CN107315166A - Microstar's architecture system and method based on single or multiple Bluetooth transmission units - Google Patents
Microstar's architecture system and method based on single or multiple Bluetooth transmission units Download PDFInfo
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- CN107315166A CN107315166A CN201710529644.3A CN201710529644A CN107315166A CN 107315166 A CN107315166 A CN 107315166A CN 201710529644 A CN201710529644 A CN 201710529644A CN 107315166 A CN107315166 A CN 107315166A
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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
- G01S5/02—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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- 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
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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
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- 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
- G01S5/0257—Hybrid positioning
- G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
-
- 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
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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- 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
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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)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention belongs to indoor positioning technologies field, disclose a kind of Microstar's architecture system and method based on single or multiple Bluetooth transmission units, alignment system includes identification code, coordinate, floor, the room number that at least one Microstar base station is used to broadcast base station, launcher signal propagation parameter, the textual information of mode of operation；Microstar's architecture system on user equipment is used for the textual information that the signal for receiving Microstar base station and parsing obtain and calculates the one-dimensional of itself, two dimension or three-dimensional coordinate.The present invention is not changed user's custom, the precision suitable with outdoor positioning can be obtained using popular mobile phone without chronometer time synchronization and special receiving device；Interior outside fix slitless connection can be achieved；Microstar's base station cost is low, low in energy consumption, and deployment is convenient, without external netting twine, optical fiber etc.；Good environmental adaptability, scalability is good.
Description
Technical field
The invention belongs to indoor positioning technologies field, more particularly to it is a kind of based on the micro- of single or multiple Bluetooth transmission units
Star architecture system and method.
Background technology
Indoor positioning technologies are one of location technologies emerging in recent years.Compared with outdoor positioning technology, indoor positioning is led to
Chang Yi closing, reliable location Calculation is realized in more complicated space.The main method of current indoor positioning has neighbour
Method, geometric method, scene analysis method, circuit predication method etc..Wherein nearest neighbour method and scene analysis method be primarily adapted for use in required precision compared with
Low indoor positioning occasion, circuit predication method position error adds up over time, it is difficult to independently as high-precision indoor positioning
Method.Geometric method depends on all kinds of sound, light, electric signal, by directly or indirectly determining between target and reference point
Relative distance, angular relationship determines the position of target.Current geometric method is still the optimal algorithm of high-precision indoor positioning.
Based on unlike signal frequency and signaling protocol, reach that ten is several available for the technological means for realizing indoor positioning, it is common
There is laser, ultrasonic wave, infrared ray, cellular network, radio broadcasting, encoded visible ray, Wi-Fi, bluetooth, Zigbee,
RFID etc..The achievable precision of different technologies and coverage are had nothing in common with each other, but these signals are required for laying in advance actively
It is most of to be also required for special ustomer premises access equipment to realize or passive positioning node could realize location Calculation to coordinate,
System cost of implementation is high, is unfavorable for promoting.In these technologies, Wi-Fi and Bluetooth technology are existing due to being widely used
Most of mobile phone all support that Wi-Fi and bluetooth are communicated, it is possible to achieve do not change the interior of existing user receiving equipment
Positioning, and other most of equipment are required for user terminal to be equipped with special positioning label.Wi-Fi access points (AP) need connection
Power supply simultaneously accesses cable network, lays more complicated.The standard of bluetooth 4.0 considerably reduces the power consumption of Bluetooth transmission module, at present
The cost of Bluetooth transmission module also has competitiveness very much.The present invention proposes a kind of high accuracy based on Bluetooth technology, Gao Ke
By property, inexpensive indoor positioning solution.
In summary, the problem of prior art is present be：
Although can realize that the technical method of indoor positioning is a lot, most of technology is required for laying special node
With special user receiving equipment.The laying of node, maintenance cost is costly, and user needs additional investment, promotes difficulty big.
Special signal and the flexibility ratio for being Design of Signal a little of transceiver are bigger, it is easier to which design is adapted to the letter of indoor positioning
Number system.Some location technologies such as laser, although UWB can realize decimetre to the positioning of Centimeter Level, equipment cost is high, peace
Reload request is high, and difficulty is big, it is difficult to a wide range of to promote.The indoor positioning technologies such as Wi-Fi location technologies of low cost, bluetooth positioning skill
Art precision all rests on the stability of several meters of level and positioning, and reliability also has much room for improvement.Especially, for low cost
For bluetooth module, signal stabilization is poor.The PCB antenna of low performance cause signal launch and receive have to direction it is obvious according to
Lai Xing.Indoor environment is complicated so that Bluetooth signal produces step or cyclic fluctuation, it is difficult to which precision indoor positioning is difficult to and outdoor
The coordinate that GPS is obtained carries out bumpless transfer, and this largely hampers the business popularization and application of indoor positioning technologies.Interior is fixed
Another problem of position technology is that most of indoor locating system is all based on local coordinate system foundation, it is impossible to and outdoor GPS
Positioning is linked up.Ultimately resulting in indoor and outdoors alignment system can only individually use, and be made troubles to user.
The content of the invention
The problem of existing for prior art, the invention provides a kind of based on the micro- of single or multiple Bluetooth transmission units
Star architecture system and method.
The present invention is achieved in that a kind of Microstar's architecture system based on single or multiple Bluetooth transmission units,
Microstar's architecture system based on single or multiple Bluetooth transmission units, including：
At least one Microstar base station, installed in known to coordinate on fixing point, for transmitting the information that positioning is used, these
The identification code, coordinate, floor, room number, signal propagation parameter, the electricity of mode of operation that include but is not limited to Microstar base station of information
Literary information；
Microstar's architecture system on user equipment；It is connected by wireless signal with Microstar base station, for receiving Microstar
Textual information that the signal of base station and parsing are obtained simultaneously calculates the one-dimensional of itself, two dimension or three-dimensional coordinate.
Further, the coordinate also includes spherical coordinate system coordinate WGS84 coordinates, CGCS2000 coordinates, coordinate system
Coordinate system coordinate after coordinate, indoor coordinate system coordinate and encryption；Multiple Microstar base stations constitute MANET system.
