CN106211079A - The indoor orientation method of RSSI based on iBeacons node range finding and system - Google Patents
The indoor orientation method of RSSI based on iBeacons node range finding and system Download PDFInfo
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- CN106211079A CN106211079A CN201610845885.4A CN201610845885A CN106211079A CN 106211079 A CN106211079 A CN 106211079A CN 201610845885 A CN201610845885 A CN 201610845885A CN 106211079 A CN106211079 A CN 106211079A
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- mobile device
- range finding
- node
- rssi
- ibeacons
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
A kind of indoor orientation method of RSSI based on iBeacons node range finding, it is comprised the steps: S1, is in the RSSI value of the anchor node of diverse location by mobile device in fixed position continuous several times collection, and the distance between these RSSI value with mobile device with anchor nodes is mapped；S2, these RSSI value are carried out pretreatment, set up range finding model by selecting normality value therein its distance corresponding；S3, by mobile device unknown position gather anchor node RSSI value, and by range finding model calculate the mobile device distance to all anchor nodes；S4, select distance nearest four anchor nodes of mobile device, read its coordinate information；S5, according to secondary weighted centroid algorithm, calculate the actual coordinate of mobile device；The elements of a fix are optimized by S6, ground constraint diagram according to actual environment.The present invention also provides for the indoor locating system of a kind of RSSI based on iBeacons node range finding.
Description
Technical field
The present invention relates to indoor positioning technologies field, particularly to the room of a kind of RSSI based on iBeacons node range finding
Inner position method and system.
Background technology
Along with development in science and technology and the continuous change of mankind's environmental right, indoor environment expands further, and layout also tends to multiple
Miscellaneous, people are the most increasing for the demand of positional information, increasing indoor positioning technologies be applied to position determine, room
Among the fields such as interior navigation, social entertainment, information recommendation.
Different with outdoor positioning, indoor positioning is typically among the environment of relative closure, the scale of location and model
Enclosing smaller, indoor environment is complicated, and ripple direct path is the most impacted, and therefore indoor positioning is in positioning precision, reliability, peace
The aspects such as Quan Xing, complexity, direction discernment suffer from being different from the feature of outdoor positioning.
In the various solutions of indoor positioning, according to the range measurement for node to be measured to anchor node whether
On the basis of indoor positioning algorithms can be divided into non-ranging with range finding location algorithm.Mainly wrap based on non-ranging location algorithm
Include: APIT algorithm, fingerprinting localization algorithm based on RSSI etc.；Location algorithm based on range finding specifically includes that TOA algorithm, TDOA
Algorithm, method etc. based on rssi measurement estimation channel model.Although realizing relatively easy based on non-ranging location algorithm, no
Need to carry out internodal range measurement, but there is also simultaneously high for anchor node Spreading requirements, algorithm positioning precision is poor
Etc. problem, it is most important that be mostly based on non-ranging indoor positioning algorithms and be not very suitable for being applied to desired by us
Indoor environment.
At present, indoor positioning technologies is of a great variety, such as WLAN (WLAN), radio-frequency (RF) tag (RFID), purple honeybee
(Zigbee), bluetooth (Bluetooth), ultra-broadband radio (UltraWideBand), earth's magnetic field, strong infrared location, light are followed the tracks of
Location, computer vision location, ultrasonic locating etc..Though the existing indoor positioning technologies such as system such as WLAN, ultra-broadband radio
So achieve local indoor hi-Fix, but location cost be the highest, utilize simultaneously fingerprint database localization method for
The maintenance cost of data base is very big, and moreover the damage of node will have a strong impact on the reliability of location algorithm, and this makes indoor
Location-based service development encounters the biggest resistance.
Summary of the invention
Therefore, it is necessary to provide the indoor of a kind of RSSI based on iBeacons node range finding that can reduce range error
Localization method and system.
The indoor orientation method of a kind of RSSI based on iBeacons node range finding, it comprises the steps:
S1, it is in the RSSI value of the anchor node of diverse location in fixed position continuous several times collection by mobile device, and
Distance between these RSSI value with mobile device with anchor nodes is mapped；
S2, these RSSI value are carried out pretreatment, set up range finding mould by selecting normality value therein its distance corresponding
Type；
S3, by mobile device unknown position gather anchor node RSSI value, and by range finding model calculate movement
Equipment is to the distance of all anchor nodes；
S4, select distance nearest four anchor nodes of mobile device, read its coordinate information；
S5, according to secondary weighted centroid algorithm, calculate the actual coordinate of mobile device；
The elements of a fix are optimized by S6, ground constraint diagram according to actual environment.
