CN107315166B - System and method for positioning microsatellite base station based on single or multiple Bluetooth transmitting units - Google Patents
System and method for positioning microsatellite base station based on single or multiple Bluetooth transmitting units Download PDFInfo
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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
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- 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
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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
- G01S5/0257—Hybrid positioning
- G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
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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
- G01S5/0294—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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Abstract
The invention belongs to the technical field of indoor positioning, and discloses a microsatellite base station positioning system and a method based on single or multiple Bluetooth transmitting units, wherein the positioning system comprises at least one microsatellite base station used for broadcasting identification codes, coordinates, floors and room numbers of the base station, signal propagation parameters of a transmitter and telegraph text information of a working mode; the microsatellite base station positioning system on the user equipment is used for receiving signals of the microsatellite base station and analyzing the obtained telegraph text information and calculating one-dimensional, two-dimensional or three-dimensional coordinates of the user equipment. The invention does not need precise time synchronization and special receiving equipment, does not change the habit of users, and can obtain the precision equivalent to outdoor positioning by using the popular mobile phone; the seamless butt joint of indoor and outdoor positioning can be realized; the cost of the micro-satellite base station is low, the power consumption is low, the deployment is convenient, and external network cables, optical fibers and the like are not needed; the environment adaptability is good, and the expandability is good.
Description
Technical Field
The invention belongs to the technical field of indoor positioning, and particularly relates to a microsatellite base station positioning system and method based on single or multiple Bluetooth transmitting units.
Background
Indoor positioning technology is one of the positioning technologies emerging in recent years. Compared with the outdoor positioning technology, the indoor positioning usually realizes reliable positioning calculation in a closed and more complex space. At present, the main methods for indoor positioning include a neighbor method, a geometric method, a scene analysis method, a line deduction algorithm and the like. The neighbor method and the scene analysis method are mainly suitable for indoor positioning occasions with low precision requirements, and line estimation method positioning errors are accumulated along with time and are difficult to independently serve as high-precision indoor positioning methods. The geometric method mainly depends on various acoustic, optical and electric signals, and the position of the target is determined by directly or indirectly measuring the relative distance and the angular relation between the target and a reference point. At present, the geometric method is still the most ideal algorithm for high-precision indoor positioning. Based on different signal frequencies and signal protocols, the technical means for realizing indoor positioning are more than ten, and common methods include laser, ultrasonic, infrared, cellular network, wireless broadcast, coded visible light, Wi-Fi, Bluetooth, Zigbee, RFID and the like. The accuracy and coverage range of different technologies are different, but these signals need to be distributed with active or passive positioning nodes in advance to cooperate to realize positioning calculation, most of the signals also need special user end equipment to realize, the system realization cost is high, and the popularization is not facilitated. Among the technologies, Wi-Fi and bluetooth technologies are widely used, most existing mobile phones support Wi-Fi and bluetooth for communication, so that indoor positioning without changing existing user receiving equipment can be achieved, and most other equipment needs a user end to be equipped with a special positioning tag. Wi-Fi Access Points (APs) need to be connected with a power supply and accessed into a wired network, and are complex to arrange. The bluetooth 4.0 standard greatly reduces the power consumption of the bluetooth transmitting module, and the cost of the bluetooth transmitting module is very competitive at present. The invention provides an indoor positioning solution with high precision, high reliability and low cost based on the Bluetooth technology.
In summary, the problems of the prior art are as follows:
although there are many technical methods capable of implementing indoor positioning, most of the technologies require the deployment of dedicated nodes and dedicated user receiving devices. The nodes are arranged, the maintenance cost is high, extra investment is needed by a user, and the popularization difficulty is high. The special signal and transceiving equipment has the advantages that the flexibility of signal design is higher, and a signal system suitable for indoor positioning is easier to design. Some positioning technologies such as laser, UWB can realize positioning from decimeter to centimeter level, but equipment cost is high, installation requirement is high, difficulty is big, and it is difficult to popularize on a large scale. The low-cost indoor positioning technology such as Wi-Fi positioning technology and Bluetooth positioning technology has the advantages that the accuracy of the Bluetooth positioning technology is kept at the level of several meters, the positioning stability is high, and the reliability is to be improved. In particular, signal stability is poor for low cost bluetooth modules. The low performance PCB antenna results in a significant directional dependence of signal transmission and reception. The indoor environment is complex, so that the Bluetooth signal generates step or periodic fluctuation, the accurate indoor positioning is difficult to perform seamless conversion with the coordinates obtained by the outdoor GPS, and the commercial popularization and application of the indoor positioning technology are greatly hindered. Another problem with indoor positioning techniques is that most indoor positioning systems are built based on local coordinate systems and cannot be linked to outdoor GPS positioning. Finally, the indoor and outdoor positioning systems can only be used separately, which brings inconvenience to users.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a system and a method for positioning a microsatellite base station based on a single or a plurality of Bluetooth transmitting units.