Further, the Microstar base station is made up of one or more bluetooth units and a micro-control unit MCU；
Each bluetooth unit is made up of Bluetooth chip, bluetooth signals. antenna and peripheral circuit；Bluetooth unit is according to certain
Geometric configuration arranges to improve the quality of Bluetooth signal；
All bluetooth units are all connected with micro-control unit MCU；Which part bluetooth unit is used for the hair of Bluetooth signal
Penetrate, another part bluetooth unit is used for the reception of Bluetooth signal；The micro-control unit MCU is responsible for controlling each bluetooth unit
Work.
Further, Microstar's architecture system on user equipment includes user terminal, by parsing textual information and survey
The distance for measuring Microstar base station realizes real-time positioning；The user terminal is available for by need to only scan Bluetooth signal
The information of positioning, without being linked with the pairing of Microstar base station；
User terminal passes through number by receiving the signal strength values RSSI of multiple bluetooth transmitters of same Microstar base station
High accuracy, highly reliable distance measure are obtained according to processing strategy；
The positioning mode of operation of user terminal includes but is not limited to obtain 3 d space coordinate, and horizontal plane two-dimensional coordinate hangs down
Face two-dimensional coordinate, one-dimensional coordinate, mileage information, floor information, room number directly.
Further, the user terminal scans multiple bluetooth modules and measures data calculating processing；The user is whole
End includes but is not limited to smart mobile phone, bracelet, tracker, flush bonding module, intelligent robot and industrial sensor equipment.
Another object of the present invention is to provide a kind of architecture side of Microstar based on single or multiple Bluetooth transmission units
Method, is specifically included：
Step one, Microstar's base station mount point is equably selected according to certain density in coverage；Packing density is according to micro-
The coverage at satellite-based station is calculated；For three-dimensional localization, enable any region in service area receive three or more than three it is micro-
The signal at satellite-based station；Mount point is covered with whole coverage；In passageway, the belt-like zone in corridor should avoid Microstar base station from being arranged on
On same straight line or approximate same straight line, the geometry intensity with the deployment of Microstar base station；
Step 2, the relevant information injection Microstar base station for the Microstar base station that user terminal is concerned about；To whole coverage
Microstar base station to be mounted is needed to number one by one, and by the numbering of Microstar base station, coordinate, floor, signal corrects other of parameter
Related information is encoded, and is encrypted, and inject Microstar base station；, can be with text by the information of write-in in Microstar's base station operation
Form be broadcast to user terminal；Space topology analyzing need to be used to ensure numbering identical two when Microstar base station is more, during laying
Individual Microstar base station is not in same working region；
Step 3, installs Microstar base station to specified location, and start Microstar base station one by one；In installation process, it should make micro-
The information injected in the locus of satellite-based station installation and step 2 keeps corresponding；Start behind Microstar base station, check Microstar
Whether the signal of base station is working properly, and whether the telegraph text content broadcast is correct；
Step 4, user terminal opens Bluetooth receiving function, can scan the signal for obtaining Microstar's Base Transmitter；And open
Microstar's architecture service is opened, the Microstar's base station information received is obtained automatically, and demodulate telegraph text content；
Step 5, the Microstar's architecture service run in user terminal can obtain each Microstar's Base Transmitter in real time
Signal intensity RSSI, and the Microstar's base station location included in text and other relevant informations are demodulated, pass through suitable signal
Processing extracts stable, reliable geometric distance information with filtering method from the signal received, and is used using geometric method determination
The position of family terminal；
Step 6, the Microstar's architecture service of operation on the subscriber terminal calculates obtained coordinate by system API, matches somebody with somebody
Indoor map is closed, realizes that indoor navigation, positioning, tracking, track show, monitored.
Further, in step one, the geometry intensity of Microstar base station is assessed with positioning precision decay factor PDOP；Positioning precision
Decay factor defines observing matrix A：
[x, y, z] is customer location, [x in formulai,yi,zi] for the position of i-th Microstar base station, ρiFor customer location and
Geometric distance between i Microstar base stationN is in the visible Microstar's base of customer location
Stand number；
According to observing matrix definition association factor pin Q=(AT*A)-1, wherein operator * representing matrixs multiplication, operator (
)TRepresenting matrix transposition computing, operator ()-1Representing matrix inversion operation；
The square formation that obtained Q matrixes are a 3*3 is calculated, PDOP can be calculated with following formula：
Q in formulaijRepresent the i-th row of Q matrixes, the element of jth row；PDOP is more big, thinks Microstar's base station geometric configuration intensity
It is poorer；In selection Microstar's base station mount point stage, determine that Microstar base station is pacified by calculating the PDOP values of each site of coverage
Whether reasonable decorate position；When two-dimensional localization, dimension-reduction treatment can be carried out to above-mentioned computational methods；
After selected Microstar base station mount point, the coordinate of each mount point is measured one by one；The coordinate of each mount point ensures
Under same set of coordinate system, the coordinate system is room coordinates system, the local coordinate system of building coordinate system, or sat for global coordinates system
Mark；Obtaining base station mount point global coordinates system of indoor Microstar seat calibration method includes:
The method of relative positioning measurement；The global coordinates of outdoor some or several index points are obtained using GNSS methods
It is coordinate, by the relative position of target point and outdoor signage point in total powerstation, theodolite, laser range finder measuring chamber, then counts
Calculate the global coordinates system coordinate for trying to achieve indoor index point；
The method of local coordinate system conversion；The relative position relation that there is the local coordinate system of design drawing coverage then makes
The global coordinates system coordinate of three or more than three feature point of building is measured with GNSS means, the whole world of these characteristic points is utilized
Coordinate and local coordinate solve conversion parameter between two sets of coordinate systems；Local coordinate system coordinate is all turned using these conversion parameters
It is changed to global coordinates system coordinate.
Further, stable, reliable geometric distance is extracted from the signal received by signal transacting and filtering method to believe
Breath, and determine using geometric method the position of user terminal；User to Microstar base station geometric distance, with Taylor series expansion,
It is expressed as：
ρ in formula0It is the approximate geometry distance of user equipment all Microstar base stations, ε is nonlinearity erron；[xi,yi,zi] it is i-th
The coordinate of individual Microstar base station, [dx, dy, dz] is the increment of user coordinates；Neglect the nonlinearity erron of above formula, above formula expression
For：
In view of the situation of multiple Microstar base stations, the linearized system is expressed as：
E(y)≈Ax；
The least square solution of the linearized system is
WhereinIt is that estimation obtains user coordinates increment, P is Quan Zhen；After increment of coordinate is tried to achieve, approximate coordinate is updated,
And coordinates computed increment again, the increment of coordinate obtained until calculating is sufficiently small；
User's approximate coordinate is unknown when positioning first, using outdoor GNSS positioning results as initial approximation coordinate, or
Add the mode of a random offset that initial coordinate is set using to some base station coordinates；Least square method, which is used to initialize, filters
Ripple device, follow-up navigator fix is calculated using extended BHF approach EKF；For most of indoor positioning scene, EKF is used
Random walk modeling user terminal coordinate mobile status, extended BHF approach model is expressed as form：
Time updates：
QkIt is epoch k process noise matrix, the matrix is adjusted according to the movement velocity of user equipment；
KkIt is epoch k filtering gain matrix, RkIt is to produce after renewal after the completion of observation variance-covariance matrix, filtering
Position information of user's terminal.
