CN107356256A - A kind of indoor high-accuracy position system and method for multi-source data mixing - Google Patents
A kind of indoor high-accuracy position system and method for multi-source data mixing Download PDFInfo
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Abstract
本发明公开了一种多源数据混合的室内高精度定位系统和方法。该系统包括移动终端、均匀布设在室内的若干WiFi节点、稀疏布设在室内特定场景处的若干二维码标签和蓝牙节点、云平台。本发明采用终端‑云端交互的多源混合定位方式，终端进行初始位置获取、多源数据采集、特征提取、数据融合和数据传输等操作，云端负责多源数据混合定位计算，并将结果返回终端，终端利用云端返回定位结果进行数据校正，以实现高精度、稳定、连续、可靠的室内定位。
The invention discloses a multi-source data mixed indoor high-precision positioning system and method. The system includes mobile terminals, several WiFi nodes uniformly arranged indoors, several two-dimensional code tags and Bluetooth nodes sparsely arranged at specific indoor scenes, and a cloud platform. The present invention adopts a multi-source hybrid positioning mode of terminal-cloud interaction. The terminal performs operations such as initial position acquisition, multi-source data collection, feature extraction, data fusion, and data transmission. The cloud is responsible for multi-source data hybrid positioning calculation and returns the results to the terminal. , the terminal uses the cloud to return the positioning results for data correction to achieve high-precision, stable, continuous, and reliable indoor positioning.
Description
技术领域technical field
本发明属于室内定位技术领域，特别涉及了一种多源数据混合的室内高精度定位系统和方法。The invention belongs to the technical field of indoor positioning, and in particular relates to a multi-source data mixed indoor high-precision positioning system and method.
背景技术Background technique
在室内环境无法使用卫星定位时，使用室内定位技术作为卫星定位的辅助定位，解决卫星信号到达地面时较弱、不能穿透建筑物的问题，实现人员、物体等在室内空间中的位置监控。现有的室内定位方法主要包括蜂窝定位技术、Wi-Fi、蓝牙、红外线、超宽带、RFID、ZigBee和超声波，但是这些室内定位技术具有以下缺陷：When satellite positioning cannot be used in the indoor environment, indoor positioning technology is used as an auxiliary positioning of satellite positioning to solve the problem that satellite signals are weak when they reach the ground and cannot penetrate buildings, and realize the position monitoring of people and objects in indoor space. Existing indoor positioning methods mainly include cellular positioning technology, Wi-Fi, Bluetooth, infrared, ultra-wideband, RFID, ZigBee and ultrasonic, but these indoor positioning technologies have the following defects:
(1)蓝牙、光通信室内定位技术精度较低、可靠性差，不能与云端进行数据交互，不能满足云端对终端安全监控与预警、应急救援与指挥等需求；(1) Bluetooth and optical communication indoor positioning technologies have low precision and poor reliability, cannot perform data interaction with the cloud, and cannot meet the needs of the cloud for terminal security monitoring and early warning, emergency rescue and command;
(2)超宽带室内定位技术精度较高，无法直接应用在智能手机上，实用性较差；(2) Ultra-wideband indoor positioning technology has high precision and cannot be directly applied to smartphones, and its practicability is poor;
(3)Wi-Fi室内定位技术能够与云端进行数据交互，但是Wi-Fi室内定位技术的精度低、可靠性差；(3) Wi-Fi indoor positioning technology can exchange data with the cloud, but Wi-Fi indoor positioning technology has low accuracy and poor reliability;
(4)单一的室内定位技术手段不能满足人们在室内复杂环境下高精度、稳定、连续、可靠的定位需求。(4) A single indoor positioning technology cannot meet people's high-precision, stable, continuous and reliable positioning needs in complex indoor environments.
