifier ID and the position coordinates thereof of parking lot map and each parking stall, parking lot map carries out free mark (" O " as in Fig. 5) to idle parking stall, when managing system of car parking 120 receives the parking stall Seize ACK message that parking lot detector 110 sends, parking lot map is upgraded, eliminates the free mark of this parking stall;
Multiple signal receiving/transmission device 130, interval is arranged on ceiling, sidewall or the garage pillar in parking lot, is connected with managing system of car parking and moving positioning device,
Wherein, managing system of car parking 120 also stores identifier ID and the position coordinates thereof of each signal receiving/transmission device 130, after managing system of car parking 120 wirelessly communicates with moving positioning device 140, moving positioning device 140 is made to start to launch communication signal, signal receiving/transmission device 130 receive described communication signal and feedback acknowledgment signal give described moving positioning device 140, the mistiming of communication signal and confirmation of receipt signal is launched according to described moving positioning device 140, time difference method is adopted to position moving positioning device 140, parking lot map identifies mobile device 140 and idle parking stall and shows the driving path of described mobile device 140 to idle parking stall, mobile device 140 is navigate to idle parking stall,
Wherein, described communication signal comprises the identifier ID of mobile device 140; Described confirmation signal comprises the identifier ID of the mobile device 140 launching communication signal, the identifier ID receiving the signal receiving/transmission device 130 of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal.
Preferably, signal receiving/transmission device 130 is arranged on the higher position of parking lot sidewall or garage pillar, and described higher position is the position ensureing that the overall height of vehicle does not hinder signal receiving/transmission device 130 to communicate with moving positioning device 140.
In addition, preferably, at least three signal receiving/transmission devices 130 receive communication signal feedback acknowledgment signal that mobile device 140 launches to this signal transmitting and receiving module
In addition, preferably, the parking lot map of managing system of car parking 120 periodically updates (such as 30s upgrades once) or real-time update, the parking lot map also synchronized update that moving positioning device 140 is downloaded, prevents vehicle and to drive away the occupied unlabelled situation in the idle parking stall of the unmarked and storing cycle in idle parking stall.
Indoor positioning navigational system 100 of the present invention launches communication signal by moving positioning device 140, multiple stage signal receiving/transmission device 130 receives this transmitting communication signal and feedback acknowledgment signal, time difference method is adopted to determine the distance of signal receiving/transmission device 130 and moving positioning device 140, do not need the clock of each signal receiving/transmission device 130 unified, namely, without the need to adjusting the time difference of each signal receiving/transmission device 130, therefore improve the simplicity and accuracy that adopt time difference method location.In addition, each moving positioning device 140 can process the signal received separately, avoids the signal that in employing control center's process parking lot, all moving positioning devices feed back, strengthens the promptness of signal feedback and process.
Fig. 2 is the formation block diagram of signal receiving/transmission device of the present invention, Fig. 3 is the schematic diagram that signal receiving/transmission device of the present invention is installed, as shown in Figures 2 and 3, described signal receiving/transmission device 130 is for being arranged on the ceiling in parking lot, on sidewall or garage pillar, be connected with managing system of car parking 120 and moving positioning device 140, each signal receiving/transmission device 130 has unique identifier ID, the position coordinates in parking lot of this signal receiving/transmission device 130 can be obtained by identifier ID, this identifier ID and its position coordinates are stored in managing system of car parking 120, this signal generation apparatus 130 comprises:
First signal transmitting and receiving module 131, can receive and transmit, receive enter parking lot moving positioning device 140 launch communication signal and feedback acknowledgment signal give described moving positioning device 140, wherein, described communication signal comprises the identifier ID of mobile device 140; Described confirmation signal comprises the identifier ID of the mobile device 140 launching communication signal, the identifier ID receiving the signal receiving/transmission device 130 of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal;
First clock module 132, receives reflected signal to the first signal transmitting and receiving module 131 and carries out timing, to measure the delay time in above-mentioned two moment with two moment sending confirmation signal.
