CN106646379A - Indoor positioning method, device and system based on high-frequency acoustic code - Google Patents
Indoor positioning method, device and system based on high-frequency acoustic code Download PDFInfo
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- CN106646379A CN106646379A CN201611087114.XA CN201611087114A CN106646379A CN 106646379 A CN106646379 A CN 106646379A CN 201611087114 A CN201611087114 A CN 201611087114A CN 106646379 A CN106646379 A CN 106646379A
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- Prior art keywords
- information
- acoustic code
- high frequency
- indoor
- vocoded
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Classifications
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- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to the technical field of indoor location positioning, and especially relates to an indoor positioning method, device and system based on a high-frequency acoustic code. The house is divided into some regions the area of which is equal or unequal, an acoustic code emitter is installed in each region or several adjacent regions, each acoustic code emitter sends position information in certain frequency, the position information of each acoustic code emitter is converted into high-frequency acoustic code information through a central processing unit, a mobile terminal parses the high-frequency acoustic code information into corresponding coordinate information by receiving the high-frequency acoustic code information, the indoor positioning function can be achieved in a soundless manner, and the indoor positioning method, device and system are high in positioning precision and wide in application range.
Description
Technical field
The present invention relates to indoor location field of locating technology, and in particular to a kind of indoor positioning side based on high frequency acoustic code
Method, apparatus and system.
Background technology
Acoustic code, is another information propagation pattern limited across physical space in addition to WIFI, bluetooth, Quick Response Code.
Vocoding technique is a kind of sound wave digital watermark of the 18-20kHz frequency ranges that cannot be heard based on human ear.High frequency acoustic code, refers to utilization
The unheard high-frequency sound of human ear does the communication protocol for connecting various equipment, realizes data transfer, equivalent to " audio frequency Quick Response Code ".
Indoor positioning is referred to realizes that position positions in environment indoors, mainly fixed using wireless telecommunications, architecture, inertial navigation
The multiple technologies such as position are integrated to form a set of indoor location locating system, so as to realize the position indoors in space such as personnel, object
Put monitoring.Common indoor wireless location technology has：Wi-Fi, bluetooth, infrared ray, ultra broadband, RFID, ZigBee and ultrasonic wave.
Although acoustic code is a kind of imperceptible mode of intelligence transmission of human ear, by smart mobile phone, panel computer
With the signal that the mobile terminal such as intelligent watch can capture the wave band, one-way transmission is only needed to be capable of achieving positioning function, therefore, profit
The function of indoor positioning can be realized completely with vocoding technique.However, finding no in the prior art by high frequency acoustic code reality
The technical scheme of existing indoor positioning.
The content of the invention
In order to solve above-mentioned technical problem, the present invention proposes a kind of based on the indoor orientation method of high frequency acoustic code, device
And system.
The present invention is with the realization of following technical scheme：
In a first aspect, the present invention provides a kind of indoor orientation method based on high frequency acoustic code, methods described is carrying Mic's
Perform on mobile terminal, including：
Indoor navigation application software is opened, indoor map is obtained；
The high frequency vocoded information that acoustic code transmitter sends is received, the high frequency vocoded information is the position of the acoustic code transmitter
The high frequency acoustic code that confidence breath is changed into through central processing unit；
The high frequency vocoded information is parsed into corresponding coordinate information；
According to the coordinate information, corresponding coordinate position is marked in the indoor map.
Second aspect, the present invention provides a kind of indoor positioning device based on high frequency acoustic code, and described device is arranged at and carries
The mobile terminal side of Mic, including：
Acquisition module, for opening indoor navigation application software, obtains indoor map；
Receiver module, for receiving the high frequency vocoded information of acoustic code transmitter transmission, the high frequency vocoded information is described
The high frequency acoustic code that the positional information of acoustic code transmitter is changed into through central processing unit；
Parsing module, for the high frequency vocoded information to be parsed into corresponding coordinate information；
Mark module, for according to the coordinate information, corresponding coordinate position being marked in the indoor map.
The third aspect, the present invention provides a kind of indoor locating system based on high frequency acoustic code, including the mobile end with Mic
End, acoustic code transmitter and central processing unit, the mobile terminal includes the device described in second aspect.
