CN105768480A - Positioning method, device and system for suitcase - Google Patents

Abstract

The invention discloses a positioning method, device and system for a suitcase.The positioning method comprises the steps that a position fingerprint database is constructed through a Bluetooth module embedded in the suitcase; position information of the suitcase is acquired in real time through the Bluetooth module; the position information is corrected according to fingerprint data in the position fingerprint database through a preset matching algorithm, and the current position of the suitcase is obtained.By the adoption of the technical scheme, the suitcase can be positioned when no satellite positioning signal is available indoors, the position of the suitcase can be known in time, whether the suitcase follows an airplane accurately or not can be known, and the specific position of the suitcase can be known in the process of waiting for the suitcase.

Description

Luggage case positioning method, device and system

Technical Field

The invention relates to the field of luggage carrying, in particular to a positioning method, a positioning device and a positioning system of a luggage case.

Background

In recent years, people have more and more times of traveling, particularly traveling by planes, but the luggage consignment brings many problems. For example, people cannot reliably know whether the weight of their luggage is overweight, and the specific step to which the luggage has been moved during the consignment process cannot be reliably traced, and the violent sorting phenomenon occurring during the loading and unloading of the luggage cannot be well monitored.

The problem that no satellite signal exists indoors and positioning and tracking cannot be achieved is solved.

Therefore, the prior art luggage case has the problem that the luggage case cannot be located and tracked.

Disclosure of Invention

The invention discloses a positioning method, a positioning device and a positioning system of a luggage case, which are used for solving the problem that the luggage case in the prior art cannot be positioned and tracked.

In order to achieve the above object, according to an aspect of the present invention, a method for positioning a luggage case is provided, and the following technical solutions are adopted:

a method of locating a luggage item comprising: a position fingerprint database is constructed through a Bluetooth module embedded on the luggage case; acquiring the position information of the luggage case in real time through the Bluetooth module; and correcting the position information according to the fingerprint data in the position fingerprint database by a preset matching algorithm to obtain the current position of the trunk.

Further, the building a location fingerprint database includes: setting a plurality of sampling reference points in a preset positioning area; sampling the reference point off line to obtain the AP signal strength of the reference point and the MAC address information of the AP; and storing the AP signal strength and the MAC address information, and generating a position fingerprint database of the plurality of sampling reference points.

Further, the obtaining the position information of the luggage case in real time through the bluetooth module includes: the Bluetooth module receives positioning signals of a plurality of Bluetooth base stations; and determining the position information by a triangle preliminary positioning method according to the positioning signal.

Further, the matching the location fingerprint information with the information in the location fingerprint database through a preset matching algorithm includes: receiving service set identification of each Bluetooth positioning base station and strength indication of received signals through a Bluetooth module of the luggage case; calculating the posterior probability of each reference point, and acquiring the reference point with high posterior probability; and correcting the reference point by using the fingerprint information in the position fingerprint database to obtain the current position.

Further, the calculating the posterior probability of each reference point includes: defining n reference points, denoted X_i(ii) a L represents a signal strength vector; p (X)_iL) represents the posterior probability; the posterior probability is calculated by the following formula: $\arg max\left(P\right(X_i|L\left)\right)=\arg max\left(\frac{P\left(L\right|X_i)}{P\left(L\right)}\right).$

according to another aspect of the present invention, a positioning device for a luggage case is provided, and the following technical solutions are adopted:

a luggage case positioning device comprising: the building module is used for building a position fingerprint database through a Bluetooth module embedded on the luggage case; the acquisition module is used for acquiring the position information of the luggage case in real time through the Bluetooth module; and the correction module is used for correcting the position information according to the fingerprint data in the position fingerprint database through a preset matching algorithm to obtain the current position of the trunk.

Further, the building module comprises: the device comprises a setting module, a positioning module and a control module, wherein the setting module is used for setting a plurality of sampling reference points in a preset positioning area; the sampling module is used for sampling the reference point off line to acquire the AP signal strength of the reference point and the MAC address information of the AP; and the generating module is used for storing the AP signal strength and the MAC address information and generating a position fingerprint database of the plurality of sampling reference points.