Advantages of the present invention and good effect are：
The present invention provides a kind of inexpensive indoor positioning scheme, and Microstar's base station cost is low, and deployment is convenient, without chronometer time
It is synchronous.
The present invention does not change user's custom, and the precision suitable with outdoor positioning can be obtained using popular mobile phone.
Indoor outside fix slitless connection can be achieved in the present invention, improves the Consumer's Experience of indoor positioning.
The present invention improves the degree of accuracy of Bluetooth signal ranging, stability by way of multiple bluetooth units cooperate
And reliability, improve the positioning performance of Bluetooth signal.
Microstar's base station power consumption of the present invention is low, and deployment is convenient, and without external netting twine, optical fiber etc., maintenance cost is low.Can basis
Indoor scene, realizes one-dimensional, two dimension, three-dimensional localization, good environmental adaptability, scalability is good.
Brief description of the drawings
Fig. 1 is that Microstar's architecture system provided in an embodiment of the present invention based on single or multiple Bluetooth transmission units is shown
It is intended to.
In figure：1st, Microstar base station；2nd, Microstar's architecture system on user equipment.
Fig. 2 is Microstar's base station physical structural representation provided in an embodiment of the present invention.
Fig. 3 is Microstar's base station functions logical construction schematic block diagram provided in an embodiment of the present invention.
Fig. 4 is Microstar's architecture technology specific implementation step flow chart provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Below in conjunction with the accompanying drawings and specific embodiment to the present invention application principle be further described.
As shown in figure 1, Microstar's architecture provided in an embodiment of the present invention based on single or multiple Bluetooth transmission units
System, including two parts composition, the Microstar's architecture system 2 of Microstar base station 1 and operation on a user device；
The system operation needs to dispose two or more Microstar base stations 1 and is arranged on known to coordinate on fixing point.
The text that Microstar's architecture system 2 on user equipment is obtained by the signal and parsing that receive Microstar base station is believed
Breath calculates the one-dimensional of itself, two dimension or three-dimensional coordinate.
The one-dimensional or two-dimensional coordinate for calculating user is such as needed to need at least two Microstar base stations；Such as need the three-dimensional of calculating user
Coordinate, then need at least three Microstar base stations.Itself there is Bluetooth signal to launch and receive capabilities for single Microstar base station 1.Microstar's base
The bluetooth module stood inside 1 passes through microcontroller (MCU) and carries out link and signal transmission control between module.And Microstar's base
Stand and possess mutual transmission and networking function between signal between 1 and base station.
Microstar base station of the present invention electrical principle is as shown in Fig. 2 Microstar base station of the present invention is by one or many
Individual bluetooth unit composition and a micro-control unit composition.Each bluetooth unit is by Bluetooth chip, bluetooth signals. antenna and outer
Enclose circuit composition.Bluetooth unit arranges to improve the quality of Bluetooth signal according to certain geometric configuration.All bluetooth units are all
It is connected with micro-control unit (MCU).Which part bluetooth unit is used for the transmitting of Bluetooth signal, and another part bluetooth unit is used
In the reception of Bluetooth signal.MCU is responsible for controlling the work of each bluetooth unit.Whole Microstar base station has MANET and signal transmission
Function.
Microstar's base station logic functional structure of the present invention is as shown in Figure 3.Each bluetooth unit is responsible for independent Bluetooth letter
Number transmitting or receive, whole Microstar base station may include one or more bluetooth unit independent transmission/reception Bluetooth signals.It is all
Bluetooth unit is all controlled by for micro-control unit (MCU).Micro-control unit (Microstar's BTS management module) mainly completes four sides
The work in face：(1) bluetooth unit is managed, including control bluetooth unit work, realizes note etc. on bluetooth unit text；(2) text
Coding and encrypted work, the text that MCU needs to broadcast according to certain rule to Microstar base station, enter according to certain data protocol
Row coding and encryption, it is ensured that text is correct, is reliably transmitted to user equipment.(3) health status monitoring of each bluetooth unit,
MCU grasps the working condition of each bluetooth unit by the communication between each bluetooth unit, is supervised by Bluetooth receptions unit
The working condition of other Microstar base stations and Bluetooth signal calibration around control；(4) the order system of Microstar base station, system pipes are realized
Reason person sends the configuration that Microstar base station is realized in order, control and inquiry work by the communication between MCU to Microstar base station
State etc..The software and hardware of Microstar base station together form the service end of whole alignment system, and user terminal be then run it is micro-
The mobile device of star architecture service software, such as smart mobile phone.
As shown in figure 4, Microstar's architecture provided in an embodiment of the present invention based on single or multiple Bluetooth transmission units
Method, is specifically included：
S101：In coverage according to certain density, Microstar's base station mount point is equably selected；Packing density is according to Microstar
The coverage of base station is calculated；For three-dimensional localization, any region in service area is set to receive three or more than three Microstars
The signal of base station；Mount point is covered with whole coverage；In passageway, the belt-like zone in corridor should avoid Microstar base station from being arranged on together
On straight line or approximate same straight line, the geometry intensity with the deployment of Microstar base station；
S102：The relevant information injection Microstar base station for the Microstar base station that user terminal is concerned about；Whole coverage is needed
Microstar base station to be mounted is numbered one by one, and by the numbering of Microstar base station, coordinate, floor, signal corrects other phases of parameter
The information of pass is encoded, encryption, and injects Microstar base station；, can be with text by the information of write-in in Microstar's base station operation
Form is broadcast to user terminal；Space topology analyzing need to be used to ensure numbering identical two when Microstar base station is more, during laying
Microstar base station is not in same working region；
S103：Microstar base station is installed one by one to specified location, and starts Microstar base station；In installation process, Microstar should be made
The information injected in the locus S102 that base station is installed keeps corresponding；Start behind Microstar base station, check Microstar base station
Whether signal is working properly, and whether the telegraph text content broadcast is correct；
S104：User terminal opens Bluetooth receiving function, can scan the signal for obtaining Microstar's Base Transmitter；And open
Microstar's architecture service, obtains the Microstar's base station information received, and demodulate telegraph text content automatically；
S105：The Microstar's architecture service run in user terminal can obtain the letter of each Microstar's Base Transmitter in real time
Number intensity RSSI, and the Microstar's base station location included in text and other relevant informations are demodulated, at suitable signal
Reason extracts stable, reliable geometric distance information with filtering method from the signal received, and determines user using geometric method
The position of terminal；
S106：The Microstar's architecture service of operation on the subscriber terminal calculates obtained coordinate by system API, coordinates
Indoor map, realizes that indoor navigation, positioning, tracking, track show, monitored.