Fig. 4 is the formation block diagram of moving positioning device of the present invention, and as shown in Figure 4, shown moving positioning device 140 comprises, and for being arranged on vehicle or handheld device (mobile phone, iPad, automobile remote-control key etc.), comprising:
Secondary signal transceiver module 141, respectively with vehicle management system and signal receiving/transmission device radio communication, after being connected with managing system of car parking 120, start with critical dimensions mode to the multiple signal receiving/transmission devices 130 be arranged in parking lot launch communication signal and accept its feedback confirmation signal, wherein, each mobile device 140 has unique identifier ID, and described communication signal comprises the identifier ID of mobile device 140; Described confirmation signal comprises the identifier ID of the mobile device 140 launching communication signal, the identifier ID receiving the signal receiving/transmission device 130 of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal
Second clock module 142, the moment of secondary signal transceiver module 141 being launched to communication signal and confirmation of receipt signal carries out timing;
Signal processing module 143, the mistiming of communication signal and confirmation of receipt signal is launched by secondary signal transceiver module 141, time difference method is adopted to determine the distance of moving positioning device 140 and described multiple signal receiving/transmission device 130 respectively, utilize the position coordinates of the position coordinates determination moving positioning device of described multiple signal receiving/transmission device 130 (particularly, be described in detail in the explanation of Fig. 8), and the position coordinates of this moving positioning device 140 is transferred to display module 144, wherein, the distance L of moving positioning device 140 and signal receiving/transmission device 130
L=V* (T
receive-T
launch-τ)/2
Wherein, V is signaling rate, T
launchfor moving positioning device 140 launches the moment of communication signal, T
receivefor moving positioning device 140 receives the confirmation the moment of signal, τ is that signal receiving/transmission device 130 receives communication signal to the time delay sending confirmation signal;
Display module 144, parking lot map is downloaded from managing system of car parking 120 by secondary signal transceiver module 141, the position coordinates of the moving positioning device 140 that Received signal strength processing module 143 transmits, and in the enterprising row labels display of parking lot map, using moving positioning device 140 and idle parking stall as starting point and destination, display driving path between the two, moving positioning device 140 is navigate to idle parking stall as shown in Figure 5, in the parking lot map that display module 144 shows, idle parking stall (free mark of parking stall) is represented with " O ", the vehicle installing the navigation of moving positioning device needs is represented with "●".
Preferably, signal transmitting and receiving module 141, is connected with managing system of car parking 120 by WLAN (wireless local area network), mobile radio communication etc., by radio frequency and wireless network and signal receiving/transmission device 130 wireless connections.
In addition, preferably, signal transmitting and receiving module 141 periodic transmission communication signal also receives the confirmation signal that at least three signal receiving/transmission devices 130 are launched;
Preferably, signal processing module 143 also calculates moving positioning device 140 and the distance of idle parking stall, determines the idle parking stall nearest with moving positioning device 140, and the position coordinates of this idle parking stall is imported to display module 144.
In addition, preferably, the position coordinates of the moving positioning device 140 that display module 144 is determined according to signal processing module 143 and the idle parking stall nearest apart from it, will be provided with the automobile navigation of moving positioning device 140 to the idle parking stall nearest apart from it.
In addition, preferably, moving positioning device 140 also comprises voice module, by voice message, moving positioning device 140 is navigate to idle parking stall.
When there being many vehicles to enter parking lot, in order to increase the accuracy of vehicle location, preferably, moving positioning device 140 also comprises judging unit, judge that whether the identifier ID of the moving positioning device 140 in confirmation signal is consistent with moving positioning device 140 identifier ID of this vehicle, time consistent, confirmation signal is transferred to the signal processing module 143 in the moving positioning device 140 of vehicle, in order to avoid occur the signal receiving/transmission device 130 received to send to the confirmation signal of other vehicles to be used for the situation of this vehicle location.