The invention is realized in such a way that a single or multiple Bluetooth transmitting units based microsatellite base station positioning system comprises:
at least one microsatellite base station which is arranged on a fixed point with known coordinates and is used for transmitting information used for positioning, wherein the information comprises but is not limited to identification codes, coordinates, floors, room numbers, signal propagation parameters and telegraph information of working modes of the microsatellite base station;
a microsatellite base station positioning system on the user equipment; the system is connected with the microsatellite base station through wireless signals and is used for receiving signals of the microsatellite base station and analyzing the obtained telegraph text information and calculating the one-dimensional, two-dimensional or three-dimensional coordinates of the microsatellite base station.
Further, the coordinates also comprise a WGS84 coordinate, a CGCS2000 coordinate, an independent coordinate system coordinate, an indoor coordinate system coordinate and an encrypted coordinate system coordinate; a plurality of microsatellite base stations form an ad hoc network system.
Furthermore, the microsatellite base station consists of one or more Bluetooth units and a Micro Control Unit (MCU);
each Bluetooth unit consists of a Bluetooth chip, a Bluetooth signal antenna and a peripheral circuit; the Bluetooth units are arranged according to a certain geometric configuration to improve the quality of Bluetooth signals;
all the Bluetooth units are connected with the MCU; wherein, part of the Bluetooth units are used for transmitting Bluetooth signals, and the other part of the Bluetooth units are used for receiving the Bluetooth signals; and the micro control unit MCU is responsible for controlling each Bluetooth unit to work.
Furthermore, a microsatellite base station positioning system on the user equipment comprises a user terminal, and real-time positioning is realized by analyzing the message information and measuring the distance to the microsatellite base station; the user terminal can obtain the information for positioning only by scanning the Bluetooth signal without pairing and linking with the microsatellite base station;
the user terminal obtains high-precision and high-reliability distance measurement values through a data processing strategy by receiving signal strength values RSSI of a plurality of Bluetooth transmitters of the same microsatellite base station;
the positioning operation mode of the user terminal includes, but is not limited to, obtaining a spatial three-dimensional coordinate, a horizontal plane two-dimensional coordinate, a vertical plane two-dimensional coordinate, a one-dimensional coordinate, mileage information, floor information, and a room number.
Further, the user terminal scans a plurality of Bluetooth modules and performs measurement data calculation processing; the user terminal includes, but is not limited to, a smart phone, a bracelet, a tracker, an embedded module, a smart robot, and an industrial sensor device.
Another objective of the present invention is to provide a method for positioning a pico base station based on one or more bluetooth transmitting units, which specifically includes:
uniformly selecting the mounting points of the microsatellite base station in a service area according to a certain density; the installation density is calculated according to the effective distance of the microsatellite base station; for three-dimensional positioning, any area in a service area can receive signals of three or more than three microsatellite base stations; the installation points are distributed in the whole service area; in the corridor and the strip-shaped area of the corridor, the microsatellite base stations are prevented from being arranged on the same straight line or the similar straight line, so that the deployment of the microsatellite base stations has good geometric strength;
step two, injecting relevant information of the microsatellite base station concerned by the user terminal into the microsatellite base station; numbering the microsatellite base stations to be installed in the whole service area one by one, coding and encrypting the numbering, the coordinates, the floors and other related information of the microsatellite base stations and the signal correction parameters, and injecting the coded and encrypted information into the microsatellite base stations; when the microsatellite base station works, the written information can be broadcasted to the user terminal in a telegraph text form; when the number of the microsatellite base stations is large, the spatial topology analysis is needed to ensure that two microsatellite base stations with the same number are not in the same working area during the layout;
step three, installing the microsatellite base stations to the specified positions one by one, and starting the microsatellite base stations; in the installation process, the spatial position of the micro-satellite base station to be installed is in one-to-one correspondence with the information injected in the step two; after starting the microsatellite base station, checking whether the signal of the microsatellite base station works normally and whether the content of the broadcast message is correct;
step four, the user terminal starts a Bluetooth receiving function and can scan and obtain signals transmitted by the microsatellite base station; starting a microsatellite base station positioning service, automatically acquiring the received microsatellite base station information, and demodulating the text content;
step five, the microsatellite base station positioning service running at the user terminal can acquire the signal strength RSSI transmitted by each microsatellite base station in real time, demodulate the position of the microsatellite base station and other related information contained in the telegraph text, extract stable and reliable geometric distance information from the received signals by a proper signal processing and filtering method, and determine the position of the user terminal by a geometric method;
and sixthly, coordinates obtained by calculation of the microsatellite base station positioning service running on the user terminal are matched with an indoor map through a system API, so that indoor navigation, positioning, tracking, track display and monitoring are realized.