The application principle of the present invention is further described with reference to specific embodiment.
In Microstar's base station positioning method provided in an embodiment of the present invention based on single or multiple Bluetooth transmission units,
1) in the coverage of the system according to certain density, Microstar's base station mount point is equably selected as far as possible.Install close
Degree should be calculated according to the coverage of Microstar base station, when three-dimensional localization, should ensure that any region energy in service area
The signal of three or more than three Microstar base stations is received, mount point should be covered with whole coverage as far as possible.In passageway, corridor etc.
Belt-like zone should avoid Microstar base station from being arranged on same straight line or approximate same straight line, it is ensured that the deployment tool of Microstar base station
There is preferable geometry intensity.Microstar's base station geometry intensity can be assessed with positioning precision decay factor (PDOP).Geometric accuracy decays
Factor definable observing matrix A：
[x, y, z] is customer location, [x in formulai,yi,zi] for the position of i-th Microstar base station, ρiFor customer location and
Geometric distance between i Microstar base stationN is in the visible Microstar's base of customer location
Stand number.Can be according to observing matrix definition association factor pin Q=(AT*A)-1, wherein operator * representing matrixs multiplication, operator
(·)TRepresenting matrix transposition computing, operator ()-1Representing matrix inversion operation.It is a 3*3 to calculate obtained Q matrixes
Square formation, PDOP can be calculated with following formula：
Q in formulaijRepresent the i-th row of Q matrixes, the element of jth row.PDOP is more big, thinks Microstar's base station geometric configuration intensity
It is poorer.In selection Microstar's base station mount point stage, Microstar's base can be determined by calculating the PDOP values of each each site of coverage
Whether mount point of standing position is reasonable.When two-dimensional localization, dimension-reduction treatment, calculating process can be carried out to above-mentioned computational methods
It is similar.
, it is necessary to measure the coordinate of each mount point one by one after selected Microstar base station mount point.The coordinate of each mount point should
Ensure under same set of coordinate system, the coordinate system can be room coordinates system, the local coordinate system such as building coordinate system can also
Global coordinates system coordinate, such as WGS84 coordinate systems, CGCS2000 coordinate systems etc..The use of global coordinates system coordinate is to realize indoor and outdoor
The precondition of seamless positioning, therefore there is bigger practical value using global coordinates system coordinate.Obtain indoor Microstar base station
Mount point global coordinates system, which sits calibration method, two kinds:
(1) the global coordinates system coordinate of outdoor some or several index points is obtained using GNSS localization methods, is passed through
Relative positioning means, such as total powerstation, theodolite, the device measuring indoor objects point such as laser range finder are relative with outdoor signage point
Position, then calculate the global coordinates system coordinate for trying to achieve indoor index point.(2) Coordinate Conversion is carried out using local coordinate system map
Method.If there is the relative position relation of the local coordinate systems such as design drawing coverage, GNSS means can be used to measure
The global coordinates system coordinate of three or more than three feature point of building, utilizes the global coordinates and local coordinate of these characteristic points
Solve conversion parameter between two sets of coordinate systems.Just local coordinate system coordinate can be all converted to the whole world using these conversion parameters
Coordinate system coordinate.So only need to measure Microstar's base station mount point can be converted to its global coordinates in the coordinate of local coordinate system
It is coordinate.
2) the relevant information injection Microstar base station for the Microstar base station for being concerned about user equipment.The step is needed to whole service
Region needs Microstar base station to be mounted to number one by one, and by the numbering of Microstar base station, coordinate, floor, signal corrects parameter etc.
Other related information are encoded, encryption, and inject Microstar base station, can be by the information meeting of write-in in Microstar's base station operation
Subscriber terminal equipment is broadcast in the form of text.For the larger indoor positioning scene of area, it is necessary to the Microstar base station laid
More, now Microstar's base station number needs specially treated, it is to avoid base station number is repeated.Developed by message coding length, Microstar's base
The shared bit number of numbering of standing is limited.Need to use base station number multiplexing extensive to realize laying the more scene in Microstar base station
Base station cooperates.Space topology analyzing need to be used to ensure numbering identical Liang Ge Microstars base station not in same work during laying
Region.
3) Microstar base station is installed one by one to specified location, and starts Microstar base station.In installation process, Microstar's base should ensure that
Stand locus and the step 2 installed) in the information of injection keep corresponding.Start behind Microstar base station, Microstar's base should be checked
Whether the signal stood is working properly, and whether the telegraph text content broadcast is correct.
User terminal position portion is by receiving in Microstar's base station signal, parsing text during system puts into effect
Hold, user equipment current location is calculated in real time.Ustomer premises access equipment can be smart mobile phone, the wearable device such as bracelet, can also
It is the sensor with Bluetooth communication and computing capability.No matter which kind of hardware platform, should all pre-install Microstar's base that the system is included
Stand firm a service software.User terminal position portion also includes three steps：
4) user terminal opens Bluetooth receiving function, and opens Microstar's architecture service.Open Bluetooth receiving function,
User equipment can scan the signal for obtaining Microstar's Base Transmitter, open Microstar's architecture service, and the service can be obtained automatically
The Microstar's base station information received, and demodulate telegraph text content.
