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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- CN107356256A CN107356256A CN201710540878.8A CN201710540878A CN107356256A CN 107356256 A CN107356256 A CN 107356256A CN 201710540878 A CN201710540878 A CN 201710540878A CN 107356256 A CN107356256 A CN 107356256A
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Classifications
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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
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses the indoor high-accuracy position system and method for a kind of multi-source data mixing.The system includes mobile terminal, the uniform some WiFi nodes laid indoors, sparse the laying some two-dimension code labels and bluetooth nodes, cloud platform at special scenes indoors.The migration fractionation positioning method that the present invention is interacted using terminal high in the clouds, terminal enters the operation such as line home position acquisition, multi-source data collection, feature extraction, data fusion and data transfer, it is responsible for the calculating of multi-source data mixed positioning in high in the clouds, and result is returned into terminal, terminal using high in the clouds restoring to normal position result carry out Data correction, with realize high accuracy, stably, continuously, reliable indoor positioning.
Description
Technical field
The invention belongs to indoor positioning technologies field, a kind of more particularly to indoor high accuracy positioning of multi-source data mixing
System and method.
Background technology
When environment can not use satellite fix indoors, using indoor positioning technologies as the auxiliary positioning of satellite fix,
Solve the problems, such as satellite-signal reach ground when it is weaker, building can not be penetrated, realize personnel, object etc. indoors in space
Monitoring position.Existing indoor orientation method mainly include cellular localization technology, Wi-Fi, bluetooth, infrared ray, ultra wide band,
RFID, ZigBee and ultrasonic wave, but these indoor positioning technologies have following defect：
(1) bluetooth, optic communication indoor positioning technologies precision be relatively low, poor reliability, it is impossible to carries out data interaction with high in the clouds, no
High in the clouds can be met to demands such as terminal security monitoring and early warning, emergency management and rescue and commanders；
(2) UWB indoor location technology precision is higher, can not be directly applied on smart mobile phone, practicality is poor；
(3) Wi-Fi indoor positioning technologies can carry out data interaction, but the essence of Wi-Fi indoor positioning technologies with high in the clouds
Spend low, poor reliability；
(4) single indoor positioning technologies means can not meet people's high accuracy under complex environment, stably, even indoors
Continuous, reliable location requirement.
The content of the invention
In order to solve the technical problem that above-mentioned background technology proposes, the present invention is intended to provide a kind of room of multi-source data mixing
Interior high-accuracy position system and method, the defects of overcoming low existing single indoor positioning technology acuracy, poor reliability.
In order to realize above-mentioned technical purpose, the technical scheme is that：
The indoor high-accuracy position system of a kind of multi-source data mixing, if including mobile terminal, uniformly laying indoors
Do WiFi nodes, sparse the laying some two-dimension code labels and bluetooth nodes, cloud platform at special scenes indoors；The movement
Terminal includes image capture module, wireless communication module, Quick Response Code identification module, display module, inertial navigation module and microprocessor mould
Block, image capture module are used to gather the image sequence in a period of time of interior, and wireless communication module is used to receive WiFi sections
Point and the signal of bluetooth nodes transmitting, Quick Response Code identification module are used to scan two-dimension code label and extract the letter included in outgoing label
Breath, display module are used to show electronic map and positioning result, and inertial navigation module is used for acceleration, the angular speed for obtaining mobile terminal
With magnetic field intensity information, micro treatment module carries out dead reckoning, predicts the position of subsequent time according to the multi-source data of acquisition；
The WiFi nodes are used to ensure that mobile terminal accesses internet, realize the data interaction between mobile terminal and cloud platform, together
When WiFi signal fingerprint for carrying out WiFi fingerprint locations is provided；The two-dimension code label memory storage in positional information,
Ensure that mobile terminal obtains accurate initial position by Quick Response Code identification；The bluetooth nodes launch Bluetooth signal, ensure to move
Dynamic terminal obtains accurate initial position by receiving Bluetooth signal, while provides the Bluetooth signal fingerprint of bluetooth fingerprint location；
The cloud platform is used for the data for obtaining mobile terminal upload, carries out migration fractionation intelligent positioning, and positioning result is returned to
Mobile terminal.
Preferred scheme based on above-mentioned technical proposal, laying the indoor special scenes of two-dimension code label and bluetooth nodes includes
Building inlet and outlet, turning and stair.
Preferred scheme based on above-mentioned technical proposal, the bluetooth nodes are configured with iBeacon technologies.
Preferred scheme based on above-mentioned technical proposal, the mobile terminal use smart mobile phone or tablet personal computer.