Further, in the first step, the geometric strength of the microsatellite base station is evaluated by a positioning precision attenuation factor PDOP; the positioning accuracy attenuation factor defines an observation matrix A:
in the formula [ x, y, z]For the user position, [ x ]i,yi,zi]Is the location of the ith microsatellite base station, ρiFor the geometric distance between the user position and the ith microsatellite base station
n is the number of visible microsatellite base stations at the user position;
defining a co-factor from the observation matrix for Q ═ AT*A)-1Wherein the operator represents a matrix multiplication, the operator (·)TRepresenting a matrix transpose operation, operator (·)-1Representing a matrix inversion operation;
the calculated Q matrix is a 3 x 3 square matrix and PDOP can be calculated by:
in the formula qijElements representing the ith row and the jth column of the Q matrix; the larger the PDOP is, the poorer the geometric configuration strength of the microsatellite base station is; in the stage of selecting the installing point of the microsatellite base station, whether the installing point of the microsatellite base station is reasonable or not is determined by calculating the PDOP value of each network point in the service area; for the two-dimensional positioning, the calculation method can be subjected to dimension reduction;
after the mounting points of the microsatellite base station are selected, measuring the coordinates of the mounting points one by one; the coordinates of each installation point are ensured to be under the same set of coordinate system, and the coordinate system is a room coordinate system, a local coordinate system of a building coordinate system or global coordinate system coordinates; the method for obtaining the global coordinate system coordinates of the indoor micro satellite base station mounting point comprises the following steps:
a method of relative positioning measurement; the global coordinate system coordinates of one or more outdoor mark points are obtained by using a GNSS method, the relative positions of an indoor target point and the outdoor mark points are measured by a total station, a theodolite and a laser range finder, and then the global coordinate system coordinates of the indoor mark points are calculated;
a method of local coordinate system transformation; measuring global coordinate systems of three or more building feature points by using a GNSS means according to the relative position relation of a local coordinate system with a design drawing in a service area, and solving conversion parameters between two sets of coordinate systems by using the global coordinates and the local coordinates of the feature points; the local coordinate system coordinates are all converted into global coordinate system coordinates by using the conversion parameters.
Further, stable and reliable geometric distance information is extracted from the received signals through a signal processing and filtering method, and the position of the user terminal is determined by using a geometric method; the geometric distance from the user to the microsatellite base station is expanded by Taylor series and is expressed as:
where rho0The approximate geometric distance of the user equipment, namely the microsatellite base station, wherein epsilon is a nonlinear error; [ x ] ofi,yi,zi]Is the coordinate of the ith microsatellite base station, [ dx, dy, dz]Is the increment of the user's coordinates; neglecting the non-linear error term of the above formula, the above formula is expressed as:
considering the case of multiple microsatellite base stations, the linearization system is represented as:
E(y)≈Ax；
least squares solution of the linearized system
Wherein
Estimating to obtain a user coordinate increment, wherein P is a weight matrix; after the coordinate increment is obtained, updating the approximate coordinates, and recalculating the coordinate increment until the calculated coordinate increment is small enough;
when the user approximate coordinates are unknown during first positioning, an outdoor GNSS positioning result is used as the initial approximate coordinates, or the initial coordinates are set in a mode of adding a random offset to the coordinates of a certain base station; the least square method is used for initializing the filter, and the extended Kalman filtering EKF is used for subsequent navigation positioning calculation; for most indoor positioning scenes, an EKF (extended Kalman Filter) simulates the coordinate movement state of a user terminal by using a random walk model, and an extended Kalman filter model is expressed as follows:
and (3) time updating:
Qkis a process noise matrix of epoch k, which is adjusted according to the movement velocity of the user equipment;
Kkis a filter gain matrix of epoch k, RkAnd obtaining updated user terminal position information after filtering is finished.
The invention has the advantages and positive effects that:
the invention provides a low-cost indoor positioning scheme, and the microsatellite base station has low cost and convenient deployment and does not need precise time synchronization.
The invention can obtain the precision equivalent to the outdoor positioning by using the public mobile phone without changing the habit of the user.
The invention can realize seamless butt joint of indoor and outdoor positioning and improve the user experience of indoor positioning.
According to the invention, the accuracy, stability and reliability of Bluetooth signal distance measurement are improved in a manner of cooperative work of a plurality of Bluetooth units, and the positioning performance of Bluetooth signals is improved.
The micro-satellite base station has low power consumption, convenient deployment, no need of external network cables, optical fibers and the like, and low maintenance cost. One-dimensional, two-dimensional and three-dimensional positioning can be realized according to indoor scenes, and the method has good environmental adaptability and expandability.
Drawings
Fig. 1 is a schematic diagram of a microsatellite base station positioning system based on single or multiple bluetooth transmitting units provided by the embodiment of the invention.
In the figure: 1. a microsatellite base station; 2. a microsatellite base station location system on a user equipment.
Fig. 2 is a schematic diagram of a physical structure of a microsatellite base station provided by the embodiment of the invention.
Fig. 3 is a schematic block diagram of a functional logic structure of a microsatellite base station provided by the embodiment of the invention.