Fig. 6 is the schematic diagram of an indoor positioning navigational system of the present invention embodiment, and as shown in Figure 6, this indoor positioning navigational system 100 comprises:
Parking lot detector 110, for one or more in infrared parking lot detector, geomagnetic parking stall detector and ultrasonic stall sensor, be arranged on each parking stall in parking lot, when parking stall is occupied, the Signal transmissions wirelessly taken parking stall is to managing system of car parking 120, managing system of car parking 120 upgrades the parking lot map that it stores, and eliminates the free mark of this parking stall.
Managing system of car parking 120, store identifier ID and the position coordinates thereof of parking lot map and each parking stall, parking lot map carries out free mark to idle parking stall, when managing system of car parking 120 receives the parking stall Seize ACK message that parking lot detector 110 sends, parking lot map is upgraded, eliminates the free mark of this parking stall;
Signal receiving/transmission device 130, comprise the first signal transmitting and receiving module 131 and the first clock module 132, be disposed on the ceiling above the runway of parking lot, when receiving the transmitting communication signal of moving positioning device 140, feedback acknowledgment signal gives this moving positioning device 140, wherein, signal receiving/transmission device 130 receives the time delay τ of communication signal to feedback acknowledgment signal in 10ps to 50ns scope;
Moving positioning device 140, is connected to managing system of car parking 120 by wireless network or radio frequency transmission, positions the vehicle being provided with this moving positioning device 140, and is navigate to nearest idle parking stall, comprising:
Secondary signal transceiver module 141, be connected with managing system of car parking 120 by radio frequency transmission or wireless network transmissions, after vehicle enters parking lot, start periodic transmission communication signal, received the confirmation signal of at least three signal receiving/transmission devices 130 feedbacks by radio frequency transmission or wireless network transmissions, and be transferred to signal processing module 143;
Second clock module 142, the moment of the first signal transmitting and receiving module 141 being launched to communication signal and confirmation of receipt signal carries out timing, and is converted into digital data transmission to signal processing module 143;
Signal processing module 143, for central processing unit, such as, single-chip microcomputer, ARM, DSP, PLC or MCU, signal transmitting and receiving module 141 is utilized to launch the mistiming of communication signal and confirmation of receipt signal, adopt the distance of time difference method determination moving positioning device 140 and signal receiving/transmission device 130, according to the identifier ID of signal receiving/transmission device in confirmation signal, obtain the position coordinates of signal receiving/transmission device 130, thus determine the position coordinates of moving positioning device 140, parking lot map is downloaded from managing system of car parking by signal transmitting and receiving module 130, and according to the position coordinates of the not busy parking stall of parking lot map hollow, judge from the nearest idle parking stall of vehicle, by this idle car parking stall and moving positioning device at the enterprising line identifier of parking lot map,
Display module 144, comprise Wifi, one or more in bluetooth and USB interface, navigator (the drive recorder of moving positioning device 140 and vehicle is realized by wired or wireless mode, navigating instrument etc.) connection, parking lot map after the position coordinates of the moving positioning device of signal processing module 143 and the idle parking stall nearest apart from it and mark is transferred to the navigator of vehicle, respectively the position coordinates of the position coordinates of moving positioning device 140 and the idle parking stall nearest apart from it is arranged to starting point and destination, by automobile navigation to the idle parking stall nearest apart from it,
Wherein, first signal transmitting and receiving module 131 and secondary signal transceiver module 141 can be one or more in radio-frequency (RF) transceiver, wireless network module (such as, Zigbee module, GMS module, CDMA module, Wifi network hotspot, blueteeth network focus etc.) and ultrasonic detector;
First clock module 132 and second clock module 142 can be the GP30 of ACAM company, and its accuracy of timekeeping can reach 10
-11second, signal velocity is the light velocity 10
8m/s, then the positioning precision of indoor positioning navigational system of the present invention and navigation accuracy can reach grade.