In the indoor orientation method of RSSI based on iBeacons node of the present invention range finding, in described step S2
The range finding model set up is as follows:
PL0 (d)=-27.52-33.1*lg (d), wherein PL0 (d) represents the signal strength values that mobile device receives, single
Position is dBm, and d is mobile device receiving range.
In the indoor orientation method of RSSI based on iBeacons node of the present invention range finding, in described step S5
Secondary weighted centroid algorithm determines that mode is as follows:
Wherein Wi is weights, riFor anchor node to unknown node distance, j is that another is unknown
Node；N is positive number, for determining the decisive of weights.
In the indoor orientation method of RSSI based on iBeacons node of the present invention range finding, the value of described n is
1.5。
The present invention also provides for the indoor locating system of a kind of RSSI based on iBeacons node range finding, and it includes walking as follows
Rapid:
RSSI value collecting unit, for being in the anchor of diverse location by mobile device in fixed position continuous several times collection
The RSSI value of node, and the distance between these RSSI value with mobile device with anchor nodes is mapped；
Unit set up by range finding model, for these RSSI value are carried out pretreatment, corresponding by selecting normality value therein
Its distance sets up range finding model；
Metrics calculation unit, for gathering the RSSI value of anchor node, and by range finding by mobile device at unknown position
Model calculates the mobile device distance to all anchor nodes；
Coordinate information reads unit, for selecting four anchor nodes that distance mobile device is nearest, reads its coordinate information；
Actual coordinate acquiring unit, for according to secondary weighted centroid algorithm, calculating the actual coordinate of mobile device；
The elements of a fix, for the ground constraint diagram according to actual environment, are optimized by coordinate optimizing unit.
In the indoor locating system of RSSI based on iBeacons node of the present invention range finding, described range finding model
Set up the range finding model set up in unit as follows:
PL0 (d)=-27.52-33.1*lg (d), wherein PL0 (d) represents the signal strength values that mobile device receives, single
Position is dBm, and d is mobile device receiving range.
In the indoor locating system of RSSI based on iBeacons node of the present invention range finding, described actual coordinate
In acquiring unit, secondary weighted centroid algorithm determines that mode is as follows:
Wherein Wi is weights, riFor anchor node to unknown node distance, j is that another is unknown
Node；N is positive number, for determining the decisive of weights.
In the indoor locating system of RSSI based on iBeacons node of the present invention range finding, the value of described n is
1.5。
The indoor orientation method of RSSI based on the iBeacons node range finding that the enforcement present invention provides and system are with existing
Technology is compared and is had the advantages that the range finding mould being not limited in conventional research work as in dissimilar indoor environment
Type, but to different indoor scenes, different signal sources, carry out data acquisition on the spot, this way more ensure that survey
Away from the accuracy of model, moreover, the present invention, after range finding model is set up, uses mathematical method to carry out excellent to range finding model
Change so that range error reduces.
Accompanying drawing explanation
Fig. 1 is the indoor locating system structured flowchart of RSSI based on the iBeacons node range finding of the embodiment of the present invention.
Detailed description of the invention
The indoor orientation method of a kind of RSSI based on iBeacons node range finding, it comprises the steps:
S1, it is in the RSSI value of the anchor node of diverse location in fixed position continuous several times collection by mobile device, and
Distance between these RSSI value with mobile device with anchor nodes is mapped；
S2, these RSSI value are carried out pretreatment, set up range finding mould by selecting normality value therein its distance corresponding
Type；
S3, by mobile device unknown position gather anchor node RSSI value, and by range finding model calculate movement
Equipment is to the distance of all anchor nodes；
S4, select distance nearest four anchor nodes of mobile device, read its coordinate information；
S5, according to secondary weighted centroid algorithm, calculate the actual coordinate of mobile device；
The elements of a fix are optimized by S6, ground constraint diagram according to actual environment.
IBeacon is the upper New function being equipped with of mobile device OS (iOS7) of Apple's in JIUYUE, 2013 issue.Its work
It is that the equipment equipped with low-power consumption bluetooth (BLE) communication function uses BLE technology distinctive to around sending oneself as mode
ID, the application software receiving this ID can take some actions according to this ID.
In the indoor orientation method of RSSI based on iBeacons node of the present invention range finding, in described step S2
The range finding model set up is as follows:
PL0 (d)=-27.52-33.1*lg (d), wherein PL0 (d) represents the signal strength values that mobile device receives, single
Position is dBm, and d is mobile device receiving range.