Fig. 4 is a flowchart of a detailed implementation step of a microsatellite base station positioning technique provided in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The application of the principles of the present invention will be further described with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the positioning system of a microsatellite base station based on a single or multiple bluetooth transmitting units provided by the embodiment of the present invention comprises two parts, namely a microsatellite base station 1 and a microsatellite base station positioning system 2 operating on user equipment;
the system operation requires the deployment of two or more microsatellite base stations 1 mounted on fixed points with known coordinates.
The microsatellite base station positioning system 2 on the user equipment calculates the one-dimensional, two-dimensional or three-dimensional coordinates of the user equipment by receiving the signals of the microsatellite base station and analyzing the obtained message information.
If the one-dimensional or two-dimensional coordinates of the user need to be calculated, at least two microsatellite base stations are needed; if the three-dimensional coordinates of the user need to be calculated, at least three microsatellite base stations are needed. The single microsatellite base station 1 has the bluetooth signal transmitting and receiving function by itself. The bluetooth module inside the microsatellite base station 1 performs link and signal transmission control between modules through a Microcontroller (MCU). And the micro satellite base station 1 and the base station have the functions of mutual transmission and networking of signals.
The electric principle of the microsatellite base station related by the invention is shown in figure 2, and the microsatellite base station related by the invention consists of one or more Bluetooth units and a micro control unit. Each Bluetooth unit consists of a Bluetooth chip, a Bluetooth signal antenna and a peripheral circuit. The Bluetooth units are arranged according to a certain geometric configuration to improve the quality of Bluetooth signals. All bluetooth units are connected to a Micro Control Unit (MCU). Wherein, a part of the Bluetooth units are used for transmitting Bluetooth signals, and the other part of the Bluetooth units are used for receiving the Bluetooth signals. The MCU is responsible for controlling each Bluetooth unit to work. The whole micro-satellite base station has the functions of ad hoc network and signal transmission.
The logic function structure of the microsatellite base station related by the invention is shown in figure 3. Each bluetooth unit is responsible for independent bluetooth signal transmission or reception, and the whole micro-satellite base station may comprise one or more bluetooth units for independently transmitting/receiving bluetooth signals. All bluetooth units are controlled by a Micro Control Unit (MCU). The micro control unit (the micro star base station management module) mainly completes four aspects of work: (1) managing the Bluetooth unit, including controlling the Bluetooth unit to work, realizing the E-mail of the Bluetooth unit, and the like; (2) the message coding and encryption work, and the MCU codes and encrypts the message to be broadcasted by the microsatellite base station according to a certain rule and a certain data protocol, so that the message is ensured to be correctly and reliably transmitted to the user equipment. (3) Monitoring the health state of each Bluetooth unit, wherein the MCU masters the working condition of each Bluetooth unit through communication with each Bluetooth unit, and monitors the working states of other surrounding microsatellite base stations and Bluetooth signal calibration through the Bluetooth receiving unit; (4) and a system administrator sends commands to the micro star base station through communication with the MCU to realize configuration, control, query of working states and the like of the micro star base station. The software and hardware of the microsatellite base station form a service end of the whole positioning system, and the user terminal is mobile equipment such as a smart phone and the like which runs the microsatellite base station positioning service software.
As shown in fig. 4, the method for positioning a microsatellite base station based on one or more bluetooth transmitting units provided by the embodiment of the present invention specifically includes:
s101: uniformly selecting the installing points of the microsatellite base station in a service area according to a certain density; the installation density is calculated according to the effective distance of the microsatellite base station; for three-dimensional positioning, any area in a service area can receive signals of three or more than three microsatellite base stations; the installation points are distributed in the whole service area; in the corridor and the strip-shaped area of the corridor, the microsatellite base stations are prevented from being arranged on the same straight line or the similar straight line, so that the deployment of the microsatellite base stations has good geometric strength;
s102: injecting relevant information of the microsatellite base station concerned by the user terminal into the microsatellite base station; numbering the microsatellite base stations to be installed in the whole service area one by one, coding and encrypting the numbering, the coordinates, the floors and other related information of the microsatellite base stations and the signal correction parameters, and injecting the coded and encrypted information into the microsatellite base stations; when the microsatellite base station works, the written information can be broadcasted to the user terminal in a telegraph text form; when the number of the microsatellite base stations is large, the spatial topology analysis is needed to ensure that two microsatellite base stations with the same number are not in the same working area during the layout;
s103: installing the microsatellite base stations to a specified position one by one, and starting the microsatellite base stations; in the installation process, the information injected in the space position S102 for installing the microsatellite base station is kept in one-to-one correspondence; after starting the microsatellite base station, checking whether the signal of the microsatellite base station works normally and whether the content of the broadcast message is correct;
s104: the user terminal starts a Bluetooth receiving function and can scan and obtain signals transmitted by the microsatellite base station; starting a microsatellite base station positioning service, automatically acquiring the received microsatellite base station information, and demodulating the text content;
s105: the method comprises the steps that a microsatellite base station positioning service running at a user terminal can acquire the signal strength RSSI transmitted by each microsatellite base station in real time, demodulate the position of the microsatellite base station and other related information contained in a message, extract stable and reliable geometric distance information from received signals through a proper signal processing and filtering method, and determine the position of the user terminal by using a geometric method;
s106: coordinates obtained by calculation of the microsatellite base station positioning service running on the user terminal are matched with an indoor map through a system API, so that indoor navigation, positioning, tracking, track display and monitoring are realized.