发明内容Contents of the invention
为了解决上述背景技术提出的技术问题，本发明旨在提供一种多源数据混合的室内高精度定位系统和方法，克服现有单一室内定位技术精度低、可靠性差等缺陷。In order to solve the technical problems raised by the above-mentioned background technology, the present invention aims to provide a multi-source data mixed indoor high-precision positioning system and method, which overcomes the defects of low precision and poor reliability of the existing single indoor positioning technology.
为了实现上述技术目的，本发明的技术方案为：In order to realize above-mentioned technical purpose, technical scheme of the present invention is:
一种多源数据混合的室内高精度定位系统，包括移动终端、均匀布设在室内的若干WiFi节点、稀疏布设在室内特定场景处的若干二维码标签和蓝牙节点、云平台；所述移动终端包括图像采集模块、无线通信模块、二维码识别模块、显示模块、惯导模块和微处理模块，图像采集模块用于采集室内的一段时间内的图像序列，无线通信模块用于接收WiFi节点和蓝牙节点发射的信号，二维码识别模块用于扫描二维码标签并提取出标签内包含的信息，显示模块用于显示电子地图和定位结果，惯导模块用于获取移动终端的加速度、角速度和磁场强度信息，微处理模块根据获取的多源数据，进行航位推算，预测下一时刻的位置；所述WiFi节点用于保证移动终端接入因特网，实现移动终端与云平台之间的数据交互，同时提供用于进行WiFi指纹定位的WiFi信号指纹；所述二维码标签内存储有所在位置信息，保证移动终端通过二维码识别获取准确的初始位置；所述蓝牙节点发射蓝牙信号，保证移动终端通过接受蓝牙信号获取准确的初始位置，同时提供蓝牙指纹定位的蓝牙信号指纹；所述云平台用于获取移动终端上传的数据，进行多源混合智能定位，并将定位结果回传给移动终端。An indoor high-precision positioning system mixed with multi-source data, including a mobile terminal, several WiFi nodes uniformly arranged indoors, several two-dimensional code tags and Bluetooth nodes sparsely arranged at specific indoor scenes, and a cloud platform; the mobile terminal It includes an image acquisition module, a wireless communication module, a two-dimensional code recognition module, a display module, an inertial navigation module and a microprocessing module. The image acquisition module is used to collect image sequences within a period of time in the room, and the wireless communication module is used to receive WiFi nodes and The signal transmitted by the Bluetooth node, the two-dimensional code recognition module is used to scan the two-dimensional code label and extract the information contained in the label, the display module is used to display the electronic map and positioning results, and the inertial navigation module is used to obtain the acceleration and angular velocity of the mobile terminal and magnetic field strength information, the microprocessing module performs dead reckoning according to the obtained multi-source data, and predicts the position at the next moment; the WiFi node is used to ensure that the mobile terminal accesses the Internet, and realizes data exchange between the mobile terminal and the cloud platform. Interaction, while providing WiFi signal fingerprints for WiFi fingerprint positioning; location information is stored in the two-dimensional code label to ensure that the mobile terminal obtains an accurate initial position through two-dimensional code identification; the Bluetooth node transmits Bluetooth signals, Ensure that the mobile terminal obtains an accurate initial position by receiving the Bluetooth signal, and at the same time provide the Bluetooth signal fingerprint for Bluetooth fingerprint positioning; the cloud platform is used to obtain the data uploaded by the mobile terminal, perform multi-source hybrid intelligent positioning, and send back the positioning result mobile terminal.
基于上述技术方案的优选方案，布设二维码标签和蓝牙节点的室内特定场景包括建筑物进出口、拐角和楼梯。Based on the preferred solution of the above-mentioned technical solution, the specific indoor scenes where the two-dimensional code tags and Bluetooth nodes are deployed include building entrances and exits, corners and stairs.
基于上述技术方案的优选方案，所述蓝牙节点配置有iBeacon技术。Based on the preferred solution of the above technical solution, the Bluetooth node is configured with iBeacon technology.