Further, the obtaining module comprises: the first receiving module is used for receiving positioning signals of a plurality of Bluetooth base stations by the Bluetooth module; and the determining module is used for determining the position information according to the positioning signal by a triangle preliminary positioning method.

Further, the correction module comprises: the second receiving module is used for receiving the service set identification of each Bluetooth positioning base station and the strength indication of the received signal through the Bluetooth module of the luggage case; the calculation module is used for calculating the posterior probability of each reference point and acquiring the reference point with the high posterior probability; and the correction submodule is used for correcting the reference point by the fingerprint information in the position fingerprint database to obtain the current position.

According to another aspect of the present invention, a positioning system is provided, and the following technical solutions are adopted:

a luggage case positioning system comprising: the positioning device is configured to receive a positioning signal of the bluetooth base station to the trunk, and upload the generated positioning fingerprint data to the cloud server; the cloud server is used for generating a positioning fingerprint database from the positioning fingerprint number, and the positioning fingerprint database is downloaded by the positioning device; and the mobile phone APP is used for acquiring the positioning information of the positioning device.

By adopting the technical scheme of the invention, the problem that the luggage case has no satellite signal in the room is solved, the luggage case in the indoor position is accurately positioned by embedding the Bluetooth module in the luggage case and adopting a correction algorithm, so that a user can timely know whether the luggage case is in the airplane or not, accurately know the position of the luggage case in the process of waiting for the luggage case, and the user experience of the luggage case is improved.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 illustrates a general flow diagram of a luggage locating method according to an embodiment of the present invention;

FIG. 2 is a detailed flow chart of a method for locating a luggage item according to an embodiment of the present invention;

FIG. 3 is a schematic representation of a luggage case positioning triangle according to an embodiment of the present invention; and

fig. 4 is a schematic structural diagram of a luggage positioning device according to an embodiment of the present invention.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.

Fig. 1 shows a main flow chart of a luggage positioning method according to an embodiment of the invention.

Fig. 2 shows a detailed flowchart of a luggage positioning method according to an embodiment of the present invention.

Referring to fig. 1 to 2, a method of positioning a luggage case includes:

s101: a position fingerprint database is constructed through a Bluetooth module embedded on the luggage case;

s103: acquiring the position information of the luggage case in real time through the Bluetooth module;

s105: and correcting the position information according to the fingerprint data in the position fingerprint database by a preset matching algorithm to obtain the current position of the trunk.

In step S101, the bluetooth module is embedded in the trunk, and a location fingerprint database is built by the bluetooth module. The specific process requires the participation of a server and adopts a positioning algorithm. The positioning algorithm based on the position fingerprint is mainly operated by a server, and in the whole algorithm implementation process, the position fingerprint positioning method comprises an off-line stage and an on-line positioning stage. In the off-line data training stage, the most important task is to establish a fingerprint database. Firstly, setting a sampling reference point in a positioning area, carrying out off-line sampling on the sampling reference point, and storing the acquired information such as AP signal strength, AP MAC address and the like to form a position fingerprint database.

In step S103, acquiring the position information of the luggage case in real time through the bluetooth module;

from electromagnetic field theory, the strength of a wireless signal decreases with the distance raised to the power a, which is called the path loss slope. If the transmission power P_TAfter a distance of d meters, the signal intensity will be equal to P_Td^-aAnd (4) in proportion. The signal strength decays in free space as the square of the distance (in this case a-2). When an antenna transmits a signal, the signal propagates in all directions. On a spherical surface with radius d, the signal intensity density is equal to the total signal emitted divided by the area of the sphere, i.e. 4 π d²Transmitting power P in free space, taking into account the frequency of the electromagnetic waves, and the additional losses_TAnd received power P_rThe final relationship between the two is shown as follows:

10lg(P_r)＝10lg(P₀) -20lg (d) (formula 1)

The equation shows that the loss per 10 times the distance of the signal strength as a function of distance is 20dB, or 6dB per 2 octaves, in free space.