The application of the principles of the present invention will now be described in further detail with reference to specific embodiments.
In the method for positioning the microsatellite base station based on the single or the plurality of Bluetooth transmitting units provided by the embodiment of the invention,
1) the micro-satellite base station installation points are uniformly selected as much as possible in the service area of the system according to a certain density. The installation density is calculated according to the effective distance of the micro-satellite base stations, for the three-dimensional positioning, any area in the service area can be ensured to receive signals of three or more micro-satellite base stations, and the installation points are distributed in the whole service area as far as possible. In the corridor, the corridor and other strip-shaped areas, the situation that the microsatellite base stations are arranged on the same straight line or the similar same straight line is avoided, and the deployment of the microsatellite base stations is ensured to have better geometric strength. The geometry strength of the microsatellite base station can be evaluated by a positioning accuracy degradation factor (PDOP). The geometric dilution of precision factor may define an observation matrix a:
in the formula [ x, y, z]For the user position, [ x ]i,yi,zi]Is the location of the ith microsatellite base station, ρiFor the geometric distance between the user position and the ith microsatellite base station
n is the number of visible microsatellite base stations at the user position. The co-factor can be defined according to the observation matrix as Q ═ AT*A)-1Wherein the operator represents a matrix multiplication, the operator (·)TRepresenting a matrix transpose operation, operator (·)-1Representing a matrix inversion operation. The calculated Q matrix is a 3 x 3 square matrix and PDOP can be calculated by:
in the formula qijThe elements of the ith row and the jth column of the Q matrix are represented. The larger the PDOP, the less robust the microsatellite base station geometry is considered. In the stage of selecting the installing point of the micro-satellite base station, whether the installing point of the micro-satellite base station is reasonable or not can be determined by calculating the PDOP value of each network point in the service area. For the case of two-dimensional positioning, dimension reduction processing can be performed on the calculation method, and the calculation process is similar.
After the mounting points of the microsatellite base station are selected, the coordinates of the mounting points are measured one by one. The coordinates of each installation point are ensured to be under the same coordinate system, which can be a local coordinate system such as a room coordinate system, a building coordinate system and the like, and can also be global coordinate system coordinates, such as a WGS84 coordinate system, a CGCS2000 coordinate system and the like. The global coordinate system is used as a precondition for realizing indoor and outdoor seamless positioning, so that the global coordinate system has higher practical value. The method for obtaining the global coordinate system coordinates of the indoor micro satellite base station installation point comprises two methods:
(1) the global coordinate system coordinates of one or more outdoor mark points are obtained by using a GNSS positioning method, the relative positions of an indoor target point and the outdoor mark points are measured by relative positioning means such as a total station, a theodolite, a laser range finder and other equipment, and then the global coordinate system coordinates of the indoor mark points are calculated. (2) A method of coordinate transformation using a local coordinate system map. If the service area has the relative position relation of local coordinate systems such as design drawings and the like, global coordinate systems of three or more than three building feature points can be measured by using a GNSS means, and conversion parameters between two sets of coordinate systems are solved by using the global coordinates and the local coordinates of the feature points. The local coordinate system coordinates can be completely converted into global coordinate system coordinates by using the conversion parameters. Therefore, the coordinates of the global coordinate system of the microsatellite base station can be obtained through conversion only by measuring the coordinates of the mounting point of the microsatellite base station in the local coordinate system.
2) And injecting the relevant information of the microsatellite base station concerned by the user equipment into the microsatellite base station. The method comprises the steps of numbering the microsatellite base stations required to be installed in the whole service area one by one, coding and encrypting other related information such as the number, coordinates, floors, signal correction parameters and the like of the microsatellite base stations, injecting the information into the microsatellite base stations, and broadcasting the written information to user terminal equipment in a telegraph text mode when the microsatellite base stations work. For an indoor positioning scene with a large area, a plurality of microsatellite base stations need to be arranged, and at the moment, the numbering of the microsatellite base stations needs to be specially processed, so that the numbering of the base stations is avoided from being repeated. The number of bits occupied by the microsatellite base station number is limited by the length of the text code. In a scene with more microsatellite base stations, base station numbering multiplexing is needed to realize large-scale base station cooperative work. When the micro-satellite base stations are distributed, the spatial topology analysis is needed to ensure that the two micro-satellite base stations with the same serial numbers are not in the same working area.
3) And installing the micro-satellite base stations to the designated positions one by one, and starting the micro-satellite base stations. In the installation process, the spatial position of the micro satellite base station to be installed is ensured to be in one-to-one correspondence with the information injected in the step 2). After the microsatellite base station is started, whether the signal of the microsatellite base station works normally or not and whether the content of the broadcast message is correct or not should be checked.