基于上述技术方案的优选方案，所述移动终端采用智能手机或平板电脑。Based on the preferred solution of the above technical solution, the mobile terminal adopts a smart phone or a tablet computer.
基于权利上述系统的室内高精度定位方法，包括以下步骤：The indoor high-precision positioning method based on the above-mentioned system includes the following steps:
(1)移动终端通过扫描二维码标签或根据接收到的蓝牙信号，获取初始位置，并将初始位置显示在电子地图上；(1) The mobile terminal obtains the initial position by scanning the QR code label or according to the received Bluetooth signal, and displays the initial position on the electronic map;
(2)移动终端采集一段时间内的室内图像序列、蓝牙指纹信号、WiFi指纹信号、加速度、角速度和磁场强度；(2) The mobile terminal collects indoor image sequences, Bluetooth fingerprint signals, WiFi fingerprint signals, acceleration, angular velocity and magnetic field strength within a period of time;
(3)移动终端根据加速度、角速度和磁场强度，进行步态探测、活动识别和航向角估计，得到用户的步数、活动状态和航向角；(3) The mobile terminal performs gait detection, activity recognition, and heading angle estimation according to the acceleration, angular velocity, and magnetic field strength, and obtains the user's steps, activity state, and heading angle;
(4)移动终端根据用户的活动状态识别用户的步长，再根据步数得到用户位移，移动终端基于初始位置、位移和航向角，进行航位推算，预测出下一时刻的位置，并显示在电子地图上；(4) The mobile terminal recognizes the user's step length according to the user's activity state, and then obtains the user's displacement according to the number of steps. The mobile terminal performs dead reckoning based on the initial position, displacement and heading angle, predicts the position at the next moment, and displays on the electronic map;
(5)移动终端判断是否满足校正条件，当满足校正条件时，移动终端将上一时刻的位置信息和获取的多源数据上传给云平台；(5) The mobile terminal judges whether the correction condition is satisfied, and when the correction condition is satisfied, the mobile terminal uploads the position information of the last moment and the multi-source data obtained to the cloud platform;
(6)云平台基于视觉定位算法、惯性导航算法、蓝牙指纹定位算法和WiFi指纹定位算法，进行多源混合智能定位，并将定位结果回传给移动终端；(6) The cloud platform performs multi-source hybrid intelligent positioning based on visual positioning algorithm, inertial navigation algorithm, Bluetooth fingerprint positioning algorithm and WiFi fingerprint positioning algorithm, and sends the positioning results back to the mobile terminal;
(7)移动终端根据云平台回传的定位结果，校正上一时刻位置信息，再利用航位推算，获取当前位置信息，并显示在电子地图上。(7) The mobile terminal corrects the location information at the previous moment according to the positioning result returned by the cloud platform, and then uses dead reckoning to obtain the current location information, and displays it on the electronic map.
进一步地，在步骤(5)中，当满足运动时间窗口为4秒、运动状态发生变化以及运动过程发生转向中的任一条件时，即判断满足校正条件。Further, in step (5), when any of the conditions of the exercise time window being 4 seconds, the change of the exercise state, and the diversion of the exercise process are met, it is judged that the correction condition is met.
采用上述技术方案带来的有益效果：The beneficial effect brought by adopting the above-mentioned technical scheme:
本发明分别采用移动终端和云端的混合定位，终端负责数据采集和简单的数据融合处理，将大量复杂的混合定位计算迁移至云平台，融合了视觉定位等高精度定位技术，采用以终端短时高精度航位推算为主、以云平台混合定位计算结果校正为辅的方式，实现高精度、连续、可靠的定位。此外，本发明充分利用了终端的硬件、网络和计算资源，减轻了终端运算负荷。The present invention adopts mobile terminal and cloud hybrid positioning respectively, the terminal is responsible for data collection and simple data fusion processing, a large number of complex hybrid positioning calculations are migrated to the cloud platform, and high-precision positioning technologies such as visual positioning are integrated, and short-term positioning with the terminal is adopted. High-precision dead reckoning is the main method, supplemented by the correction of hybrid positioning calculation results on the cloud platform, to achieve high-precision, continuous and reliable positioning. In addition, the present invention makes full use of the hardware, network and computing resources of the terminal, and reduces the computing load of the terminal.