5) the Microstar's architecture service run in user terminal can obtain the signal of each Microstar's Base Transmitter in real time
Intensity (RSSI), and the Microstar's base station location included in text and other relevant informations are demodulated, at suitable signal
Reason extracts stable, reliable geometric distance information with filtering method from the signal received, and determines user using geometric method
The position of equipment.User can use Taylor series expansion, be expressed as to the geometric distance of Microstar base station：
ρ in formula0It is the approximate geometry distance of user equipment all Microstar base stations, ε is nonlinearity erron；[xi,yi,zi] it is i-th
The coordinate of individual Microstar base station, [dx, dy, dz] is the increment of user coordinates.Neglect the nonlinearity erron of above formula, above formula can be with
It is expressed as：
In view of the situation of multiple Microstar base stations, the linearized system is represented by：
E(y)≈Ax；
The least square solution of the linearized system is
WhereinIt is that estimation obtains user coordinates increment, P is Quan Zhen.After increment of coordinate is tried to achieve, approximate coordinate is updated,
And coordinates computed increment again, the increment of coordinate obtained until calculating is sufficiently small.User's approximate coordinate is unknown when positioning first, this
When can use some base station coordinates plus the mode of a random offset that initial coordinate is set.Least square method generally only by
For initializing wave filter, follow-up navigator fix is calculated usually using extended BHF approach (EKF).For most of room
Interior positioning scene, EKF can use random walk modeling user equipment coordinate mobile status, extended BHF approach mould
Type can be expressed as form：
Time updates：
QkIt is epoch k process noise matrix, the matrix can be adjusted according to the movement velocity of user equipment.
KkIt is epoch k filtering gain matrix, RkIt is to produce after renewal after the completion of observation variance-covariance matrix, filtering
Position information of user equipment.
6) the Microstar architecture service of operation on the subscriber terminal calculate obtained coordinate by system API or other
Mode coordinates indoor map there is provided to other applications, and the system can realize indoor navigation, positions, and tracking, track shows
Show, the function such as monitoring.Wherein realize that monitoring and following function need user equipment that positioning result is passed through into certain data communication
Positioning result is back to central server by mode, such as Wi-Fi, bluetooth, cellular network etc., realizes positioning, navigation, and monitoring etc. should
Use function.
In Microstar's architecture system provided in an embodiment of the present invention based on single or multiple Bluetooth transmission units, each
Microstar base station by it is single or multiple and meanwhile work bluetooth transmitters and several Bluetooth Receivers constitute, utilize two or two
Position and the relevant information of Microstar base station, user terminal are broadcast to user terminal as positioning signal source in Microstar base station above
Real-time navigation capability is realized by parsing textual information and measuring the distance of Microstar base station.
Alignment system possesses the function that produces of start, has a similarity with outdoor GNSS position fixing process, but the survey used
It is different away from technology.User need not be known a priori by any information (such as fingerprint base) of localizing environment when positioning, you can directly right
Outdoor GNSS alignment systems are connect, the indoor and outdoor seamless positioning of intelligent terminal is realized.
Microstar base station transmits the textual information for positioning to user terminal, and telegraph text content includes but is not limited to Microstar base station
Identification code, coordinate, floor, room number, signal propagation parameter, mode of operation etc..
The Microstar's base station coordinate information transmitted to user terminal, its coordinate system includes global coordinate system coordinate such as
WGS84 coordinates, CGCS2000 coordinates, also including coordinate system coordinate, indoor coordinate system coordinate, coordinate system coordinate after encryption
Deng.
User terminal need to only scan the information that Bluetooth signal is available for positioning, without matching link.
User terminal can be led to by the signal strength values (RSSI) of the multiple bluetooth transmitters for receiving same Microstar base station
Cross data processing policy and obtain high accuracy, highly reliable distance measure.
The positioning mode of operation of user terminal includes, but are not limited to obtain 3 d space coordinate, and horizontal plane two-dimensional coordinate hangs down
Face two-dimensional coordinate, one-dimensional coordinate, mileage information, floor information, room number etc. directly.
There is user terminal the ability and measurement data that scan multiple bluetooth equipments to calculate the ability of processing, including but not limit
In smart mobile phone, bracelet, the wearable device such as tracker, and flush bonding module, intelligent robot, the industry such as device sensor
Sensor device.
The alignment system being made up of two or more Microstar base stations, possesses between automatic network-building function, Microstar base station
Possess signal calibration and communication function automatically.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (8)
1. a kind of Microstar's architecture system based on single or multiple Bluetooth transmission units, it is characterised in that described based on single
Microstar's architecture system of individual or multiple Bluetooth transmission units, including：
At least one Microstar base station, installed in known to coordinate on fixing point, the information for transmitting positioning, information is included but not
It is limited to identification code, coordinate, floor, the room number of Microstar base station, launcher signal propagation parameter, the textual information of mode of operation；
Microstar's architecture system on user equipment；By being wirelessly connected with Microstar base station, the letter for receiving Microstar base station
Number and the obtained textual information of parsing and calculate the one-dimensional of itself, two dimension or three-dimensional coordinate.
2. Microstar's architecture system as claimed in claim 1 based on single or multiple Bluetooth transmission units, its feature exists
The coordinate system that coordinate in, Microstar base station is used includes global coordinate system coordinate, such as WGS84 coordinates, CGCS2000 coordinates,
Coordinate system coordinate after coordinate system coordinate, indoor coordinate system coordinate and encryption；Multiple Microstar base stations constitute MANET system.
3. Microstar's architecture system as claimed in claim 1 based on single or multiple Bluetooth transmission units, its feature exists
In the Microstar base station is made up of one or more bluetooth units and a micro-control unit；
Each bluetooth unit is made up of Bluetooth chip, bluetooth signals. antenna and peripheral circuit；Bluetooth module is according to certain geometry
Assignment of configuration is used for the quality for improving Bluetooth signal；
All bluetooth units are all connected with micro-control unit；Which part bluetooth unit is used for the transmitting of Bluetooth signal, in addition
A part of bluetooth unit is used for the reception of Bluetooth signal；The micro-control unit MCU is responsible for controlling the work of each bluetooth unit.
4. Microstar's architecture system as claimed in claim 1 based on single or multiple Bluetooth transmission units, its feature exists
In Microstar's architecture system on user equipment includes user terminal, by parsing textual information and measuring Microstar base station
Distance realize real-time positioning；The user terminal need to only scan the information that Bluetooth signal is available for positioning, without
Pairing is needed to link；
User terminal is by receiving the signal strength values RSSI of multiple bluetooth transmitters of same Microstar base station, by specific
Data processing policy obtains high accuracy, highly reliable distance measure；
The positioning mode of operation of user terminal includes but is not limited to obtain 3 d space coordinate, horizontal plane two-dimensional coordinate, vertical plane
Two-dimensional coordinate, one-dimensional coordinate, mileage information, floor information, room number.