The positioning part of the user terminal analyzes the text content by receiving the signals of the microsatellite base station during the system operation and calculates the current position of the user equipment in real time. The user end equipment can be wearable equipment such as smart phones, bracelets, and can also be the sensor that has bluetooth communication and computing power. Whatever the hardware platform, the system should be pre-loaded with the microsatellite base station positioning service software. The user terminal location part also comprises three steps:
4) the user terminal starts a Bluetooth receiving function and starts a micro satellite base station positioning service. And starting a Bluetooth receiving function, wherein the user equipment can scan and obtain signals transmitted by the microsatellite base station, and start a microsatellite base station positioning service, and the service can automatically acquire the received microsatellite base station information and demodulate the text content.
5) The microsatellite base station positioning service running at the user terminal can acquire the signal strength (RSSI) transmitted by each microsatellite base station in real time, demodulate the position of the microsatellite base station and other related information contained in a message, extract stable and reliable geometric distance information from the received signals by a proper signal processing and filtering method, and determine the position of user equipment by a geometric method. The geometric distance from the user to the microsatellite base station can be expanded by a Taylor series and is expressed as:
where rho0The approximate geometric distance of the user equipment, namely the microsatellite base station, wherein epsilon is a nonlinear error; [ x ] ofi,yi,zi]Is the coordinate of the ith microsatellite base station, [ dx, dy, dz]Is the increment of the user's coordinates. Neglecting the non-linear error term of the above equation, the above equation can be expressed as:
considering the case of multiple microsatellite base stations, the linearization system can be expressed as:
E(y)≈Ax；
least squares solution of the linearized system
Wherein
The user coordinate increment is obtained by estimation, and P is a weight matrix. After the coordinate increment is obtained, the approximate coordinates are updated, and the coordinate increment is recalculated until the calculated coordinate increment is small enough. When the user approximate coordinates are unknown during the first positioning, the initial coordinates can be set in a mode of adding a random offset to the coordinates of a certain base station. The least squares method is typically used only to initialize the filter, and subsequent navigation fix calculations typically use Extended Kalman Filtering (EKF). For most indoor positioning scenarios, the EKF may use a random walk model to simulate the ue coordinate movement state, and the extended kalman filter model may be expressed as follows:
and (3) time updating:
Qkis a process noise matrix for epoch k, which may be adjusted according to the velocity of motion of the user equipment.
KkIs a filter gain matrix of epoch k, RkAnd obtaining updated user equipment position information after filtering is finished.
6) The coordinates obtained by calculation of the microsatellite base station positioning service running on the user terminal are provided for other application programs through a system API or other modes, and are matched with an indoor map. The monitoring and tracking function is realized by the user equipment transmitting the positioning result back to the central server through a certain data communication mode, such as Wi-Fi, Bluetooth, cellular network, etc., so as to realize the application functions of positioning, navigation, monitoring, etc.
In the microsatellite base station positioning system based on a single or a plurality of Bluetooth transmitting units provided by the embodiment of the invention, each microsatellite base station consists of a single or a plurality of Bluetooth transmitters working simultaneously and a plurality of Bluetooth receivers, two or more than two microsatellite base stations are used as positioning signal sources to broadcast the position and related information of the microsatellite base station to a user terminal, and the user terminal realizes a real-time positioning function by analyzing message information and measuring the distance to the microsatellite base station.
The positioning system has the function of being obtained by starting up, has a similar part with the outdoor GNSS positioning process, but has different distance measurement technologies. When the user is positioned, the outdoor GNSS positioning system can be directly connected without knowing any information (such as a fingerprint library) of the positioning environment in advance, and the indoor and outdoor seamless positioning of the intelligent terminal is realized.
The microsatellite base station transmits message information for positioning to the user terminal, wherein the message content comprises but is not limited to identification codes, coordinates, floors, room numbers, signal propagation parameters, working modes and the like of the microsatellite base station.
The coordinate system of the coordinate information of the microsatellite base station transmitted to the user terminal comprises global coordinate system coordinates such as WGS84 coordinates and CGCS2000 coordinates, and also comprises independent coordinate system coordinates, indoor coordinate system coordinates, encrypted coordinate system coordinates and the like.
The user terminal can obtain the information for positioning only by scanning the Bluetooth signal without pairing link.
The user terminal can obtain high-precision and high-reliability distance measurement values through a data processing strategy by receiving signal strength values (RSSI) of a plurality of Bluetooth transmitters of the same microsatellite base station.
The positioning operation mode of the user terminal includes, but is not limited to, obtaining a three-dimensional coordinate of a space, a two-dimensional coordinate of a horizontal plane, a two-dimensional coordinate of a vertical plane, a one-dimensional coordinate, mileage information, floor information, a room number, and the like.
The user terminal has the capability of scanning a plurality of Bluetooth devices and the capability of computing and processing measurement data, and comprises wearable devices such as a smart phone, a bracelet and a tracker, and industrial sensor devices such as an embedded module, an intelligent robot and a device sensor.