附图说明Description of drawings
图1是本发明的系统组成示意图；Fig. 1 is a schematic diagram of the system composition of the present invention;
图2是本发明的方法流程图。Fig. 2 is a flow chart of the method of the present invention.
具体实施方式detailed description
以下将结合附图，对本发明的技术方案进行详细说明。The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.
本发明提出了一种多源数据混合的室内高精度定位系统，如图1所示，包括移动终端、若干WiFi节点、若干二维码标签、若干蓝牙节点、云平台。所述移动终端包括图像采集模块、无线通信模块、二维码识别模块、显示模块、惯导模块和微处理模块，图像采集模块用于采集室内的一段时间内的图像序列，无线通信模块用于接收WiFi节点和蓝牙节点发射的信号，二维码识别模块用于扫描二维码标签并提取出标签内包含的信息，显示模块用于显示电子地图和定位结果，惯导模块用于获取移动终端的加速度、角速度和磁场强度信息，微处理模块根据获取的多源数据，进行航位推算，预测下一时刻的位置。在本实施例中，移动终端可采用智能手机或平板电脑。WiFi节点均匀布设在室内各处，用于保证移动终端接入因特网，实现移动终端与云平台之间的数据交互，同时提供用于进行WiFi指纹定位的WiFi信号指纹。二维码标签稀疏布设在室内某些场景中，例如建筑物进出口、拐角和楼梯，标签内存储有所在位置信息，保证移动终端通过二维码识别获取准确的初始位置。蓝牙节点稀疏布设在室内某些场景中，例如建筑物进出口、拐角和楼梯，蓝牙节点发射蓝牙信号，保证移动终端通过接受蓝牙信号获取准确的初始位置，同时提供蓝牙指纹定位的蓝牙信号指纹。蓝牙节点需要配置iBeacon。云平台由公网IP、防火墙、路由器、交换机、负载均衡器、服务器和数据库等组成，用于获取移动终端上传的数据，进行多源混合智能定位，并将定位结果回传给移动终端。The present invention proposes a multi-source data mixed indoor high-precision positioning system, as shown in Figure 1, including a mobile terminal, several WiFi nodes, several two-dimensional code tags, several Bluetooth nodes, and a cloud platform. The mobile terminal includes an image acquisition module, a wireless communication module, a two-dimensional code recognition module, a display module, an inertial navigation module and a microprocessing module, the image acquisition module is used to collect image sequences within a period of time in the room, and the wireless communication module is used for Receive the signals transmitted by WiFi nodes and Bluetooth nodes, the two-dimensional code recognition module is used to scan the two-dimensional code label and extract the information contained in the label, the display module is used to display the electronic map and positioning results, and the inertial navigation module is used to obtain the information contained in the mobile terminal Acceleration, angular velocity and magnetic field strength information, the micro-processing module performs dead reckoning based on the acquired multi-source data, and predicts the position at the next moment. In this embodiment, the mobile terminal may be a smart phone or a tablet computer. The WiFi nodes are evenly distributed throughout the room to ensure that the mobile terminal accesses the Internet, realize data interaction between the mobile terminal and the cloud platform, and provide WiFi signal fingerprints for WiFi fingerprint positioning. Two-dimensional code labels are sparsely arranged in some indoor scenes, such as building entrances, corners and stairs. The location information is stored in the labels to ensure that mobile terminals can obtain accurate initial positions through two-dimensional code recognition. Bluetooth nodes are sparsely arranged in some indoor scenes, such as building entrances, corners and stairs. Bluetooth nodes transmit Bluetooth signals to ensure that mobile terminals obtain accurate initial positions by receiving Bluetooth signals, and provide Bluetooth signal fingerprints for Bluetooth fingerprint positioning. Bluetooth nodes need to configure iBeacon. The cloud platform is composed of public network IP, firewall, router, switch, load balancer, server and database, etc. It is used to obtain the data uploaded by the mobile terminal, perform multi-source hybrid intelligent positioning, and send the positioning result back to the mobile terminal.