Preferably, the display module 143 of indoor positioning navigational system 100 also comprises the interface that or wireless mode wired with handheld device (such as mobile phone, flat board etc.) is connected, such as Wifi, bluetooth and SIM interface etc., utilize the navigation software in mobile phone car owner can be navigate to the parking stall of vehicle.
In addition, preferably, the display module 143 of indoor positioning navigational system 100 also comprises the navigator of such as drive recorder, navigating instrument, for not having the vehicle of navigator.
Fig. 7 is the process flow diagram of indoor positioning air navigation aid of the present invention, and Fig. 8 is the schematic diagram of vehicle location in indoor positioning air navigation aid of the present invention, and as shown in Figure 7, described indoor positioning air navigation aid comprises:
First, in step S710, when vehicle enters parking lot, managing system of car parking 120 and moving positioning device 140 wireless connections in vehicle, send parking lot map to this moving positioning device 140, and make this moving positioning device 140 launch communication signal, wherein, the communication signal that moving positioning device 140 is launched comprises the identifier ID of moving positioning device, and each moving positioning device 140 has unique identifier ID;
In step S720, the multiple signal receiving/transmission devices 130 be arranged on the ceiling in parking lot, sidewall or garage pillar receive above-mentioned moving positioning device 140 launch communication signal and feedback acknowledgment signal give this moving positioning device 140, wherein, described confirmation signal comprises the identifier ID of the mobile device 140 launching communication signal, the identifier ID receiving the signal receiving/transmission device 130 of described communication signal and reception communication signal thereof the delay time τ to feedback acknowledgment signal;
In step S730, the confirmation signal of multiple stage signal receiving/transmission device 130 is moved locating device 140 and receives, the mistiming of communication signal and confirmation of receipt signal is launched according to moving positioning device 140, time difference method is adopted to determine the distance L of each signal receiving/transmission device 130 and moving positioning device 140, preferably, the mistiming that moving positioning device 140 can be adopted to launch communication signal and its confirmation of receipt signal deducts time delay τ and with the half of the product of signaling rate as the distance of moving positioning device 140 with signal receiving/transmission device 130, also signal receiving/transmission device 130 can be adopted to receive communication signal and moving positioning device 140 and to launch the mistiming of communication signal and the product of signaling rate as the distance of moving positioning device 140 with signal receiving/transmission device 130, also moving positioning device 140 can be adopted to receive the confirmation the mistiming of signal and signal receiving/transmission device 130 transmitting acknowledgement signal and the product of signaling rate as the distance of moving positioning device 140 with signal receiving/transmission device 130, also above-mentioned three kinds of methods combining (such as averaging) can be adopted to determine the distance of moving positioning device 140 and signal receiving/transmission device 130,
After determining the distance of each signal receiving/transmission device 130 and moving positioning device 140, in step S740, according to the position coordinates of above-mentioned each signal receiving/transmission device 130, determine the position coordinates of moving positioning device 140, namely, vehicle is positioned, particularly, respectively with the position coordinates of signal receiving/transmission device 130 for the center of circle, with the distance of itself and moving positioning device 140 for radius draws circle, the coordinate of the point of crossing of multiple circle is the position coordinates of moving positioning device 140, also be the position coordinates of the vehicle being provided with this moving positioning device 140, the confirmation signal receiving three signal receiving/transmission devices 130 for moving positioning device 140 is described, as shown in Figure 8, respectively with the position coordinates of signal receiving/transmission device 130 for the center of circle, with the distance of itself and moving positioning device 140 for radius draws circle, the point of crossing of three circles is the position coordinates of moving positioning device 140, also be the position coordinates of the vehicle being provided with this moving positioning device 140, it should be noted that, when vehicle travels on the runway that to be side, parking stall be in side installs the wall of signal receiving/transmission device 130, the confirmation signal that moving positioning device 140 receives two signal receiving/transmission devices 130 can obtain the position coordinates of moving positioning device 140, this is because exceed the scope in parking lot respectively with one of them intersection point of two circles that are the center of circle of the position coordinates of two signal receiving/transmission devices 130 on wall, therefore the intersection point of existence anduniquess,
After vehicle location, in step S750, by mobile device 140, idle parking stall and driving path between the two at the enterprising line identifier of parking lot map, the automobile navigation of this mobile device will be installed to idle parking stall.