The positioning system composed of two or more than two micro-satellite base stations has an automatic networking function, and the micro-satellite base stations have automatic signal calibration and communication functions.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A system for positioning a microsatellite base station based on one or more bluetooth transmitting units, wherein the system for positioning a microsatellite base station based on one or more bluetooth transmitting units comprises:
at least one microsatellite base station which is arranged on a fixed point with known coordinates and is used for transmitting positioning information, wherein the information comprises but is not limited to identification codes, coordinates, floors and room numbers of the microsatellite base station, signal propagation parameters of a transmitter and telegraph information of a working mode;
a microsatellite base station positioning system on the user equipment; the system is connected with the microsatellite base station through wireless and is used for receiving signals of the microsatellite base station and analyzing the obtained telegraph text information and calculating one-dimensional, two-dimensional or three-dimensional coordinates of the system;
the coordinate system used by the coordinate of the microsatellite base station comprises global coordinate system coordinates, such as WGS84 coordinates and CGCS2000 coordinates, independent coordinate system coordinates, indoor coordinate system coordinates and encrypted coordinate system coordinates; a plurality of microsatellite base stations form an ad hoc network system;
the method for positioning the microsatellite base station based on the single or the plurality of Bluetooth transmitting units of the microsatellite base station positioning system based on the single or the plurality of Bluetooth transmitting units specifically comprises the following steps:
uniformly selecting the mounting points of the microsatellite base station in a service area according to a certain density; the installation density is calculated according to the effective distance of the microsatellite base station; for three-dimensional positioning, any area in a service area can receive signals of three or more than three microsatellite base stations; the installation points are distributed in the whole service area; in the corridor and the strip-shaped area of the corridor, the microsatellite base stations are prevented from being arranged on the same straight line or the similar straight line, so that the deployment of the microsatellite base stations has good geometric strength;
step two, injecting relevant information of the microsatellite base station concerned by the user terminal into the microsatellite base station; numbering the microsatellite base stations which need to be installed in the whole service area one by one, coding and encrypting related information such as the numbering, the coordinates, the floors, the signal correction parameters and the like of the microsatellite base stations, and injecting the information into the microsatellite base stations; when the microsatellite base station works, the written information can be broadcasted to the user terminal in a telegraph text form; when the number of the microsatellite base stations is large, the spatial topology analysis is needed to ensure that two microsatellite base stations with the same number are not in the same working area during the layout;
step three, installing the microsatellite base stations to the specified positions one by one, and starting the microsatellite base stations; in the installation process, the spatial position of the micro-satellite base station to be installed is in one-to-one correspondence with the information injected in the step two; after starting the microsatellite base station, checking whether the signal of the microsatellite base station works normally and whether the content of the broadcast message is correct;
step four, the user terminal starts a Bluetooth receiving function and can scan and obtain signals transmitted by the microsatellite base station; starting a microsatellite base station positioning service, automatically acquiring the received microsatellite base station information, and demodulating the text content;
step five, the microsatellite base station positioning service running at the user terminal can acquire the signal strength RSSI transmitted by each microsatellite base station in real time, demodulate the position of the microsatellite base station and other related information contained in the telegraph text, extract stable and reliable geometric distance information from the received signals by a proper signal processing and filtering method, and determine the position of the user terminal by a geometric method;
and sixthly, coordinates obtained by calculation of the microsatellite base station positioning service running on the user terminal are matched with an indoor map through a system API, so that indoor navigation, positioning, tracking, track display and monitoring are realized.
2. The system of claim 1 wherein the microsatellite base station is comprised of one or more Bluetooth units and a microcontrol unit;
each Bluetooth unit consists of a Bluetooth chip, a Bluetooth signal antenna and a peripheral circuit; the Bluetooth modules are arranged according to a certain geometric configuration and used for improving the quality of Bluetooth signals;
all the Bluetooth units are connected with the micro control unit; wherein, part of the Bluetooth units are used for transmitting Bluetooth signals, and the other part of the Bluetooth units are used for receiving the Bluetooth signals; and the micro control unit MCU is responsible for controlling each Bluetooth unit to work.
3. The one or more bluetooth transmitting unit based microsatellite base station positioning system according to claim 1 wherein the microsatellite base station positioning system on the user equipment includes a user terminal for real time positioning by parsing the message information and measuring the distance to the microsatellite base station; the user terminal can obtain the information for positioning only by scanning the Bluetooth signal without pairing and linking;
the user terminal obtains high-precision and high-reliability distance measurement values through a specific data processing strategy by receiving signal strength values RSSI of a plurality of Bluetooth transmitters of the same microsatellite base station;
the positioning operation mode of the user terminal includes, but is not limited to, obtaining a spatial three-dimensional coordinate, a horizontal plane two-dimensional coordinate, a vertical plane two-dimensional coordinate, a one-dimensional coordinate, mileage information, floor information, and a room number.