Indoor high-precision locating method based on right said system, comprises the following steps：
(1) mobile terminal obtains initial position by scanning two-dimension code label or the Bluetooth signal according to receiving, and will
Initial position is shown on the electronic map；
(2) mobile terminal collection a period of time in off-the-air picture sequence, bluetooth fingerprint signal, WiFi fingerprint signals, plus
Speed, angular speed and magnetic field intensity；
(3) mobile terminal carries out gait detection, activity recognition and course angle according to acceleration, angular speed and magnetic field intensity
Estimation, obtains 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, moves
Dynamic terminal is based on initial position, displacement and course angle, carries out dead reckoning, predicts the position of subsequent time, and be shown in electricity
On sub- map；
(5) mobile terminal judges whether to meet correcting condition, and when meeting correcting condition, mobile terminal is by last moment
Positional 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
Algorithm, 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 boat position to push away
Calculate, obtain current location information, and show on the electronic map.
Further, in step (5), when meet run duration window for 4 seconds, motion state changes and moves
Process turn in either condition when, that is, judge meet correcting condition.
The beneficial effect brought using above-mentioned technical proposal：
The mixed positioning in mobile terminal and high in the clouds is respectively adopted in the present invention, and terminal is responsible for data acquisition and simple data are melted
Conjunction is handled, and by the mixed positioning computation migration of large amount of complex to cloud platform, has been merged the high-precision location techniques such as vision positioning, has been adopted
To based on terminal in short-term high-precision dead reckoning, supplemented by the correction of cloud platform mixed positioning result of calculation in a manner of, realize high
Precision, continuous, reliably positioning.In addition, the present invention takes full advantage of the hardware, network and computing resource of terminal, end is alleviated
Hold computational load.
Brief description of the drawings
Fig. 1 is the system composition schematic diagram of the present invention；
Fig. 2 is flow chart of the method for the present invention.
Embodiment
Below with reference to accompanying drawing, technical scheme is described in detail.
The present invention proposes a kind of indoor high-accuracy position system of multi-source data mixing, as shown in figure 1, including mobile whole
End, some WiFi nodes, some two-dimension code labels, some bluetooth nodes, cloud platform.The mobile terminal includes IMAQ mould
Block, wireless communication module, Quick Response Code identification module, display module, inertial navigation module and micro treatment module, image capture module are used for
The image sequence in indoor a period of time is gathered, wireless communication module is used for the letter for receiving WiFi nodes and bluetooth nodes transmitting
Number, Quick Response Code identification module is used to scan two-dimension code label and extracts the information included in outgoing label, and display module is used to show
Electronic map and positioning result, inertial navigation module are used for the acceleration, angular speed and magnetic field intensity information for obtaining mobile terminal, micro- place
Multi-source data of the module according to acquisition is managed, carries out dead reckoning, predicts the position of subsequent time.In the present embodiment, it is mobile whole
End can use smart mobile phone or tablet personal computer.WiFi nodes be uniformly laid in it is throughout the room, for ensure mobile terminal access because
Special net, the data interaction between mobile terminal and cloud platform is realized, while the WiFi provided for carrying out WiFi fingerprint locations believes
Number fingerprint.The sparse laying of two-dimension code label is indoors in some scenes, such as building inlet and outlet, turning and stair, in label
Position information is stored with, ensures that mobile terminal obtains accurate initial position by Quick Response Code identification.Bluetooth nodes are sparse
Lay in some scenes indoors, such as building inlet and outlet, turning and stair, bluetooth nodes transmitting Bluetooth signal, ensure to move
Dynamic terminal obtains accurate initial position by receiving Bluetooth signal, while provides the Bluetooth signal fingerprint of bluetooth fingerprint location.
Bluetooth nodes need to configure iBeacon.Cloud platform is by public network IP, fire wall, router, interchanger, load equalizer, server
Formed with database, for obtaining the data of mobile terminal upload, carry out migration fractionation intelligent positioning, and positioning result is returned
It is transmitted to mobile terminal.
The invention also provides the indoor high-precision locating method based on said system, as shown in Fig. 2 specific steps are such as
Under.
The Bluetooth signal of step 1, mobile terminal by scanning two-dimension code label or according to receiving, initial position is obtained,
And initial position is shown on the electronic map；
Step 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；
Step 3, mobile terminal carry out gait detection, activity recognition and course according to acceleration, angular speed and magnetic field intensity
Angular estimation, obtain the step number, active state and course angle of user；
Step 4, mobile terminal identify the step-length of user according to the active state of user, and user position is obtained further according to step number
Move, mobile terminal is based on initial position, displacement and course angle, carries out dead reckoning, predicts the position of subsequent time, and show
On the electronic map；
Step 5, mobile terminal judge whether to meet correcting condition, when meeting correcting condition, that is, meet run duration window
Mouthful for 4 seconds, motion state change and motion process turn in either condition, mobile terminal is by last moment
Positional information and the multi-source data convergence obtained are uploaded to cloud platform；
Step 6, cloud platform view-based access control model location algorithm, inertial navigation algorithm, bluetooth fingerprinting localization algorithm and WiFi fingerprints
Location algorithm, migration fractionation intelligent positioning is carried out, and positioning result is returned into mobile terminal；
The positioning result that step 7, mobile terminal return according to cloud platform, last moment positional information is corrected, recycle boat
Position calculates, obtains current location information, and show on the electronic map.