本发明还提出了基于上述系统的室内高精度定位方法，如图2所示，具体步骤如下。The present invention also proposes an indoor high-precision positioning method based on the above system, as shown in FIG. 2 , and the specific steps are as follows.
步骤1、移动终端通过扫描二维码标签或根据接收到的蓝牙信号，获取初始位置，并将初始位置显示在电子地图上；Step 1. The mobile terminal obtains the initial position by scanning the QR code label or according to the received Bluetooth signal, and displays the initial position on the electronic map;
步骤2、移动终端采集一段时间内的室内图像序列、蓝牙指纹信号、WiFi指纹信号、加速度、角速度和磁场强度；Step 2, the mobile terminal collects indoor image sequences, Bluetooth fingerprint signals, WiFi fingerprint signals, acceleration, angular velocity and magnetic field strength within a period of time;
步骤3、移动终端根据加速度、角速度和磁场强度，进行步态探测、活动识别和航向角估计，得到用户的步数、活动状态和航向角；Step 3. The mobile terminal performs gait detection, activity recognition, and heading angle estimation according to the acceleration, angular velocity, and magnetic field strength, and obtains the number of steps, activity status, and heading angle of the user;
步骤4、移动终端根据用户的活动状态识别用户的步长，再根据步数得到用户位移，移动终端基于初始位置、位移和航向角，进行航位推算，预测出下一时刻的位置，并显示在电子地图上；Step 4. The mobile terminal recognizes the user's step length according to the user's activity state, and then obtains the user's displacement according to the number of steps. The mobile terminal performs dead reckoning based on the initial position, displacement and heading angle, predicts the position at the next moment, and displays on the electronic map;
步骤5、移动终端判断是否满足校正条件，当满足校正条件时，即满足运动时间窗口为4秒、运动状态发生变化以及运动过程发生转向中的任一条件，移动终端将上一时刻的位置信息和获取的多源数据汇聚上传给云平台；Step 5. The mobile terminal judges whether the correction condition is satisfied. When the correction condition is satisfied, that is, any condition of the movement time window of 4 seconds, the change of the movement state, and the turning of the movement process is met, the mobile terminal will update the position information of the previous moment. Gather and upload the obtained multi-source data to the cloud platform;
步骤6、云平台基于视觉定位算法、惯性导航算法、蓝牙指纹定位算法和WiFi指纹定位算法，进行多源混合智能定位，并将定位结果回传给移动终端；Step 6. The cloud platform performs multi-source hybrid intelligent positioning based on visual positioning algorithm, inertial navigation algorithm, Bluetooth fingerprint positioning algorithm and WiFi fingerprint positioning algorithm, and returns the positioning result to the mobile terminal;
步骤7、移动终端根据云平台回传的定位结果，校正上一时刻位置信息，再利用航位推算，获取当前位置信息，并显示在电子地图上。Step 7. The mobile terminal corrects the previous position information according to the positioning result returned by the cloud platform, and then uses dead reckoning to obtain the current position information, and displays it on the electronic map.
以上实施例仅为说明本发明的技术思想，不能以此限定本发明的保护范围，凡是按照本发明提出的技术思想，在技术方案基础上所做的任何改动，均落入本发明保护范围之内。The above embodiments are only to illustrate the technical ideas of the present invention, and can not limit the protection scope of the present invention with this. All technical ideas proposed in accordance with the present invention, any changes made on the basis of technical solutions, all fall within the protection scope of the present invention. Inside.