In the indoor orientation method of RSSI based on iBeacons node of the present invention range finding, in described step S5
Secondary weighted centroid algorithm determines that mode is as follows:
Wherein Wi is weights, riFor anchor node to unknown node distance, j is that another is unknown
Node；N is positive number, for determining the decisive of weights.
In the indoor orientation method of RSSI based on iBeacons node of the present invention range finding, the value of described n is
1.5。
Use node to carry out indoor positioning to compare to other location and have the biggest advantage.The spy of iBeacons node itself
Point is that equipment is small and exquisite, the iBeacons node that this method uses, and it is so big that size is about a unitary coin, adds encapsulation the most not
Cross more somewhat larger than the half of matchbox, any interior space can be placed on, and iBeacons node uses button electricity
Pond powers, it is not necessary to wiring, be more convenient for the layout of node: cheap, than rely on router WIFI node and
Speech, iBeacons nodal pricing is much lower；Signal stabilization, bluetooth 4.0 specification is at frenulum agreement, radio frequency, LMP Link Manager Protocol
Middle employing Reliability Measures so that interference suffered in communication process is substantially reduced by the signal of iBeacons node, enhances
The stability of signal；More power saving, the bluetooth of redaction in stand-by power consumption and transmitting procedure all than before power saving a lot of, so
Available button cell drives for a long time；Propagation distance is farther, and bluetooth 4.0 is 10 times of conventional Bluetooth in propagation distance, complete
Entirely can adapt to the demand of indoor positioning；Use crowd is many, and present mobile phone is generally equipped with bluetooth module, along with bluetooth 4.0
Promoting, bluetooth also can be more suitable as indoor positioning signal source.
The iBeacons node that the present invention uses, the iBeacons node encapsulated on the basis of using TICC2540.Some
Main running parameter is as follows:
(1) operating frequency: 2.4G}k ISM band.
(2) modulation system: GFSK.
(3) launch power: 0.23dbm, 0.6dbm, 0dbm, 4dbm, AT instruction modification can be passed through.
(4) sensitivity a: < 84dBm at 0.1%BER.
(5) power consumption: under auto sleep pattern；Standby current 400uA-800uA, 8.5mA during transmission.
(6) power supply :+3.3vDC 50mA.
(7) service is supported: Central&Peripheral UUID FFE0, FFEl.
(8) power supply :+3.3VDC 50mA.
As it is shown in figure 1, the embodiment of the present invention also provides for the indoor positioning of a kind of RSSI based on iBeacons node range finding
System, it comprises the steps:
RSSI value collecting unit, for being in the anchor of diverse location by mobile device in fixed position continuous several times collection
The RSSI value of node, and the distance between these RSSI value with mobile device with anchor nodes is mapped；
Unit set up by range finding model, for these RSSI value are carried out pretreatment, corresponding by selecting normality value therein
Its distance sets up range finding model；
Metrics calculation unit, for gathering the RSSI value of anchor node, and by range finding by mobile device at unknown position
Model calculates the mobile device distance to all anchor nodes；
Coordinate information reads unit, for selecting four anchor nodes that distance mobile device is nearest, reads its coordinate information；
Actual coordinate acquiring unit, for according to secondary weighted centroid algorithm, calculating the actual coordinate of mobile device；
The elements of a fix, for the ground constraint diagram according to actual environment, are optimized by coordinate optimizing unit.
In the indoor locating system of RSSI based on iBeacons node of the present invention range finding, described range finding model
Set up the range finding model set up in unit as follows:
PL0 (d)=-27.52-33.1*lg (d), wherein PL0 (d) represents the signal strength values that mobile device receives, single
Position is dBm, and d is mobile device receiving range.
In the indoor locating system of RSSI based on iBeacons node of the present invention range finding, described actual coordinate
In acquiring unit, secondary weighted centroid algorithm determines that mode is as follows:
Wherein Wi is weights, riFor anchor node to unknown node distance, j is that another is unknown
Node；N is positive number, for determining the decisive of weights.
In the indoor locating system of RSSI based on iBeacons node of the present invention range finding, the value of described n is
1.5。
The indoor orientation method of RSSI based on the iBeacons node range finding that the enforcement present invention provides and system are with existing
Technology is compared and is had the advantages that the range finding mould being not limited in conventional research work as in dissimilar indoor environment
Type, but to different indoor scenes, different signal sources, carry out data acquisition on the spot, this way more ensure that survey
Away from the accuracy of model, moreover, the present invention, after range finding model is set up, uses mathematical method to carry out excellent to range finding model
Change so that range error reduces.