Relative to prior art, what the present invention was provided is had based on the indoor orientation method of high frequency acoustic code, apparatus and system
Following beneficial effect：
Interior is divided into area equation or some regions not etc. by the present invention, in each region or adjacent several regions
One acoustic code transmitter is installed, each acoustic code transmitter sends positional information, the positional information of acoustic code transmitter with certain frequency
High frequency vocoded information is changed into through central processing unit, mobile terminal passes through to receive above-mentioned high frequency vocoded information, by the high frequency
Vocoded information is parsed into corresponding coordinate information, and the function of indoor positioning just can be realized with " silent ", and positioning precision is high,
It is applied widely.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of flow chart of indoor orientation method based on high frequency acoustic code that the embodiment of the present invention one is provided；
Fig. 2 is a kind of indoor orientation method based on high frequency acoustic code by taking garage as an example that the embodiment of the present invention one is provided
Flow chart；
Fig. 3 is a kind of structured flowchart of indoor positioning device based on high frequency acoustic code that the embodiment of the present invention two is provided；
Fig. 4 is the structured flowchart of the indoor positioning device that the another kind that the embodiment of the present invention two is provided is based on high frequency acoustic code；
Fig. 5 is a kind of structured flowchart of indoor locating system based on high frequency acoustic code that the embodiment of the present invention three is provided.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
Embodiment one：
The embodiment of the method that the embodiment of the present application one is provided can be performed on the mobile terminal with Mic.Mic's is complete
Title is Microphone, means microphone, microphone, and microphone is receiving electronic devices and components of sound.In the present embodiment
Mobile terminal be not limited solely to carry iOS or Android operation system, with display screen and can make in movement
Handheld computer device, such as smart mobile phone and panel computer, also including can carry Android operation system, have
Display screen and can be used in movement intelligent watch.
With reference to Fig. 1, Fig. 1 is a kind of according to embodiments of the present invention one indoor orientation method based on high frequency acoustic code for providing
Flow chart, the figure is walked with the flow process that the mobile terminal angle with Mic is illustrated based on the indoor orientation method of high frequency acoustic code
Suddenly.Methods described includes：
Step S101. opens indoor navigation application software, obtains indoor map.
According to GPS location architecture information before into certain building, then in smart mobile phone, panel computer or intelligent watch etc.
Indoor navigation application software is opened on mobile terminal with Mic, according to GPS location to or the situation of building letter that is manually entered
Breath, opens the indoor map of correspondence building.
GPS (Global Positioning System), i.e. global positioning system, using the system, user can be complete
Round-the-clock, continuous, real-time three-dimensional navigation positioning is realized in the range of ball and is tested the speed；In addition, using the system, user can also enter
The high-precision Time Transmission of row and high-precision precision positioning.
As a kind of optional embodiment, also include before step S101：By interior be divided into area equation or not etc. one
A little regions, install an acoustic code transmitter in each region or adjacent several regions, each acoustic code transmitter is with certain frequency
Positional information is sent, through central processing unit high frequency vocoded information is changed into.
Step S102. receives the high frequency vocoded information that acoustic code transmitter sends, and the high frequency vocoded information is the acoustic code
The high frequency acoustic code that the positional information of transmitter is changed into through central processing unit.
The high frequency vocoded information is parsed into corresponding coordinate information by step S103..
Wherein, the coordinate information is three-dimensional information, described comprising the two-dimensional coordinate information in floor information and the floor
Two-dimensional coordinate information is latitude and longitude information or the coordinate information obtained according to two-dimensional matrix simple algorithm.
Step S104. marks corresponding coordinate position according to the coordinate information in the indoor map.
As a kind of optional embodiment, also include after step S104：According to current coordinate position, current location is obtained
To the navigation circuit of target location.
When in navigation procedure, the direction of travel that by information such as sound, vibrations user can be pointed out follow-up.
With reference to Fig. 2, Fig. 2 is that a kind of interior based on high frequency acoustic code by taking garage as an example that the embodiment of the present invention one is provided is determined
The flow chart of position method.It should be noted that the example is using garage as interior, mobile phone is right as the mobile terminal with Mic
High frequency acoustic code is positioned and the method for navigation is illustrated.Methods described includes：
Step S201. opens indoor navigation application software, obtains indoor map.
According to GPS location architecture information before into certain building, indoor navigation application is then opened on smart mobile phone soft
Part, according to GPS location to or the situation of building information that is manually entered, open the indoor map of correspondence building.
Indoor navigation application software is opened, obtain also includes before indoor map：In each parking stall in garage or per adjacent
Several parking stalls in install an acoustic code transmitter, each acoustic code transmitter with certain frequency send positional information, through central authorities
Processor changes into high frequency vocoded information.
Wherein, it is asynchronous that adjacent acoustic code transmitter sends vocoded information, it is to avoid adjacent acoustic code transmitter is launched simultaneously
The interference of generation.