Wherein,P₀the signal power when being d 1m, d is the straight line distance of bluetooth positioning base station to suitcase bluetooth antenna. λ is carrier wavelength, G_T,G_RFor transmit antenna gain, receive antenna gain. From equation 1, it can be seen that there is a correlation between the Received Signal Strength (RSSI) of the bluetooth positioning base station and the linear distance from the bluetooth positioning base station. If the bluetooth positioning module of the luggage case receives 3 or more bluetooth positioning base station signals, i.e. the access point 1, the access point 2 and the access point 3 in fig. 3, the position can be roughly determined, i.e. the triangulation preliminary positioning method, as shown in fig. 3. Because the electromagnetic wave has multipath effect, the indoor to be positioned is not an ideal space, and various path loss models exist, the positioning precision of the method is slightly low, and the method needs to be usedAnd correcting the position information of the luggage case acquired by the multi-triangle primary positioning method.

In step S105, the position information is corrected according to the fingerprint data in the position fingerprint database by using a preset matching algorithm, so as to obtain the current position of the luggage.

The matching the location fingerprint information with information in the location fingerprint database by a preset matching algorithm comprises: receiving service set identification of each Bluetooth positioning base station and strength indication of received signals through a Bluetooth module of the luggage case; calculating the posterior probability of each reference point, and acquiring the reference point with high posterior probability; and correcting the reference point by using the fingerprint information in the position fingerprint database to obtain the current position.

The preset matching algorithm can be a fingerprint matching algorithm, the fingerprint matching algorithm adopts a naive Bayes classification method, the Bluetooth module of the luggage case required to be positioned by the naive Bayes classification method receives the SSID and the RSSI of each Bluetooth positioning base station, the posterior probability of the sample appearing at each reference point is calculated by Bayes' theorem, and then a plurality of reference points with higher posterior probability are selected to estimate the position of the luggage case. The specific implementation process is as follows:

in the process of generating the position fingerprint database, assuming that n reference points are set in an environment to be positioned, marking xi (i is 1,2,3 … … n) and deploying m bluetooth positioning base stations at the same time, and marking AP_i(i ═ 1,2,3LLm) in the position fingerprint database generation stage, the bluetooth positioning system will gather the signal strength of each reference point from each bluetooth positioning base station and the coordinate position of the reference point.

In the positioning process, because the bluetooth adopts frequency hopping communication, the positioning signals of different bluetooth positioning base stations cannot interfere with each other, and the strength of the positioning signals received from each bluetooth positioning base station at a certain point is independent. The signal strength of each bluetooth positioning base station received at a certain position is expressed as a signal strength vector L ═ AP (AP)₁＝L₁,AP₂＝L₂,LLAP_M＝L_M). According to the naive Bayes method, the posterior probability of the signal intensity vector at each positioning reference point is calculated, and one or more positioning reference points are searched in each positioning reference point to obtain the posterior probability P (X)_iL) the largest location reference point to locate the user position. In general, the probability of a user appearing at any location reference point within a location area is the same, so P (X)_i) Uniform distribution is obeyed. Therefore, the posterior probability P (X)_iL) can be calculated by the following formula:

$\arg max\left(P\right(X_i|L\left)\right)=\arg max\left(\frac{P\left(L\right|X_i)}{P\left(L\right)}\right)$

because the strength of the positioning signals received from each Bluetooth positioning base station at a certain point is independent, the above formula can be simplified as follows:

$\arg max\left(P\right(X_i|L\left)\right)=\arg max\left(\underset{j=1}{\overset{m}{\mathrm{\Π}}}P\right({\mathrm{AP}}_j=L_j|X_i\left)\right)$

in the above formula P (AP)_j＝L_j|X_i) Is shown at the location reference point X_iTo the received from AP_jSignal strength L_jThe probability of occurrence. At this time, a distribution with parameters is needed so that the distribution satisfies the signal intensity distribution of the bluetooth positioning base station received by a certain positioning reference point. When the average value of the received RSSI of each Bluetooth positioning base station signal is small, a Maxwell distribution model is adopted; adopting a Gaussian distribution model when the Bluetooth RSSI is in the intermediate state; and when the mean value of the Bluetooth RSSI is larger, a polynomial fitting Map-Airy distribution model is adopted for positioning. These three models are described below.