Preferably, described indoor positioning air navigation aid also comprises: according to the position coordinates of vehicle and idle parking stall, calculates vehicle and the distance of idle parking stall, determines the idle parking stall nearest apart from vehicle, by automobile navigation on this idle parking stall.
Indoor positioning air navigation aid of the present invention, can automatically by automobile navigation to idle parking stall, in the parking lot that area is large, saved vehicle and found time of parking stall and the energy.
Fig. 9 is that car owner finds the process flow diagram of the method for vehicle parking position by indoor positioning navigational system of the present invention, and as shown in Figure 9, car owner finds the method for vehicle parking position to comprise by indoor positioning navigational system of the present invention:
First, in step S910, on the handheld device (mobile phone, flat board, automobile remote-control key etc.) two moving positioning devices 140 being respectively installed to car owner and vehicle;
In step S920, by the moving positioning device 130 of signal receiving/transmission device 140 and vehicle by automobile navigation to idle parking stall
After storing cycle to idle parking stall, in step S930, the position coordinates of above-mentioned parking stall is saved in the moving positioning device 140 of handheld device;
When car owner returns to parking lot, in step S940, positioned by the position of moving positioning device 140 couples of car owners of signal receiving/transmission device 130 and handheld device;
In step S950, according to the position coordinates of the storing cycle parking stall that the moving positioning device 140 of handheld device is preserved, car owner is navigate to this parking stall.
Indoor positioning air navigation aid of the present invention can navigate car owner to parking stall, has saved car owner in the time finding the vehicle that parking stall is parked.
Although disclosed content shows exemplary embodiment of the present invention above, it should be noted that under the prerequisite not deviating from the scope that claim limits, can multiple change and amendment be carried out.Need not perform with any particular order according to the function of the claim to a method of inventive embodiments described herein, step and/or action.In addition, although element of the present invention can describe or requirement with individual form, also it is contemplated that to have multiple element, is individual element unless explicitly limited.
Claims (10)
1. an indoor positioning navigational system, comprising:
Parking lot detector, is arranged on each parking stall in parking lot, on unloading lot detection, whether has vehicle, when parking stall is occupied, parking stall Seize ACK message is sent to managing system of car parking;
Managing system of car parking, store identifier ID and the position coordinates thereof of parking lot map and each parking stall, parking lot map carries out free mark to idle parking stall, when managing system of car parking receives the parking stall Seize ACK message that parking lot detector sends, parking lot map is upgraded, eliminates the free mark of this parking stall;
Multiple signal receiving/transmission device, interval is arranged on ceiling, sidewall or the garage pillar in parking lot, is connected with managing system of car parking and moving positioning device,
Wherein, managing system of car parking also stores identifier ID and the position coordinates thereof of each signal receiving/transmission device, managing system of car parking wirelessly communicates with moving positioning device, mobile device is downloaded parking lot map from managing system of car parking and is launched communication signal to signal receiving/transmission device, signal receiving/transmission device receive described communication signal and feedback acknowledgment signal give described moving positioning device, mobile device launches the mistiming of communication signal and confirmation of receipt signal according to described moving positioning device, time difference method is adopted to position moving positioning device, parking lot map identifies mobile device and idle parking stall and shows the driving path of described mobile device to idle parking stall, mobile device is navigate to idle parking stall,
Wherein, described communication signal comprises the identifier ID of mobile device; Described confirmation signal comprises the identifier ID of the mobile device launching communication signal, the identifier ID receiving the signal receiving/transmission device of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal.