5. Microstar's architecture system as claimed in claim 4 based on single or multiple Bluetooth transmission units, its feature exists
In the user terminal scans multiple Microstar base stations and measures data calculating processing；The user terminal includes but not limited
In smart mobile phone, bracelet, tracker, flush bonding module, intelligent robot and industrial sensor equipment.
6. it is a kind of as claimed in claim 1 Microstar's architecture system based on single or multiple Bluetooth transmission units based on list
Microstar's base station positioning method of individual or multiple Bluetooth transmission units, it is characterised in that described to be based on single or multiple Bluetooth transmissions
Microstar's base station positioning method of unit is specifically included：
Step one, Microstar's base station mount point is equably selected according to certain density in coverage；Packing density is according to Microstar's base
The coverage stood is calculated；For three-dimensional localization, any region in service area is set to receive three or more than three Microstar's bases
The signal stood；Mount point is covered with whole coverage；In passageway, the belt-like zone in corridor should avoid Microstar base station installed in same
On bar straight line or approximate same straight line, the geometry intensity with the deployment of Microstar base station；
Step 2, the relevant information injection Microstar base station for the Microstar base station that user terminal is concerned about；Whole coverage is needed
The Microstar base station of installation is numbered one by one, and by the numbering of Microstar base station, coordinate, floor, signal corrects the related letter such as parameter
Breath is encoded, and is encrypted, and inject Microstar base station；In Microstar's base station operation, by the information of write-in can in the form of text it is wide
Broadcast to user terminal；Space topology analyzing need to be used to ensure numbering identical Liang Ge Microstars base when Microstar base station is more, during laying
Stand not in same working region；
Step 3, installs Microstar base station to specified location, and start Microstar base station one by one；In installation process, Microstar's base should be made
The information injected keeps corresponding in the locus installed and the step 2 of standing；Start behind Microstar base station, check Microstar base station
Signal it is whether working properly, whether the telegraph text content broadcast correct；
Step 4, user terminal opens Bluetooth receiving function, can scan the signal for obtaining Microstar's Base Transmitter；And open micro-
Star architecture is serviced, and the Microstar's base station information received is obtained automatically, and demodulate telegraph text content；
Step 5, the Microstar's architecture service run in user terminal can obtain the signal of each Microstar's Base Transmitter in real time
Intensity RSSI, and the Microstar's base station location included in text and other relevant informations are demodulated, pass through suitable signal transacting
Stable, reliable geometric distance information is extracted from the signal received with filtering method, and determines that user is whole using geometric method
The position at end；
Step 6, the Microstar's architecture service of operation on the subscriber terminal calculates obtained coordinate by system API, coordinates room
Interior map, realizes that indoor navigation, positioning, tracking, track show, monitored.
7. Microstar's base station positioning method as claimed in claim 6 based on single or multiple Bluetooth transmission units, its feature exists
In in step one, the geometry intensity of Microstar base station is assessed with positioning precision decay factor PDOP；Positioning precision decay factor is defined
Observing matrix A：
<mrow>
<mi>A</mi>
<mo>=</mo>
<mfenced open = "(" close = ")">
<mtable>
<mtr>
<mtd>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
</mrow>
<msub>
<mi>&rho;</mi>
<mn>1</mn>
</msub>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
</mrow>
<msub>
<mi>&rho;</mi>
<mn>1</mn>
</msub>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<mi>z</mi>
<mo>)</mo>
</mrow>
</mrow>
<msub>
<mi>&rho;</mi>
<mn>1</mn>
</msub>
</mfrac>
</mtd>
</mtr>
<mtr>
<mtd>
<mo>.</mo>
</mtd>
<mtd>
<mo>.</mo>
</mtd>
<mtd>
<mo>.</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<mo>.</mo>
</mtd>
<mtd>
<mo>.</mo>
</mtd>
<mtd>
<mo>.</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<mo>.</mo>
</mtd>
<mtd>
<mo>.</mo>
</mtd>
<mtd>
<mo>.</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>n</mi>
</msub>
<mo>-</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
</mrow>
<msub>
<mi>&rho;</mi>
<mi>n</mi>
</msub>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>n</mi>
</msub>
<mo>-</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
</mrow>
<msub>
<mi>&rho;</mi>
<mi>n</mi>
</msub>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mi>n</mi>
</msub>
<mo>-</mo>
<mi>z</mi>
<mo>)</mo>
</mrow>
</mrow>
<msub>
<mi>&rho;</mi>
<mi>n</mi>
</msub>
</mfrac>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
</mrow>
[x, y, z] is customer location, [x in formulai,yi,zi] for the position of i-th Microstar base station, ρiIt is micro- with i-th for customer location
Geometric distance between the station of satellite-basedN is in the visible Microstar base station of customer location
Number；
According to observing matrix definition association factor pin Q=(AT*A)-1, wherein operator * representing matrixs multiplication, operator ()TRepresent
Matrix transposition computing, operator ()-1Representing matrix inversion operation；
The square formation that obtained Q matrixes are a 3*3 is calculated, PDOP can be calculated with following formula：
<mrow>
<mi>P</mi>
<mi>D</mi>
<mi>O</mi>
<mi>P</mi>
<mo>=</mo>
<msqrt>
<mrow>
<msub>
<mi>q</mi>
<mn>11</mn>
</msub>
<mo>+</mo>
<msub>
<mi>q</mi>
<mn>22</mn>
</msub>
<mo>+</mo>
<msub>
<mi>q</mi>
<mn>33</mn>
</msub>
</mrow>
</msqrt>
<mo>;</mo>
</mrow>
Q in formulaijRepresent the i-th row of Q matrixes, the element of jth row；PDOP is more big, thinks Microstar's base station geometric configuration intensity more
Difference；In selection Microstar's base station mount point stage, determine that Microstar base station is pacified by calculating the PDOP values of each each site of coverage
Whether reasonable decorate position；When two-dimensional localization, dimension-reduction treatment can be carried out to above-mentioned computational methods；
After selected Microstar base station mount point, the coordinate of each mount point is measured one by one；The coordinate of each mount point ensures same
Cover under coordinate system, the coordinate system is room coordinates system, the local coordinate system of building coordinate system, or be global coordinates system coordinate；
Obtaining base station mount point global coordinates system of indoor Microstar seat calibration method includes:
The global coordinates system coordinate of outdoor some or several index points is obtained using GNSS methods, passes through total powerstation, longitude and latitude
The relative position of target point and outdoor signage point in instrument, laser range finder measuring chamber, then calculate the whole world for trying to achieve indoor index point
Coordinate system coordinate；
The method that Coordinate Conversion is carried out using local coordinate system map；There is the relative of the local coordinate system of design drawing coverage
Position relationship then measures the global coordinates system coordinate of three or more than three feature point of building using GNSS means, utilizes these
The global coordinates and local coordinate of characteristic point solve conversion parameter between two sets of coordinate systems；Using these conversion parameters by local coordinate
It is that coordinate is all converted to global coordinates system coordinate.