It should be noted that central processing unit can adjust acoustic code transmitter according to the interval of adjacent acoustic code emitter
Transmission power, its objective is to allow acoustic code transmitter in the high frequency vocoded information that its transmitting can be received in effective range,
More interference will not be brought to adjacent area again simultaneously.
Used as a kind of optional embodiment, each acoustic code transmitter can be a single processing equipment, i.e. each sound
Code transmitter possesses the microprocessor of oneself, positional information can be converted into high frequency acoustic code according to given protocol, it is possible to from
The frequency and power of row control transmitting.
Used as a kind of optional embodiment, all of acoustic code transmitter is controlled by a unified central processing unit,
I.e. central processing unit controls the tranmitting frequency and transmission power of each acoustic code transmitter.Central processing unit is by the position of each acoustic code transmitter
Confidence breath changes into high frequency acoustic code, is sent to corresponding acoustic code reflector.
Step S202. receives the high frequency vocoded information that acoustic code transmitter sends after garage has stopped car.
Wherein, the high frequency vocoded information is that the positional information of the acoustic code transmitter is changed into through central processing unit
High frequency acoustic code.
The high frequency vocoded information is parsed into corresponding coordinate information by step S203..
Wherein, the coordinate information is three-dimensional information, described comprising the two-dimensional coordinate information in floor information and the floor
Two-dimensional coordinate information is latitude and longitude information or the coordinate information obtained according to two-dimensional matrix simple algorithm.
Step S204. marks corresponding coordinate position according to the coordinate information in the indoor map, and should
Coordinate position is used as succeeding target position.
When looking for car behind step S205., the acoustic code recorded when indoors input is stopped in the search column of navigation application software
The positional information of transmitter, searches for the coordinate position.
Step S206. determines whether to search corresponding parking space information.
If so, step S207. then will be marked on the target position information for searching indoors map, and according to current
Cook up navigation circuit in position.
Step S208. is if it is not, then point out user's " not searching relevant information, please check whether information is input into wrong ".
It should be appreciated by those skilled in the art, except garage enforcement make an exception, the present invention be also applied to warehouse and
The places such as supermarket, for supermarket, its vocoded information can also include the related letter of commodity in addition to floor and coordinate position
Breath, is easy to user to search.
Embodiment two：
With reference to Fig. 3, Fig. 3 is a kind of structure of indoor positioning device based on high frequency acoustic code that the embodiment of the present invention two is provided
Block diagram, the device is corresponding with the embodiment of the method shown in Fig. 1.
As shown in figure 3, the present embodiment based on the indoor positioning device 300 of high frequency acoustic code is arranged on mobile terminal side, wrap
Include：
Acquisition module 301, for opening indoor navigation application software, obtains indoor map；
Receiver module 302, for receiving the high frequency vocoded information of acoustic code transmitter transmission, the high frequency vocoded information is institute
State the high frequency acoustic code that the positional information of acoustic code transmitter is changed into through central processing unit；
Wherein, the acoustic code transmitter is located in a region of interior or adjacent several regions, each acoustic code transmitting
Device sends positional information with certain frequency, and it is asynchronous that adjacent acoustic code transmitter sends vocoded information, it is to avoid adjacent acoustic code is sent out
Emitter launches the interference for producing simultaneously.
It should be noted that central processing unit is additionally operable to the interval according to adjacent acoustic code emitter, acoustic code transmitter is adjusted
Transmission power, its objective is to allow acoustic code transmitter that high frequency acoustic code letter of its transmitting can be received in effective range
Breath, while and more interference will not be brought to adjacent area.
Parsing module 303, for the high frequency vocoded information to be parsed into corresponding coordinate information；
Wherein, the coordinate information is three-dimensional information, described comprising the two-dimensional coordinate information in floor information and the floor
Two-dimensional coordinate information is latitude and longitude information or the coordinate information obtained according to two-dimensional matrix simple algorithm.
Mark module 304, for according to the coordinate information, corresponding coordinate bit being marked in the indoor map
Put.
As a kind of optional embodiment, as shown in figure 4, described device 300 also includes：Navigation circuit planning module 305,
For according to current coordinate position, cooking up current location to the navigation circuit of target location.
Embodiment three：
With reference to Fig. 5, Fig. 5 is a kind of structure of indoor locating system based on high frequency acoustic code that the embodiment of the present invention three is provided
Block diagram.
As shown in figure 5, present invention also offers a kind of embodiment of the indoor locating system 500 based on high frequency acoustic code, is somebody's turn to do
System includes acoustic code transmitter 501, central processing unit 502 and the mobile terminal with Mic 503, and the mobile terminal 503 includes
Device described in Fig. 3.