The Maxwell distribution model is used when the bluetooth RSSI is small. The Maxwell distribution model probability density formula is shown as follows:

$f\left(l\right)=\sqrt{\frac{2}{\mathrm{\π}}}\frac{l^2{e}^{-x^2}/\left(2a^2\right)}{a^3}$

wherein, $a=\sqrt{\frac{{\mathrm{\Σ}}_{i=1}^n{x_i}^2}{3n}}$

thereby, can be made ofAnd calculating the probability value and further calculating the position.

The gaussian distribution model is used when the bluetooth RSSI is moderate. The probability density formula of the Gaussian distribution model is shown as follows:

$f\left(l\right)=\frac{1}{\mathrm{\σ}\sqrt{2\mathrm{\π}}}{e}^{-{(l-\mathrm{\μ})}^2/2{\mathrm{\σ}}^2}$

from the maximum likelihood estimation method, after acquiring the signal at the location of the positioning reference point, the expectation and standard deviation of the distribution function can be estimated from the signal, and the calculation formula is shown as follows:

$\widehat{\mathrm{\μ}}=\frac{1}{n}\underset{k=1}{\overset{n}{\mathrm{\Σ}}}{l}_{ijk}$

$\widehat{\mathrm{\σ}}=\sqrt{\frac{1}{n}\underset{k=1}{\overset{n}{\mathrm{\Σ}}}{(l_{ijk}-\widehat{\mathrm{\μ}})}^2}$

wherein l_ijkIndicating a location reference point x_iIs received from the AP_jThe kth RSSI value of (c). The overall expectation is estimated by the sample expectation and the overall standard deviation is estimated by the sample standard deviation. Finally, a reference point x is obtained_iIs from AP_jAnd thus the probability density function of the RSSI values of

And calculating the probability value and further calculating the position.

In the technical scheme of this embodiment, realize the indoor location to the suitcase through the bluetooth module of embedded on the suitcase, this process needs high in the clouds server, bluetooth basic station's participation. Bluetooth module constructs the location fingerprint database with the high in the clouds server together, and Bluetooth module and bluetooth basic station estimate the approximate position of suitcase through the preliminary algorithm of triangle, then revise the position of suitcase through the fingerprint data in the location fingerprint database to calculate the accurate position of suitcase. And send to user's cell-phone APP through the network module of embedded on the suitcase to help the user to know the positional information of suitcase, improve user experience.

Fig. 4 is a schematic structural diagram of a luggage positioning device according to an embodiment of the present invention.

The invention provides a positioning device of a luggage case, which comprises: the building module 40 is used for building a position fingerprint database through a Bluetooth module embedded on the luggage case; the acquisition module 42 is used for acquiring the position information of the luggage case in real time through the Bluetooth module; and the correcting module 44 is configured to correct the position information according to the fingerprint data in the position fingerprint database through a preset matching algorithm, so as to obtain the current position of the luggage.

Preferably, the building block 40 comprises: a setting module (not shown) for setting a plurality of sampling reference points in a preset positioning area; a sampling module (not shown in the figure) configured to perform offline sampling on the reference point, and acquire the AP signal strength of the reference point and the MAC address information of the AP; a generating module (not shown in the figure) for saving the AP signal strength and the MAC address information, and generating a location fingerprint database of the plurality of sampling reference points.

Preferably, the obtaining module 42 includes: a first receiving module (not shown) for receiving positioning signals of a plurality of bluetooth base stations by the bluetooth module; and a determining module (not shown) for determining the position information by a triangle preliminary positioning method according to the positioning signal.

Preferably, the correction module 44 includes: a second receiving module (not shown) for receiving the service set identifier and the received signal strength indication of each bluetooth positioning base station through the bluetooth module of the luggage; a calculating module (not shown in the figure) for calculating the posterior probability of each reference point and obtaining the reference point with the greater posterior probability; and a correction submodule (not shown) for correcting the reference point by using the fingerprint information in the position fingerprint database to obtain the current position.