It is understood that for the person of ordinary skill of the art, can conceive according to the technology of the present invention and do
Go out other various corresponding changes and deformation, and all these change all should belong to the protection model of the claims in the present invention with deformation
Enclose.
Claims (8)
1. the indoor orientation method of RSSI based on an iBeacons node range finding, it is characterised in that it comprises the steps:
S1, it is in the RSSI value of the anchor node of diverse location in fixed position continuous several times collection by mobile device, and by this
A little distances between RSSI value with mobile device with anchor node are mapped；
S2, these RSSI value are carried out pretreatment, set up range finding model by selecting normality value therein its distance corresponding；
S3, by mobile device unknown position gather anchor node RSSI value, and by range finding model calculate mobile device
Distance to all anchor nodes；
S4, select distance nearest four anchor nodes of mobile device, read its coordinate information；
S5, according to secondary weighted centroid algorithm, calculate the actual coordinate of mobile device；
The elements of a fix are optimized by S6, ground constraint diagram according to actual environment.
2. the indoor orientation method of RSSI based on iBeacons node range finding as claimed in claim 1, it is characterised in that institute
State the range finding model set up in step S2 as follows:
PL0 (d)=-27.52-33.1*lg (d), wherein PL0 (d) represents the signal strength values that mobile device receives, and unit is
DBm, d are mobile device receiving range.
3. the indoor orientation method of RSSI based on iBeacons node range finding as claimed in claim 2, it is characterised in that institute
State secondary weighted centroid algorithm in step S5 and determine that mode is as follows:
Wherein Wi is weights, riFor anchor node to unknown node distance, j is another unknown node；
N is positive number, for determining the decisive of weights.
4. the indoor orientation method of RSSI based on iBeacons node range finding as claimed in claim 3, it is characterised in that institute
The value stating n is 1.5.
5. the indoor locating system of RSSI based on an iBeacons node range finding, it is characterised in that it comprises the steps:
RSSI value collecting unit, for being in the anchor node of diverse location by mobile device in fixed position continuous several times collection
RSSI value, and the distance between these RSSI value with mobile device with anchor nodes is mapped；
Unit set up by range finding model, for these RSSI value are carried out pretreatment, by select normality value therein corresponding its away from
From setting up range finding model；
Metrics calculation unit, for gathering the RSSI value of anchor node, and by range finding model by mobile device at unknown position
Calculate the mobile device distance to all anchor nodes；
Coordinate information reads unit, for selecting four anchor nodes that distance mobile device is nearest, reads its coordinate information；
Actual coordinate acquiring unit, for according to secondary weighted centroid algorithm, calculating the actual coordinate of mobile device；
The elements of a fix, for the ground constraint diagram according to actual environment, are optimized by coordinate optimizing unit.
6. the indoor locating system of RSSI based on iBeacons node range finding as claimed in claim 5, it is characterised in that institute
State range finding model set up in unit set up range finding model as follows:
PL0 (d)=-27.52-33.1*lg (d), wherein PL0 (d) represents the signal strength values that mobile device receives, and unit is
DBm, d are mobile device receiving range.
7. the indoor locating system of RSSI based on iBeacons node range finding as claimed in claim 6, it is characterised in that institute
State secondary weighted centroid algorithm in actual coordinate acquiring unit and determine that mode is as follows:
Wherein Wi is weights, riFor anchor node to unknown node distance, j is another unknown joint
Point；N is positive number, for determining the decisive of weights.
8. the indoor orientation method of RSSI based on iBeacons node range finding as claimed in claim 7, it is characterised in that institute
The value stating n is 1.5.