Claims (6)
- A kind of 1. indoor high-accuracy position system of multi-source data mixing, it is characterised in that：Including mobile terminal, uniformly it is laid in Indoor some WiFi nodes, sparse laying some two-dimension code labels and bluetooth nodes, cloud platform at special scenes indoors； The mobile terminal include image capture module, wireless communication module, Quick Response Code identification module, display module, inertial navigation module and Micro treatment module, image capture module are used to gather the image sequence in a period of time of interior, and wireless communication module is used to connect WiFi nodes and the signal of bluetooth nodes transmitting are received, Quick Response Code identification module is used to scan two-dimension code label and extract in outgoing label Comprising information, display module is used to show electronic map and positioning result, and inertial navigation module is used for the acceleration for obtaining mobile terminal Degree, angular speed and magnetic field intensity information, micro treatment module carry out dead reckoning, predict lower a period of time according to the multi-source data of acquisition The position at quarter；The WiFi nodes are used to ensure that mobile terminal accesses internet, realize the number between mobile terminal and cloud platform According to interaction, while provide the WiFi signal fingerprint for carrying out WiFi fingerprint locations；Where the two-dimension code label memory storage has Positional information, ensure that mobile terminal obtains accurate initial position by Quick Response Code identification；The bluetooth nodes transmitting bluetooth letter Number, ensure that mobile terminal obtains accurate initial position by receiving Bluetooth signal, while provide the bluetooth of bluetooth fingerprint location Received signals fingerprint；The cloud platform is used for the data for obtaining mobile terminal upload, carries out migration fractionation intelligent positioning, and positioning is tied Fruit returns to mobile terminal.
- A kind of 2. indoor high-accuracy position system of multi-source data mixing according to claim 1, it is characterised in that：Lay two Tieing up the indoor special scenes of code label and bluetooth nodes includes building inlet and outlet, turning and stair.
- A kind of 3. indoor high-accuracy position system of multi-source data mixing according to claim 1, it is characterised in that：The indigo plant Tooth node is configured with iBeacon technologies.
- A kind of 4. indoor high-accuracy position system of multi-source data mixing according to claim 1, it is characterised in that：The shifting Dynamic terminal uses smart mobile phone or tablet personal computer.
- 5. the indoor high-precision locating method based on system described in claim 1, it is characterised in that comprise the following steps：(1) mobile terminal obtains initial position by scanning two-dimension code label or the Bluetooth signal according to receiving, and will be initial Position display is on the electronic map；(2) mobile terminal collection a period of time in off-the-air picture sequence, bluetooth fingerprint signal, WiFi fingerprint signals, acceleration, Angular speed and magnetic field intensity；(3) mobile terminal carries out gait detection, activity recognition and course angle estimation according to acceleration, angular speed and magnetic field intensity, Obtain the step number, active state and course angle of user；(4) mobile terminal identifies the step-length of user according to the active state of user, and user's displacement is obtained further according to step number, mobile whole End group carries out dead reckoning, predicts the position of subsequent time, and be shown in electronically in initial position, displacement and course angle On figure；(5) mobile terminal judges whether to meet correcting condition, and when meeting correcting condition, mobile terminal is by the position of last moment Information and the multi-source data obtained are uploaded to cloud platform；(6) cloud platform view-based access control model location algorithm, inertial navigation algorithm, bluetooth fingerprinting localization algorithm and WiFi fingerprint locations are calculated Method, migration fractionation intelligent positioning is carried out, and positioning result is returned into mobile terminal；(7) positioning result that mobile terminal returns according to cloud platform, last moment positional information is corrected, recycles dead reckoning, Current location information is obtained, and is shown on the electronic map.
- 6. indoor high-precision locating method according to claim 5, it is characterised in that：In step (5), when meeting to move Between window be 4 seconds, motion state change and motion process turn in either condition when, that is, judge meet correct Condition.
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