4. The system of claim 3, wherein the user terminal scans a plurality of microsatellite base stations and performs measurement data calculation processing; the user terminal includes, but is not limited to, a smart phone, a bracelet, a tracker, an embedded module, a smart robot, and an industrial sensor device.
5. The system of claim 1 wherein in step one, the geometric strength of the microsatellite base station is evaluated by a positioning accuracy degradation factor (PDOP); the positioning accuracy attenuation factor defines an observation matrix A:
in the formula [ x, y, z]For the user position, [ x ]i,yi,zi]Is the location of the ith microsatellite base station, ρiFor the geometric distance between the user position and the ith microsatellite base station
n is the number of visible microsatellite base stations at the user position;
defining a co-factor matrix Q ═ a from the observation matrixT*A)-1Wherein the operator represents a matrix multiplication, the operator (·)TRepresenting a matrix transpose operation, operator (·)-1Representing a matrix inversion operation;
the calculated Q matrix is a 3 x 3 square matrix and PDOP can be calculated by:
in the formula qijElements representing the ith row and the jth column of the Q matrix; the bigger the PDOP is, the more the microsatellite base station is consideredThe poorer the strength of the geometry; in the stage of selecting the installing point of the microsatellite base station, whether the installing point of the microsatellite base station is reasonable or not is determined by calculating the PDOP value of each network point in the service area; for the two-dimensional positioning, the calculation method can be subjected to dimension reduction;
after the mounting points of the microsatellite base station are selected, measuring the coordinates of the mounting points one by one; the coordinates of each installation point are ensured to be under the same set of coordinate system, and the coordinate system is a room coordinate system, a local coordinate system of a building coordinate system or global coordinate system coordinates; the method for obtaining the global coordinate system coordinates of the indoor micro satellite base station mounting point comprises the following steps:
the global coordinate system coordinates of one or more outdoor mark points are obtained by using a GNSS method, the relative positions of an indoor target point and the outdoor mark points are measured by a total station, a theodolite and a laser range finder, and then the global coordinate system coordinates of the indoor mark points are calculated;
a method of performing coordinate conversion using a local coordinate system map; measuring global coordinate systems of three or more building feature points by using a GNSS means according to the relative position relation of a local coordinate system with a design drawing in a service area, and solving conversion parameters between two sets of coordinate systems by using the global coordinates and the local coordinates of the feature points; the local coordinate system coordinates are all converted into global coordinate system coordinates by using the conversion parameters.
6. The system of claim 1, wherein stable and reliable geometric distance information is extracted from the received signal by signal processing and filtering method, and the position of the user terminal is determined by geometric method; the geometric distance from the user to the microsatellite base station is expanded by Taylor series and is expressed as:
where rho0The approximate geometric distance of the user equipment, namely the microsatellite base station, wherein epsilon is a nonlinear error; [ x ] ofi,yi,zi]Is the coordinate of the ith microsatellite base station, [ dx, dy, dz]Is the increment of the user's coordinates; neglecting the non-linear error term of the above formula, the above formula is expressed as:
considering the case of multiple microsatellite base stations, the linearization system is represented as:
E(y)≈Ax；
least squares solution of the linearized system
Wherein
Estimating to obtain a user coordinate increment, wherein P is a weight matrix; after the coordinate increment is obtained, updating the approximate coordinates, and recalculating the coordinate increment until the calculated coordinate increment is small enough;
when the user approximate coordinates are unknown during first positioning, an outdoor GNSS positioning result is used as the initial approximate coordinates, or the initial coordinates are set in a mode of adding a random offset to the coordinates of a certain base station; the least square method is used for initializing the filter, and the extended Kalman filtering EKF is used for subsequent navigation positioning calculation; for most indoor positioning scenes, an EKF (extended Kalman Filter) simulates the coordinate movement state of a user terminal by using a random walk model, and an extended Kalman filter model is expressed as follows:
and (3) time updating:
Qkis a process noise matrix of epoch k, the matrix rootAdjusting according to the movement speed of the user equipment;
Kkis a filter gain matrix of epoch k, RkAnd obtaining updated user terminal position information after filtering is finished.
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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 |
| 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 |
| CN109811990B (en) * | 2019-03-22 | 2023-10-31 | 中铁建设集团有限公司 | Building emergency guarantee 5G base station capable of being vertically deployed at high speed |
| CN110087181A (en) * | 2019-03-27 | 2019-08-02 | 苏州威斯德医疗科技有限公司 | A kind of closed area 3D synthesis display method and display device |
| CN112770268B (en) * | 2019-10-21 | 2022-07-15 | 珠海格力电器股份有限公司 | Networking positioning method, system, equipment and storage medium |
| CN110824423B (en) * | 2019-11-26 | 2021-08-17 | 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 |
| CN111142139B (en) * | 2019-11-29 | 2022-08-26 | 苏州科达科技股份有限公司 | Method and device for acquiring simulated positioning information and storage medium |
| 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 |
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| 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 |
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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 |