2. an indoor positioning navigational system, comprising:
Parking lot detector, is arranged on each parking stall in parking lot, on unloading lot detection, whether has vehicle, when parking stall is occupied, parking stall Seize ACK message is sent to managing system of car parking;
Managing system of car parking, store identifier ID and the position coordinates thereof of parking lot map and each parking stall, parking lot map carries out free mark to idle parking stall, when managing system of car parking receives the parking stall Seize ACK message that parking lot detector sends, parking lot map is upgraded, eliminates the free mark of this parking stall;
Multiple signal receiving/transmission device, interval is arranged on ceiling, sidewall or the garage pillar in parking lot, be connected with managing system of car parking and mobile device, each signal receiving/transmission device has an identifier ID, the identifier ID of multiple signal receiving/transmission device and position coordinates thereof are stored in managing system of car parking, receive mobile device launch communication signal and feedback acknowledgment signal to mobile device;
Mobile device, wirelessly be connected with managing system of car parking, parking lot map is downloaded from managing system of car parking, launch communication signal to signal receiving/transmission device and receive the confirmation signal of its feedback, the mistiming of communication signal and confirmation of receipt signal is launched according to mobile device, adopt the position coordinates of time difference method determination mobile device, parking lot map identifies mobile device and idle parking stall and shows the driving path of described mobile device to idle parking stall, mobile device is navigate to idle parking stall
Wherein, described communication signal comprises the identifier ID of mobile device; Described confirmation signal comprises the identifier ID of the mobile device launching communication signal, the identifier ID receiving the signal receiving/transmission device of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal.
3. a signal receiving/transmission device, wherein, described signal receiving/transmission device is for being arranged on the ceiling in parking lot, sidewall or garage pillar, be connected with managing system of car parking and moving positioning device, each signal receiving/transmission device has unique identifier ID, can be obtained the position coordinates in parking lot of this signal receiving/transmission device by identifier ID, this identifier ID and its position coordinates are stored in managing system of car parking, and this signal generation apparatus comprises:
First signal transmitting and receiving module, can receive and transmit, can receive enter parking lot moving positioning device launch communication signal and feedback acknowledgment signal give described moving positioning device;
First clock module, receives to the first signal transmitting and receiving module two moment transmitted and send confirmation signal and carries out timing, to measure the delay time between above-mentioned two moment,
Wherein, described communication signal comprises the identifier ID of mobile device; Described confirmation signal comprises the identifier ID of the mobile device launching communication signal, the identifier ID receiving the signal receiving/transmission device of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal.
4. signal receiving/transmission device according to claim 3, wherein, described first signal transmitting and receiving module is radio-frequency (RF) transceiver, wireless network module or ultrasonic transmitter-receiver.
5. a moving positioning device, wherein, described moving positioning device, for being arranged on the handheld device of vehicle or such as mobile phone, comprising:
Secondary signal transceiver module, respectively with vehicle management system and signal receiving/transmission device wireless connections, after being connected with managing system of car parking, start launch communication signal in critical dimensions mode to the multiple signal receiving/transmission devices be arranged in parking lot and accept the confirmation signal of its feedback, wherein, each mobile device has unique identifier ID, and described communication signal comprises the identifier ID of mobile device; Described confirmation signal comprises the identifier ID of the mobile device launching communication signal, the identifier ID receiving the signal receiving/transmission device of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal
Second clock module, the moment of secondary signal transceiver module being launched to communication signal and confirmation of receipt signal carries out timing;
Signal processing module, the mistiming of communication signal and confirmation of receipt signal is launched by secondary signal transceiver module, time difference method is adopted to determine the distance of moving positioning device and described multiple signal receiving/transmission device respectively, utilize the position coordinates of the position coordinates determination moving positioning device of described multiple signal receiving/transmission device, and the position coordinates of this moving positioning device is transferred to display module;
Display module, parking lot map is downloaded from managing system of car parking by secondary signal transceiver module, the position coordinates of the moving positioning device that Received signal strength processing module transmits, and in the enterprising row labels display of parking lot map, using moving positioning device and idle parking stall as starting point and destination, display driving path between the two, navigates to idle parking stall by moving positioning device.