The invention provides a positioning system, comprising: the positioning device is configured to receive a positioning signal of the bluetooth base station to the trunk, and upload the generated positioning fingerprint data to the cloud server; the cloud server is used for generating a positioning fingerprint database from the positioning fingerprint number, and the positioning fingerprint database is downloaded by the positioning device; and the mobile phone APP is used for acquiring the positioning information of the positioning device.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A method of positioning a luggage item, comprising:

a position fingerprint database is constructed through a Bluetooth module embedded on the luggage case;

acquiring the position information of the luggage case in real time through the Bluetooth module;

and correcting the position information according to the fingerprint data in the position fingerprint database by a preset matching algorithm to obtain the current position of the trunk.

2. The location method of claim 1, wherein the building a location fingerprint database comprises:

setting a plurality of sampling reference points in a preset positioning area;

sampling the reference point off line to obtain the AP signal strength of the reference point and the MAC address information of the AP;

and storing the AP signal strength and the MAC address information, and generating a position fingerprint database of the plurality of sampling reference points.

3. The method according to claim 1, wherein the obtaining the position information of the luggage case in real time through the bluetooth module comprises:

the Bluetooth module receives positioning signals of a plurality of Bluetooth base stations;

and determining the position information by a triangle preliminary positioning method according to the positioning signal.

4. The location method according to claim 1, wherein the matching the location fingerprint information with the information in the location fingerprint database by a preset matching algorithm comprises:

receiving service set identification of each Bluetooth positioning base station and strength indication of received signals through a Bluetooth module of the luggage case;

calculating the posterior probability of each reference point, and acquiring the reference point with high posterior probability;

and correcting the reference point by using the fingerprint information in the position fingerprint database to obtain the current position.

5. The method according to claim 4, wherein the calculating the posterior probability of each reference point comprises:

defining n reference points, denoted X_i；

L represents a signal strength vector;

P(X_il) represents the posterior probability;

the posterior probability is calculated by the following formula:

$\mathrm{argmax}\left(P\right(X_i|L\left)\right)=\mathrm{argmax}\left(\frac{P\left(L\right|X_i)}{P\left(L\right)}\right).$

6. a luggage case positioning device, comprising:

the building module is used for building a position fingerprint database through a Bluetooth module embedded on the luggage case;

the acquisition module is used for acquiring the position information of the luggage case in real time through the Bluetooth module;

and the correction module is used for correcting the position information according to the fingerprint data in the position fingerprint database through a preset matching algorithm to obtain the current position of the trunk.

7. The positioning device of claim 6, wherein the building block comprises:

the device comprises a setting module, a positioning module and a control module, wherein the setting module is used for setting a plurality of sampling reference points in a preset positioning area;

the sampling module is used for sampling the reference point off line to acquire the AP signal strength of the reference point and the MAC address information of the AP;

and the generating module is used for storing the AP signal strength and the MAC address information and generating a position fingerprint database of the plurality of sampling reference points.

8. The positioning device of claim 6, wherein the acquisition module comprises:

the first receiving module is used for receiving positioning signals of a plurality of Bluetooth base stations by the Bluetooth module;

and the determining module is used for determining the position information according to the positioning signal by a triangle preliminary positioning method.

9. The positioning device of claim 6, wherein the correction module comprises:

the second receiving module is used for receiving the service set identification of each Bluetooth positioning base station and the strength indication of the received signal through the Bluetooth module of the luggage case;

the calculation module is used for calculating the posterior probability of each reference point and acquiring the reference point with the high posterior probability;

and the correction submodule is used for correcting the reference point by the fingerprint information in the position fingerprint database to obtain the current position.

10. A luggage case positioning system, comprising:

the location device of any one of claims 6-9, the location device configured to receive a location signal of a bluetooth base station to a trunk, and upload the generated location fingerprint data to a cloud server;

the cloud server is used for generating a positioning fingerprint database from the positioning fingerprint number, and the positioning fingerprint database is downloaded by the positioning device;

and the mobile phone APP is used for acquiring the positioning information of the positioning device.