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Cited By (14)
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|---|---|---|---|---|
| CN106792459A (en) * | 2016-12-22 | 2017-05-31 | 青岛亿联客信息技术有限公司 | The method and system of wireless device high accuracy positioning |
| CN107197494A (en) * | 2017-05-17 | 2017-09-22 | 深圳市炜光科技有限公司 | The localization method and system of bluetooth |
| CN108737952A (en) * | 2018-04-11 | 2018-11-02 | 天津大学 | Based on the improved polygon weighted mass center localization method of RSSI rangings |
| CN108834045A (en) * | 2018-05-31 | 2018-11-16 | 北京邮电大学 | A kind of localization method and device based on location model |
| WO2018209586A1 (en) * | 2017-05-17 | 2018-11-22 | 深圳市炜光科技有限公司 | Bluetooth positioning method and system |
| CN109561062A (en) * | 2017-09-26 | 2019-04-02 | 蔡奇雄 | Wireless device and method for assisting in searching and positioning object |
| CN109721006A (en) * | 2019-01-11 | 2019-05-07 | 郑州嘉晨电器有限公司 | One kind being based on bluetooth close-distance safety automatic alarm system |
| WO2019233054A1 (en) * | 2018-06-04 | 2019-12-12 | 华中师范大学 | Fingerprint-based positioning method and system for smart classroom |
| CN110665208A (en) * | 2019-09-30 | 2020-01-10 | 西安科技大学 | Athlete positioning method and system |
| CN111065047A (en) * | 2019-12-09 | 2020-04-24 | 金华送变电工程有限公司 | IBeacons-based transformer substation security management method and system |
| CN111352069A (en) * | 2018-12-24 | 2020-06-30 | 珠海格力电器股份有限公司 | Indoor positioning method, server, storage medium and program product |
| CN111432368A (en) * | 2020-03-31 | 2020-07-17 | 中国人民解放军国防科技大学 | Ranging and positioning method suitable for sparse anchor node WSN |
| CN113613327A (en) * | 2021-08-16 | 2021-11-05 | 中国科学院空天信息创新研究院 | WiFi-RTT positioning processing system and method based on reflection projection model enhancement |
| US11477757B2 (en) | 2021-02-22 | 2022-10-18 | Cybertan Technology, Inc. | Method for positioning portable devices indoors within a mesh-type wireless network and system employing method |
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| CN106792459B (en) * | 2016-12-22 | 2020-07-21 | 青岛亿联客信息技术有限公司 | Method and system for high-precision positioning of wireless equipment |
| CN106792459A (en) * | 2016-12-22 | 2017-05-31 | 青岛亿联客信息技术有限公司 | The method and system of wireless device high accuracy positioning |
| CN107197494A (en) * | 2017-05-17 | 2017-09-22 | 深圳市炜光科技有限公司 | The localization method and system of bluetooth |
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| CN109561062A (en) * | 2017-09-26 | 2019-04-02 | 蔡奇雄 | Wireless device and method for assisting in searching and positioning object |
| CN108737952A (en) * | 2018-04-11 | 2018-11-02 | 天津大学 | Based on the improved polygon weighted mass center localization method of RSSI rangings |
| CN108834045A (en) * | 2018-05-31 | 2018-11-16 | 北京邮电大学 | A kind of localization method and device based on location model |
| CN108834045B (en) * | 2018-05-31 | 2020-06-23 | 北京邮电大学 | Positioning method and device based on positioning model |
| WO2019233054A1 (en) * | 2018-06-04 | 2019-12-12 | 华中师范大学 | Fingerprint-based positioning method and system for smart classroom |
| CN111352069B (en) * | 2018-12-24 | 2022-03-08 | 珠海格力电器股份有限公司 | Indoor positioning method, server, storage medium and program product |
| CN111352069A (en) * | 2018-12-24 | 2020-06-30 | 珠海格力电器股份有限公司 | Indoor positioning method, server, storage medium and program product |
| CN109721006A (en) * | 2019-01-11 | 2019-05-07 | 郑州嘉晨电器有限公司 | One kind being based on bluetooth close-distance safety automatic alarm system |
| CN110665208A (en) * | 2019-09-30 | 2020-01-10 | 西安科技大学 | Athlete positioning method and system |
| CN110665208B (en) * | 2019-09-30 | 2021-08-27 | 西安科技大学 | Athlete positioning method and system |
| CN111065047A (en) * | 2019-12-09 | 2020-04-24 | 金华送变电工程有限公司 | IBeacons-based transformer substation security management method and system |
| CN111432368A (en) * | 2020-03-31 | 2020-07-17 | 中国人民解放军国防科技大学 | Ranging and positioning method suitable for sparse anchor node WSN |
| US11477757B2 (en) | 2021-02-22 | 2022-10-18 | Cybertan Technology, Inc. | Method for positioning portable devices indoors within a mesh-type wireless network and system employing method |
| CN113613327A (en) * | 2021-08-16 | 2021-11-05 | 中国科学院空天信息创新研究院 | WiFi-RTT positioning processing system and method based on reflection projection model enhancement |
| CN113613327B (en) * | 2021-08-16 | 2024-04-12 | 中国科学院空天信息创新研究院 | WiFi-RTT positioning processing system and method based on reflection projection model enhancement |
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Application publication date: 20161207 |