6. moving positioning device according to claim 5, wherein, described display module comprise in Wifi, bluetooth, USB interface, SIM interface one or more, realize the navigator of moving positioning device and vehicle or the connection of the such as handheld device of mobile phone, iPad by wired or wireless mode, utilize the navigator of vehicle or the navigation software of handheld device to navigate to vehicle.
7. an indoor positioning air navigation aid, comprising:
When vehicle enters parking lot, moving positioning device wireless connections in managing system of car parking and vehicle, send parking lot map to this moving positioning device, this moving positioning device starts to launch communication signal, wherein, described transmitting communication signal comprises the identifier ID of moving positioning device;
The multiple signal receiving/transmission devices be arranged on the ceiling in parking lot, sidewall or garage pillar receive above-mentioned moving positioning device launch communication signal and feedback acknowledgment signal give this moving positioning device, wherein, described confirmation signal comprises the identifier ID of the mobile device launching communication signal, the identifier ID receiving the signal receiving/transmission device of described communication signal and reception communication signal thereof the delay time to feedback acknowledgment signal;
The confirmation signal of multiple stage signal receiving/transmission device is received by above-mentioned moving positioning device, launches the mistiming of communication signal and confirmation of receipt signal according to moving positioning device, adopts time difference method to determine the distance L of each signal receiving/transmission device and moving positioning device;
According to the position coordinates of above-mentioned each signal receiving/transmission device, determine the position coordinates of moving positioning device, that is, vehicle is positioned;
By mobile device, idle parking stall and driving path between the two at the enterprising line identifier of parking lot map, the automobile navigation of this mobile device will be installed to idle parking stall.
8. indoor positioning air navigation aid according to claim 7, wherein, also comprises:
On the handheld device that two moving positioning devices are respectively installed to car owner and vehicles;
By the moving positioning device of signal receiving/transmission device and vehicle by automobile navigation to idle parking stall;
After storing cycle to idle parking stall, the position coordinates of this parking stall is saved in the moving positioning device of handheld device;
When car owner returns to parking lot, positioned by the position of moving positioning device to car owner of signal receiving/transmission device and handheld device;
According to the position coordinates of the storing cycle parking stall that the moving positioning device of handheld device is preserved, car owner is navigate to this parking stall.
9. indoor positioning air navigation aid according to claim 7, wherein, described the method that vehicle positions to be comprised: respectively with the position coordinates of signal receiving/transmission device for the center of circle, with the distance of itself and moving positioning device for radius draws circle, the coordinate of the point of crossing of multiple circle is the position coordinates of moving positioning device, is also the position coordinates of the vehicle being provided with this moving positioning device.
10. indoor positioning air navigation aid according to claim 7, wherein, the distance L of described signal receiving/transmission device and moving positioning device is:
L=V* (T
receive-T
launch-τ)/2
Wherein, V is signaling rate, T
launchfor moving positioning device launches the moment of communication signal, T
receivefor moving positioning device receives the confirmation the moment of signal, τ is that signal receiving/transmission device receives communication signal to the time delay sending confirmation signal.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510896859.XA CN105528908A (en) | 2015-12-08 | 2015-12-08 | Indoor positioning and navigation system and positioning and navigation method thereof |
| PCT/CN2016/076393 WO2017096728A1 (en) | 2015-12-08 | 2016-03-15 | Signal transceiving devices, mobile positioning devices, and indoor positioning and navigation system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510896859.XA CN105528908A (en) | 2015-12-08 | 2015-12-08 | Indoor positioning and navigation system and positioning and navigation method thereof |
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Application publication date: 20160427 |