8. Microstar's base station positioning method as claimed in claim 6 based on single or multiple Bluetooth transmission units, its feature exists
In, stable, reliable geometric distance information is extracted from the signal received by signal transacting and filtering method, and using several
What method determines the position of user terminal；User, with Taylor series expansion, is expressed as to the geometric distance of Microstar base station：
<mrow>
<mtable>
<mtr>
<mtd>
<mrow>
<mi>&rho;</mi>
<mo>=</mo>
<msub>
<mi>&rho;</mi>
<mn>0</mn>
</msub>
<mo>+</mo>
<mfrac>
<mrow>
<mo>&part;</mo>
<mi>&rho;</mi>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>x</mi>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<mi>&rho;</mi>
<mi>y</mi>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<mo>&part;</mo>
<mi>&rho;</mi>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>z</mi>
</mrow>
</mfrac>
<mo>+</mo>
<mi>&epsiv;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>=</mo>
<msub>
<mi>&rho;</mi>
<mn>0</mn>
</msub>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
</mrow>
<msub>
<mi>&rho;</mi>
<mn>0</mn>
</msub>
</mfrac>
<mi>d</mi>
<mi>x</mi>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
</mrow>
<msub>
<mi>&rho;</mi>
<mn>0</mn>
</msub>
</mfrac>
<mi>d</mi>
<mi>y</mi>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>z</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mi>i</mi>
</msub>
</mrow>
<msub>
<mi>&rho;</mi>
<mn>0</mn>
</msub>
</mfrac>
<mi>d</mi>
<mi>z</mi>
<mo>+</mo>
<mi>&epsiv;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
<mo>,</mo>
</mrow>
ρ in formula0It is the approximate geometry distance of user equipment all Microstar base stations, ε is nonlinearity erron；[xi,yi,zi] it is micro- i-th
The coordinate at satellite-based station, [dx, dy, dz] is the increment of user coordinates；The nonlinearity erron of above formula is neglected, above formula is expressed as：
<mrow>
<mi>E</mi>
<mrow>
<mo>(</mo>
<mi>&rho;</mi>
<mo>-</mo>
<msub>
<mi>&rho;</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mo>&ap;</mo>
<mfenced open = "(" close = ")">
<mtable>
<mtr>
<mtd>
<mfrac>
<mrow>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>0</mn>
</msub>
</mrow>
<msub>
<mi>&rho;</mi>
<mn>0</mn>
</msub>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
</mrow>
<msub>
<mi>&rho;</mi>
<mn>0</mn>
</msub>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<msub>
<mi>z</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>0</mn>
</msub>
</mrow>
<msub>
<mi>&rho;</mi>
<mn>0</mn>
</msub>
</mfrac>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "(" close = ")">
<mtable>
<mtr>
<mtd>
<mi>d</mi>
<mi>x</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>d</mi>
<mi>y</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>d</mi>
<mi>z</mi>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
</mrow>
In view of the situation of multiple Microstar base stations, the linearized system is expressed as：
E(y)≈Ax；
The least square solution of the linearized system is
<mrow>
<mover>
<mi>x</mi>
<mo>^</mo>
</mover>
<mo>=</mo>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>A</mi>
<mi>T</mi>
</msup>
<mi>P</mi>
<mi>A</mi>
<mo>)</mo>
</mrow>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<msup>
<mi>A</mi>
<mi>T</mi>
</msup>
<mi>R</mi>
<mi>y</mi>
<mo>;</mo>
</mrow>
WhereinIt is that estimation obtains user coordinates increment, P is Quan Zhen；After increment of coordinate is tried to achieve, approximate coordinate is updated, is laid equal stress on
New coordinates computed increment, the increment of coordinate obtained until calculating is sufficiently small；
User's approximate coordinate is unknown when positioning first, using outdoor GNSS positioning results as initial approximation coordinate, or uses
The mode for adding a random offset to some base station coordinates sets initial coordinate；Least square method, which is used to initialize, to be filtered
Device, follow-up navigator fix is calculated using extended BHF approach EKF；For most of indoor positioning scene, EKF use with
Machine migration modeling user terminal coordinate mobile status, extended BHF approach model is expressed as form：
Time updates：
<mrow>
<msubsup>
<mover>
<mi>x</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
<mo>-</mo>
</msubsup>
<mo>=</mo>
<msubsup>
<mover>
<mi>x</mi>
<mo>^</mo>
</mover>
<mi>k</mi>
<mo>+</mo>
</msubsup>
<mo>,</mo>
</mrow>
<mrow>
<msubsup>
<mi>P</mi>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
<mo>-</mo>
</msubsup>
<mo>=</mo>
<msubsup>
<mi>P</mi>
<mi>k</mi>
<mo>+</mo>
</msubsup>
<mo>+</mo>
<msub>
<mi>Q</mi>
<mi>k</mi>
</msub>
<mo>,</mo>
</mrow>
QkIt is epoch k process noise matrix, the matrix is adjusted according to the movement velocity of user equipment；
<mrow>
<msub>
<mi>K</mi>
<mi>k</mi>
</msub>
<mo>=</mo>
<msubsup>
<mi>P</mi>
<mi>k</mi>
<mo>-</mo>
</msubsup>
<mi>A</mi>
<msup>
<mrow>
<mo>(</mo>
<msubsup>
<mi>AP</mi>
<mi>k</mi>
<mo>-</mo>
</msubsup>
<msup>
<mi>A</mi>
<mi>T</mi>
</msup>
<mo>+</mo>
<msub>
<mi>R</mi>
<mi>k</mi>
</msub>
<mo>)</mo>
</mrow>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>,</mo>
</mrow>
<mrow>
<msubsup>
<mover>
<mi>x</mi>
<mo>^</mo>
</mover>
<mi>k</mi>
<mo>+</mo>
</msubsup>