The technological thought of above example only to illustrate the invention, it is impossible to protection scope of the present invention is limited with this, it is every
According to technological thought proposed by the present invention, any change done on the basis of technical scheme, the scope of the present invention is each fallen within
Within.
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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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107969995A (en) * | 2017-11-27 | 2018-05-01 | 深圳市沃特沃德股份有限公司 | Vision sweeping robot and its method for relocating |
| CN108663674A (en) * | 2018-02-08 | 2018-10-16 | 深圳市海司恩科技有限公司 | Vehicle positioning method, automobile, storage medium and positioning system |
| CN108801264A (en) * | 2018-06-05 | 2018-11-13 | 安徽邵氏华艾生物医疗电子科技有限公司 | A kind of indoor navigation method under three-dimensional correction model |
| CN109737971A (en) * | 2019-03-18 | 2019-05-10 | 爱驰汽车有限公司 | Vehicle-mounted assisting navigation positioning system, method, equipment and storage medium |
| CN110389590A (en) * | 2019-08-19 | 2019-10-29 | 杭州电子科技大学 | A kind of AGV positioning system and method merging 2D environmental map and sparse artificial landmark |
| WO2019228520A1 (en) * | 2018-06-01 | 2019-12-05 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for indoor positioning |
| CN110779527A (en) * | 2019-10-29 | 2020-02-11 | 无锡汉咏科技股份有限公司 | Indoor positioning method based on multi-source data fusion and visual deep learning |
| CN111132013A (en) * | 2019-12-30 | 2020-05-08 | 广东博智林机器人有限公司 | Indoor positioning method and device, storage medium and computer equipment |
| CN111783492A (en) * | 2020-06-09 | 2020-10-16 | 北京无限向溯科技有限公司 | Indoor positioning method and device based on two-dimensional code, mobile terminal and storage medium |
| CN111947659A (en) * | 2020-07-07 | 2020-11-17 | 华南理工大学 | Acoustic-optical-electric multi-mode distribution cooperative positioning and navigation system for mobile robot |
| CN111970633A (en) * | 2020-08-24 | 2020-11-20 | 桂林电子科技大学 | Indoor positioning method based on WiFi, Bluetooth and pedestrian dead reckoning fusion |
| CN113923596A (en) * | 2021-11-23 | 2022-01-11 | 中国民用航空总局第二研究所 | Indoor positioning method, device, equipment and medium |
| CN116528359A (en) * | 2023-06-30 | 2023-08-01 | 广东省新一代通信与网络创新研究院 | Indoor positioning method, system and device |
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| CN107969995A (en) * | 2017-11-27 | 2018-05-01 | 深圳市沃特沃德股份有限公司 | Vision sweeping robot and its method for relocating |
| CN108663674A (en) * | 2018-02-08 | 2018-10-16 | 深圳市海司恩科技有限公司 | Vehicle positioning method, automobile, storage medium and positioning system |
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| CN110389590B (en) * | 2019-08-19 | 2022-07-05 | 杭州电子科技大学 | AGV positioning system and method integrating 2D environment map and sparse artificial landmark |
| CN110389590A (en) * | 2019-08-19 | 2019-10-29 | 杭州电子科技大学 | A kind of AGV positioning system and method merging 2D environmental map and sparse artificial landmark |
| CN110779527A (en) * | 2019-10-29 | 2020-02-11 | 无锡汉咏科技股份有限公司 | Indoor positioning method based on multi-source data fusion and visual deep learning |
| CN111132013A (en) * | 2019-12-30 | 2020-05-08 | 广东博智林机器人有限公司 | Indoor positioning method and device, storage medium and computer equipment |
| CN111783492A (en) * | 2020-06-09 | 2020-10-16 | 北京无限向溯科技有限公司 | Indoor positioning method and device based on two-dimensional code, mobile terminal and storage medium |
| CN111947659A (en) * | 2020-07-07 | 2020-11-17 | 华南理工大学 | Acoustic-optical-electric multi-mode distribution cooperative positioning and navigation system for mobile robot |
| CN111947659B (en) * | 2020-07-07 | 2022-05-24 | 华南理工大学 | Acoustic-optical-electric multi-mode distribution cooperative positioning and navigation system for mobile robot |
| CN111970633A (en) * | 2020-08-24 | 2020-11-20 | 桂林电子科技大学 | Indoor positioning method based on WiFi, Bluetooth and pedestrian dead reckoning fusion |
| CN113923596A (en) * | 2021-11-23 | 2022-01-11 | 中国民用航空总局第二研究所 | Indoor positioning method, device, equipment and medium |
| CN113923596B (en) * | 2021-11-23 | 2024-01-30 | 中国民用航空总局第二研究所 | Indoor positioning method, device, equipment and medium |
| CN116528359A (en) * | 2023-06-30 | 2023-08-01 | 广东省新一代通信与网络创新研究院 | Indoor positioning method, system and device |
| CN116528359B (en) * | 2023-06-30 | 2023-09-29 | 广东省新一代通信与网络创新研究院 | Indoor positioning method, system and device |
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