The full name of Mic is Microphone, means microphone, microphone, and microphone is receiving an electronics unit of sound
Device.Mobile terminal 503 in the present embodiment be not limited solely to carry iOS or Android operation system, with display screen
And can be used in movement handheld computer device, such as smart mobile phone and panel computer, also including can carry
It is Android operation system, with display screen and can be used in movement intelligent watch.
Wherein, acoustic code transmitter 501 is located in a region of interior or adjacent several regions, each acoustic code transmitter
501 send positional information with certain frequency, and it is asynchronous that adjacent acoustic code transmitter 501 sends vocoded information, it is to avoid adjacent sound
Code transmitter 501 launches the interference for producing simultaneously.
It should be noted that the positional information of acoustic code transmitter 501 can be changed into high frequency sound by central processing unit 502
Code, and according to the interval of adjacent acoustic code emitter 501, the transmission power of acoustic code transmitter 501 is adjusted, its objective is to allow acoustic code to send out
Emitter 501 can be received the high frequency vocoded information of its transmitting in effective range, while and will not give adjacent area band
Carry out more interference.
Used as a kind of optional embodiment, each acoustic code transmitter can be a single processing equipment, i.e. each sound
Code transmitter possesses the microprocessor of oneself, positional information can be converted into high frequency acoustic code according to given protocol, it is possible to from
The frequency and power of row control transmitting.
Used as a kind of optional embodiment, all of acoustic code transmitter is controlled by a unified central processing unit,
I.e. central processing unit controls the tranmitting frequency and transmission power of each acoustic code transmitter.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in certain embodiment
The part of detailed description, may refer to the associated description of other embodiment.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of indoor orientation method based on high frequency acoustic code, it is characterised in that methods described is on the mobile terminal with Mic
Perform, including：
Indoor navigation application software is opened, indoor map is obtained；
The high frequency vocoded information that acoustic code transmitter sends is received, the high frequency vocoded information is the position letter of the acoustic code transmitter
The high frequency acoustic code that breath is changed into through central processing unit；
The high frequency vocoded information is parsed into corresponding coordinate information；
According to the coordinate information, corresponding coordinate position is marked in the indoor map.
2. method according to claim 1, it is characterised in that the acoustic code transmitter is located at an indoor region or phase
In adjacent several regions.
3. method according to claim 2, it is characterised in that the coordinate information is three-dimensional information, comprising floor information
With the two-dimensional coordinate information in the floor, the two-dimensional coordinate information is for latitude and longitude information or according to two-dimensional matrix simple algorithm
The coordinate information of acquisition.
4. method according to claim 1 and 2, it is characterised in that the central processing unit is by the acoustic code transmitter
Positional information changes into high frequency vocoded information, and controls the tranmitting frequency and transmission power of the acoustic code transmitter.
5. a kind of indoor positioning device based on high frequency acoustic code, it is characterised in that described device is arranged at the mobile end with Mic
Side, including：
Acquisition module, for opening indoor navigation application software, obtains indoor map；
Receiver module, for receiving the high frequency vocoded information of acoustic code transmitter transmission, the high frequency vocoded information is the acoustic code
The high frequency acoustic code that the positional information of transmitter is changed into through central processing unit；
Parsing module, for the high frequency vocoded information to be parsed into corresponding coordinate information；
Mark module, for according to the coordinate information, corresponding coordinate position being marked in the indoor map.
6. device according to claim 5, it is characterised in that the acoustic code transmitter is located at an indoor region or phase
In adjacent several regions.
7. device according to claim 6, it is characterised in that the coordinate information is three-dimensional information, comprising floor information
With the two-dimensional coordinate information in the floor, the two-dimensional coordinate information is for latitude and longitude information or according to two-dimensional matrix simple algorithm
The coordinate information of acquisition.
8. device according to claim 7, it is characterised in that the central processing unit is used for the acoustic code transmitter
Positional information changes into high frequency vocoded information, and for controlling the tranmitting frequency and transmission power of the acoustic code transmitter.
9. a kind of indoor locating system based on high frequency acoustic code, it is characterised in that include that the mobile terminal with Mic, acoustic code are sent out
Emitter and central processing unit, the mobile terminal includes arbitrary described device in claim 5-8.
10. system according to claim 9, it is characterised in that the mobile terminal include smart mobile phone, panel computer and
Intelligent watch.
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| CN201611087114.XA CN106646379A (en) | 2016-12-01 | 2016-12-01 | Indoor positioning method, device and system based on high-frequency acoustic code |
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| CN201611087114.XA CN106646379A (en) | 2016-12-01 | 2016-12-01 | Indoor positioning method, device and system based on high-frequency acoustic code |
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