<mo>=</mo>
<msubsup>
<mover>
<mi>x</mi>
<mo>^</mo>
</mover>
<mi>k</mi>
<mo>-</mo>
</msubsup>
<mo>+</mo>
<mi>K</mi>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mo>-</mo>
<mi>A</mi>
<msubsup>
<mover>
<mi>x</mi>
<mo>^</mo>
</mover>
<mi>k</mi>
<mo>-</mo>
</msubsup>
<mo>)</mo>
</mrow>
<mo>,</mo>
</mrow>
<mrow>
<msubsup>
<mi>P</mi>
<mi>k</mi>
<mo>+</mo>
</msubsup>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mi>I</mi>
<mo>-</mo>
<msub>
<mi>K</mi>
<mi>k</mi>
</msub>
<mi>A</mi>
<mo>)</mo>
</mrow>
<msubsup>
<mi>P</mi>
<mi>k</mi>
<mo>-</mo>
</msubsup>
<mo>,</mo>
</mrow>
KkIt is epoch k filtering gain matrix, RkIt is that the use after updating is produced after the completion of observation variance-covariance matrix, filtering
Family terminal positional information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108318037A (en) * | 2018-01-29 | 2018-07-24 | 京信通信系统（中国）有限公司 | Indoor orientation method, device and navigation device and system |
| CN108733056A (en) * | 2018-05-21 | 2018-11-02 | 杭州晶智能科技有限公司 | Mobile robot environmental map structure and method for building up based on double wireless networks |
| CN108759843A (en) * | 2018-05-29 | 2018-11-06 | 杭州晶智能科技有限公司 | Robot Self-Localization based on double wireless networks |
| CN109640390A (en) * | 2018-12-11 | 2019-04-16 | 天津工业大学 | It is a kind of based on refer to RSSI profile UHF RFID relative positioning method |
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| CN108759843A (en) * | 2018-05-29 | 2018-11-06 | 杭州晶智能科技有限公司 | Robot Self-Localization based on double wireless networks |
| CN109640390B (en) * | 2018-12-11 | 2020-07-10 | 天津工业大学 | UHF RFID relative positioning method based on multi-reference RSSI contour |
| CN109640390A (en) * | 2018-12-11 | 2019-04-16 | 天津工业大学 | It is a kind of based on refer to RSSI profile UHF RFID relative positioning method |
| CN109975758A (en) * | 2019-02-20 | 2019-07-05 | 苏州普息导航技术有限公司 | Wi-Fi blue tooth integrated base station location system |
| CN109811990A (en) * | 2019-03-22 | 2019-05-28 | 中铁建设集团有限公司 | The base station building emergency guarantee 5G that can vertically dispose at a high speed |
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| CN110824423A (en) * | 2019-11-26 | 2020-02-21 | 北京壹氢科技有限公司 | Multi-unmanned vehicle collaborative navigation positioning method and system |
| CN110850362A (en) * | 2019-11-27 | 2020-02-28 | 博微宇空(重庆)科技有限公司 | Foundation positioning system and method based on scene assistance |
| CN111142139A (en) * | 2019-11-29 | 2020-05-12 | 苏州科达科技股份有限公司 | Method and device for acquiring simulated positioning information and storage medium |
| CN113267193A (en) * | 2021-05-27 | 2021-08-17 | 苏州触达信息技术有限公司 | Indoor accurate positioning networking system and method based on ultrasonic beacon |
| CN113267193B (en) * | 2021-05-27 | 2024-05-14 | 苏州触达信息技术有限公司 | Indoor accurate networking determination method based on ultrasonic beacon |
| CN113515963A (en) * | 2021-07-08 | 2021-10-19 | 西华大学 | Double-antenna reader positioning technology based on active RFID (radio frequency identification) tag |
| CN113515963B (en) * | 2021-07-08 | 2023-07-18 | 西华大学 | Double-antenna reader positioning technology based on active RFID tag |
| CN114501411A (en) * | 2022-04-13 | 2022-05-13 | 天津恒达文博科技股份有限公司 | High-precision positioning system and method based on Bluetooth |
| CN116678421A (en) * | 2023-06-12 | 2023-09-01 | 深圳沧穹科技有限公司 | Multisource fusion positioning method and system based on multi-module BLE transmitting device |
| CN116678421B (en) * | 2023-06-12 | 2024-01-23 | 深圳沧穹科技有限公司 | Multisource fusion positioning method and system based on multi-module BLE transmitting device |
| CN116819591A (en) * | 2023-06-30 | 2023-09-29 | 常州市场景信息科技有限公司 | Positioning method and system based on RTK and Bluetooth |
| CN116819591B (en) * | 2023-06-30 | 2024-01-19 | 常州市场景信息科技有限公司 | Positioning method and system based on RTK and Bluetooth |
| CN116723569A (en) * | 2023-08-10 | 2023-09-08 | 武汉七环电气股份有限公司 | Multimode positioning method and system supporting emergency communication |
| CN116723569B (en) * | 2023-08-10 | 2023-11-03 | 武汉七环电气股份有限公司 | Multimode positioning method and system supporting emergency communication |
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Effective date of registration: 20210722 Address after: 313200 room 278, building 4, No. 11, Keyuan Road, Wuyang street, Deqing County, Huzhou City, Zhejiang Province (Moganshan national high tech Zone) Patentee after: Zhejiang Deqing Zhilu Navigation Research Institute Co.,Ltd. Address before: 430074 pioneering building in Wuhan University Science and Technology Park, Donghu Development Zone, Wuhan City, Hubei Province Patentee before: Assets Management Investment Management Co., Ltd. of Wuhan University Effective date of registration: 20210722 Address after: 430074 pioneering building in Wuhan University Science and Technology Park, Donghu Development Zone, Wuhan City, Hubei Province Patentee after: Assets Management Investment Management Co., Ltd. of Wuhan University Address before: 430072 State Key Laboratory of surveying, mapping and remote sensing information engineering, Wuhan University, 129 Luoyu Road, Wuchang District, Wuhan City, Hubei Province Patentee before: WUHAN University |